cannon-es-control
Version:
A lightweight 3D physics engine written in JavaScript with control system tools
147 lines (125 loc) • 5.28 kB
HTML
<html lang="en">
<head>
<meta charset="utf-8" />
<title>cannon.js - container 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'
/**
* A container filled with spheres.
*/
const demo = new Demo()
const nx = 4
const ny = 4
// Test scalability - add scenes for different number of spheres
demo.addScene(`${nx * ny * 4} spheres`, () => {
createContainer(demo, nx, ny, 4)
})
demo.addScene(`${nx * ny * 8} spheres`, () => {
createContainer(demo, nx, ny, 8)
})
demo.addScene(`${nx * ny * 15} spheres`, () => {
createContainer(demo, nx, ny, 15)
})
demo.addScene(`${nx * ny * 20} spheres`, () => {
createContainer(demo, nx, ny, 20)
})
demo.addScene(`${nx * ny * 25} spheres`, () => {
createContainer(demo, nx, ny, 25)
})
demo.addScene(`${nx * ny * 30} spheres`, () => {
createContainer(demo, nx, ny, 30)
})
demo.start()
function createContainer(demo, nx, ny, nz) {
const world = setupWorld(demo)
// Materials
const stone = new CANNON.Material('stone')
const stone_stone = new CANNON.ContactMaterial(stone, stone, {
friction: 0.3,
restitution: 0.2,
})
world.addContactMaterial(stone_stone)
// Ground plane
const groundShape = new CANNON.Plane()
const groundBody = new CANNON.Body({ mass: 0, material: stone })
groundBody.addShape(groundShape)
groundBody.quaternion.setFromEuler(-Math.PI / 2, 0, 0)
world.addBody(groundBody)
demo.addVisual(groundBody)
// Plane -x
const planeShapeXmin = new CANNON.Plane()
const planeXmin = new CANNON.Body({ mass: 0, material: stone })
planeXmin.addShape(planeShapeXmin)
planeXmin.quaternion.setFromEuler(0, Math.PI / 2, 0)
planeXmin.position.set(-5, 0, 0)
world.addBody(planeXmin)
// Plane +x
const planeShapeXmax = new CANNON.Plane()
const planeXmax = new CANNON.Body({ mass: 0, material: stone })
planeXmax.addShape(planeShapeXmax)
planeXmax.quaternion.setFromEuler(0, -Math.PI / 2, 0)
planeXmax.position.set(5, 0, 0)
world.addBody(planeXmax)
// Plane -z
const planeShapeZmin = new CANNON.Plane()
const planeZmin = new CANNON.Body({ mass: 0, material: stone })
planeZmin.addShape(planeShapeZmin)
planeZmin.quaternion.setFromEuler(0, 0, 0)
planeZmin.position.set(0, 0, -5)
world.addBody(planeZmin)
// Plane +z
const planeShapeZmax = new CANNON.Plane()
const planeZmax = new CANNON.Body({ mass: 0, material: stone })
planeZmax.addShape(planeShapeZmax)
planeZmax.quaternion.setFromEuler(0, Math.PI, 0)
planeZmax.position.set(0, 0, 5)
world.addBody(planeZmax)
// Create spheres
const randRange = 0.1
const heightOffset = 0
const sphereShape = new CANNON.Sphere(1) // Sharing shape saves memory
world.allowSleep = true
for (let i = 0; i < nx; i++) {
for (let j = 0; j < ny; j++) {
for (let k = 0; k < nz; k++) {
const sphereBody = new CANNON.Body({ mass: 5, material: stone })
sphereBody.addShape(sphereShape)
sphereBody.position.set(
-(i * 2 - nx * 0.5 + (Math.random() - 0.5) * randRange),
1 + k * 2.1 + heightOffset,
j * 2 - ny * 0.5 + (Math.random() - 0.5) * randRange
)
sphereBody.allowSleep = true
sphereBody.sleepSpeedLimit = 1
sphereBody.sleepTimeLimit = 5
world.addBody(sphereBody)
demo.addVisual(sphereBody)
}
}
}
}
function setupWorld(demo) {
const world = demo.getWorld()
world.gravity.set(0, -30, 0)
world.broadphase = new CANNON.SAPBroadphase(world) // Buggy?
// Tweak contact properties.
// Contact stiffness - use to make softer/harder contacts
world.defaultContactMaterial.contactEquationStiffness = 1e11
// Stabilization time in number of timesteps
world.defaultContactMaterial.contactEquationRelaxation = 2
// Max solver iterations: Use more for better force propagation, but keep in mind that it's not very computationally cheap!
world.solver.iterations = 10
// Since we have many bodies and they don't move very much, we can use the less accurate quaternion normalization
world.quatNormalizeFast = true
world.quatNormalizeSkip = 8 // ...and we do not have to normalize every step.
return world
}
</script>
</body>
</html>