探索Three.js中的高效碰撞检测库：`three-mesh-bvh`

import { Mesh, BoxGeometry, MeshBasicMaterial } from 'three';
import { Ammo } from '@enable3d/ammo-wasm';
import { MeshBVH } from 'three-mesh-bvh';
 
// 初始化AmmoNty WASM模块
Ammo().then((Ammo) => {
  // 创建一个物理世界
  const collisionConfiguration = new Ammo.btSoftBodyRigidBodyCollisionConfiguration();
  const dispatcher = new Ammo.btCollisionDispatcher(collisionConfiguration);
  const overlappingPairCache = new Ammo.btDbvtBroadphase();
  const solver = new Ammo.btSequentialImpulseConstraintSolver();
  const softBodySolver = new Ammo.btDefaultSoftBodySolver();
  const world = new Ammo.btSoftRigidDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration, softBodySolver);
  world.setGravity(new Ammo.btVector3(0, -9.81, 0));
 
  // 创建几何体和网格
  const geometry = new BoxGeometry(1, 1, 1);
  const material = new MeshBasicMaterial({ color: 0x00ff00 });
  const mesh = new Mesh(geometry, material);
 
  // 将网格添加到物理世界中
  const meshShape = new Ammo.btBoxShape(new Ammo.btVector3(0.5, 0.5, 0.5));
  const meshBody = createRigidBody(0, mesh.position, meshShape);
  world.addRigidBody(meshBody);
 
  // 创建BVH加速结构
  const bvh = new MeshBVH(mesh);
 
  // 执行碰撞检测
  function detectCollisions() {
    bvh.update();
    world.performDiscreteCollisionDetection();
  }
 
  // 更新物理状态
  function updatePhysics() {
    detectCollisions();
    const numManifolds = dispatcher.getNumManifolds();
    for (let i = 0; i < numManifolds; i++) {
      const contactManifold = dispatcher.getManifoldByIndexInternal(i);
      if (contactManifold.getNumContacts() > 0) {
        console.log('Collision detected!');
      }
    }
    world.stepSimulation(1 / 60, 10);
    meshBody.getMotionState().getWorldTransform(meshBody.transform);
    mesh.position.set(
      meshBody.transform.getOrigin().x(),
      meshBody.transform.getOrigin().y(),
      meshBody.transform.getOrigin().z(),
    );
    mesh.qua