cannon-es-control
Version:
A lightweight 3D physics engine written in JavaScript with control system tools
205 lines (174 loc) • 6.68 kB
HTML
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8" />
<title>cannon.js - RigidVehicle</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'
const demo = new Demo()
demo.addScene('Car', () => {
const world = setupWorld(demo)
// Build the car chassis
const chassisShape = new CANNON.Box(new CANNON.Vec3(5, 0.5, 2))
const chassisBody = new CANNON.Body({ mass: 1 })
const centerOfMassAdjust = new CANNON.Vec3(0, -1, 0)
chassisBody.addShape(chassisShape, centerOfMassAdjust)
demo.addVisual(chassisBody)
// Create the vehicle
const vehicle = new CANNON.RigidVehicle({
chassisBody,
})
const mass = 1
const axisWidth = 7
const wheelShape = new CANNON.Sphere(1.5)
const wheelMaterial = new CANNON.Material('wheel')
const down = new CANNON.Vec3(0, -1, 0)
const wheelBody1 = new CANNON.Body({ mass, material: wheelMaterial })
wheelBody1.addShape(wheelShape)
vehicle.addWheel({
body: wheelBody1,
position: new CANNON.Vec3(-5, 0, axisWidth / 2).vadd(centerOfMassAdjust),
axis: new CANNON.Vec3(0, 0, 1),
direction: down,
})
const wheelBody2 = new CANNON.Body({ mass, material: wheelMaterial })
wheelBody2.addShape(wheelShape)
vehicle.addWheel({
body: wheelBody2,
position: new CANNON.Vec3(-5, 0, -axisWidth / 2).vadd(centerOfMassAdjust),
axis: new CANNON.Vec3(0, 0, -1),
direction: down,
})
const wheelBody3 = new CANNON.Body({ mass, material: wheelMaterial })
wheelBody3.addShape(wheelShape)
vehicle.addWheel({
body: wheelBody3,
position: new CANNON.Vec3(5, 0, axisWidth / 2).vadd(centerOfMassAdjust),
axis: new CANNON.Vec3(0, 0, 1),
direction: down,
})
const wheelBody4 = new CANNON.Body({ mass, material: wheelMaterial })
wheelBody4.addShape(wheelShape)
vehicle.addWheel({
body: wheelBody4,
position: new CANNON.Vec3(5, 0, -axisWidth / 2).vadd(centerOfMassAdjust),
axis: new CANNON.Vec3(0, 0, -1),
direction: down,
})
vehicle.wheelBodies.forEach((wheelBody) => {
// Some damping to not spin wheels too fast
wheelBody.angularDamping = 0.4
// Add visuals
demo.addVisual(wheelBody)
})
vehicle.addToWorld(world)
// Add the ground
const sizeX = 64
const sizeZ = sizeX
const matrix = []
for (let i = 0; i < sizeX; i++) {
matrix.push([])
for (let j = 0; j < sizeZ; j++) {
if (i === 0 || i === sizeX - 1 || j === 0 || j === sizeZ - 1) {
const height = 6
matrix[i].push(height)
continue
}
const height = Math.sin((i / sizeX) * Math.PI * 7) * Math.sin((j / sizeZ) * Math.PI * 7) * 6 + 6
matrix[i].push(height)
}
}
const groundMaterial = new CANNON.Material('ground')
const heightfieldShape = new CANNON.Heightfield(matrix, {
elementSize: 300 / sizeX,
})
const heightfieldBody = new CANNON.Body({ mass: 0, material: groundMaterial })
heightfieldBody.addShape(heightfieldShape)
heightfieldBody.position.set(
(-(sizeX - 1) * heightfieldShape.elementSize) / 2,
-15,
((sizeZ - 1) * heightfieldShape.elementSize) / 2
)
heightfieldBody.quaternion.setFromEuler(-Math.PI / 2, 0, 0)
world.addBody(heightfieldBody)
demo.addVisual(heightfieldBody)
// Define interactions between wheels and ground
const wheel_ground = new CANNON.ContactMaterial(wheelMaterial, groundMaterial, {
friction: 0.3,
restitution: 0,
contactEquationStiffness: 1000,
})
world.addContactMaterial(wheel_ground)
// Keybindings
// Add force on keydown
document.addEventListener('keydown', (event) => {
const maxSteerVal = Math.PI / 8
const maxSpeed = 10
const maxForce = 100
switch (event.key) {
case 'w':
case 'ArrowUp':
vehicle.setWheelForce(maxForce, 2)
vehicle.setWheelForce(-maxForce, 3)
break
case 's':
case 'ArrowDown':
vehicle.setWheelForce(-maxForce / 2, 2)
vehicle.setWheelForce(maxForce / 2, 3)
break
case 'a':
case 'ArrowLeft':
vehicle.setSteeringValue(maxSteerVal, 0)
vehicle.setSteeringValue(maxSteerVal, 1)
break
case 'd':
case 'ArrowRight':
vehicle.setSteeringValue(-maxSteerVal, 0)
vehicle.setSteeringValue(-maxSteerVal, 1)
break
}
})
// Reset force on keyup
document.addEventListener('keyup', (event) => {
switch (event.key) {
case 'w':
case 'ArrowUp':
vehicle.setWheelForce(0, 2)
vehicle.setWheelForce(0, 3)
break
case 's':
case 'ArrowDown':
vehicle.setWheelForce(0, 2)
vehicle.setWheelForce(0, 3)
break
case 'a':
case 'ArrowLeft':
vehicle.setSteeringValue(0, 0)
vehicle.setSteeringValue(0, 1)
break
case 'd':
case 'ArrowRight':
vehicle.setSteeringValue(0, 0)
vehicle.setSteeringValue(0, 1)
break
}
})
})
demo.start()
function setupWorld(demo) {
const world = demo.getWorld()
world.gravity.set(0, -30, 0)
// Sweep and prune broadphase
world.broadphase = new CANNON.SAPBroadphase(world)
// Adjust the global friction
world.defaultContactMaterial.friction = 0.2
return world
}
</script>
</body>
</html>