cannon-es-control
Version:
A lightweight 3D physics engine written in JavaScript with control system tools
90 lines (72 loc) • 2.93 kB
HTML
<html lang="en">
<head>
<meta charset="utf-8" />
<title>cannon.js - bunny convex hull demo</title>
<link rel="stylesheet" href="css/style.css" type="text/css" />
<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0" />
</head>
<body>
<script type="module">
import * as CANNON from '../dist/cannon-es-control.js'
import { Demo } from './js/Demo.js'
import { bunny } from './js/bunny.js'
/**
* Demo of importing a convex hull generated with V-HACD.
* https://github.com/kmammou/v-hacd
*/
const demo = new Demo()
demo.addScene('Bunny', () => {
const world = setupWorld(demo)
const bunnyBody = new CANNON.Body({ mass: 1 })
for (let i = 0; i < bunny.length; i++) {
const rawVertices = bunny[i].vertices
const rawFaces = bunny[i].faces
const rawOffset = bunny[i].offset
// Get vertices
const vertices = []
for (let j = 0; j < rawVertices.length; j += 3) {
vertices.push(new CANNON.Vec3(rawVertices[j], rawVertices[j + 1], rawVertices[j + 2]))
}
// Get faces
const faces = []
for (let j = 0; j < rawFaces.length; j += 3) {
faces.push([rawFaces[j], rawFaces[j + 1], rawFaces[j + 2]])
}
// Get offset
const offset = new CANNON.Vec3(rawOffset[0], rawOffset[1], rawOffset[2])
// Construct polyhedron
const bunnyPart = new CANNON.ConvexPolyhedron({ vertices, faces })
// Add to compound
bunnyBody.addShape(bunnyPart, offset)
}
// Create body
bunnyBody.quaternion.setFromEuler(Math.PI, 0, 0)
world.addBody(bunnyBody)
demo.addVisual(bunnyBody)
})
demo.start()
function setupWorld(demo) {
const world = demo.getWorld()
world.gravity.set(0, -20, 0)
// Max solver iterations: Use more for better force propagation, but keep in mind that it's not very computationally cheap!
world.solver.iterations = 20
// Tweak contact properties.
// Contact stiffness - use to make softer/harder contacts
world.defaultContactMaterial.contactEquationStiffness = 1e10
world.defaultContactMaterial.contactEquationRelaxation = 10
// Static ground plane
const groundShape = new CANNON.Plane()
const groundBody = new CANNON.Body({
mass: 0,
position: new CANNON.Vec3(0, -5, 0),
})
groundBody.addShape(groundShape)
groundBody.quaternion.setFromEuler(-Math.PI / 2, 0, 0)
world.addBody(groundBody)
demo.addVisual(groundBody)
return world
}
</script>
</body>
</html>