cannon
Version:
A lightweight 3D physics engine written in JavaScript.
186 lines (155 loc) • 6.76 kB
HTML
<html>
<head>
<title>cannon.js - RaycastVehicle</title>
<meta charset="utf-8">
<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 src="../build/cannon.js"></script>
<script src="../build/cannon.demo.js"></script>
<script src="../libs/dat.gui.js"></script>
<script src="../libs/Three.js"></script>
<script src="../libs/TrackballControls.js"></script>
<script src="../libs/Detector.js"></script>
<script src="../libs/Stats.js"></script>
<script src="../libs/smoothie.js"></script>
<script>
var demo = new CANNON.Demo();
var mass = 150;
var vehicle;
demo.addScene("car",function(){
var world = demo.getWorld();
world.broadphase = new CANNON.SAPBroadphase(world);
world.gravity.set(0, 0, -10);
world.defaultContactMaterial.friction = 0;
var groundMaterial = new CANNON.Material("groundMaterial");
var wheelMaterial = new CANNON.Material("wheelMaterial");
var wheelGroundContactMaterial = window.wheelGroundContactMaterial = new CANNON.ContactMaterial(wheelMaterial, groundMaterial, {
friction: 0.3,
restitution: 0,
contactEquationStiffness: 1000
});
// We must add the contact materials to the world
world.addContactMaterial(wheelGroundContactMaterial);
var chassisShape;
chassisShape = new CANNON.Box(new CANNON.Vec3(2, 1,0.5));
var chassisBody = new CANNON.Body({ mass: mass });
chassisBody.addShape(chassisShape);
chassisBody.position.set(0, 0, 4);
chassisBody.angularVelocity.set(0, 0, 0.5);
demo.addVisual(chassisBody);
var options = {
radius: 0.5,
directionLocal: new CANNON.Vec3(0, 0, -1),
suspensionStiffness: 30,
suspensionRestLength: 0.3,
frictionSlip: 5,
dampingRelaxation: 2.3,
dampingCompression: 4.4,
maxSuspensionForce: 100000,
rollInfluence: 0.01,
axleLocal: new CANNON.Vec3(0, 1, 0),
chassisConnectionPointLocal: new CANNON.Vec3(1, 1, 0),
maxSuspensionTravel: 0.3,
customSlidingRotationalSpeed: -30,
useCustomSlidingRotationalSpeed: true
};
// Create the vehicle
vehicle = new CANNON.RaycastVehicle({
chassisBody: chassisBody,
});
options.chassisConnectionPointLocal.set(1, 1, 0);
vehicle.addWheel(options);
options.chassisConnectionPointLocal.set(1, -1, 0);
vehicle.addWheel(options);
options.chassisConnectionPointLocal.set(-1, 1, 0);
vehicle.addWheel(options);
options.chassisConnectionPointLocal.set(-1, -1, 0);
vehicle.addWheel(options);
vehicle.addToWorld(world);
var wheelBodies = [];
for(var i=0; i<vehicle.wheelInfos.length; i++){
var wheel = vehicle.wheelInfos[i];
var cylinderShape = new CANNON.Cylinder(wheel.radius, wheel.radius, wheel.radius / 2, 20);
var wheelBody = new CANNON.Body({ mass: 1 });
var q = new CANNON.Quaternion();
q.setFromAxisAngle(new CANNON.Vec3(1, 0, 0), Math.PI / 2);
wheelBody.addShape(cylinderShape, new CANNON.Vec3(), q);
wheelBodies.push(wheelBody);
demo.addVisual(wheelBody);
}
// Update wheels
world.addEventListener('postStep', function(){
for (var i = 0; i < vehicle.wheelInfos.length; i++) {
vehicle.updateWheelTransform(i);
var t = vehicle.wheelInfos[i].worldTransform;
wheelBodies[i].position.copy(t.position);
wheelBodies[i].quaternion.copy(t.quaternion);
}
});
var matrix = [];
var sizeX = 64,
sizeY = 64;
for (var i = 0; i < sizeX; i++) {
matrix.push([]);
for (var j = 0; j < sizeY; j++) {
var height = Math.cos(i / sizeX * Math.PI * 5) * Math.cos(j/sizeY * Math.PI * 5) * 2 + 2;
if(i===0 || i === sizeX-1 || j===0 || j === sizeY-1)
height = 3;
matrix[i].push(height);
}
}
var hfShape = new CANNON.Heightfield(matrix, {
elementSize: 100 / sizeX
});
var hfBody = new CANNON.Body({ mass: 0 });
hfBody.addShape(hfShape);
hfBody.position.set(-sizeX * hfShape.elementSize / 2, -sizeY * hfShape.elementSize / 2, -1);
world.add(hfBody);
demo.addVisual(hfBody);
});
demo.start();
document.onkeydown = handler;
document.onkeyup = handler;
var maxSteerVal = 0.5;
var maxForce = 1000;
var brakeForce = 1000000;
function handler(event){
var up = (event.type == 'keyup');
if(!up && event.type !== 'keydown'){
return;
}
vehicle.setBrake(0, 0);
vehicle.setBrake(0, 1);
vehicle.setBrake(0, 2);
vehicle.setBrake(0, 3);
switch(event.keyCode){
case 38: // forward
vehicle.applyEngineForce(up ? 0 : -maxForce, 2);
vehicle.applyEngineForce(up ? 0 : -maxForce, 3);
break;
case 40: // backward
vehicle.applyEngineForce(up ? 0 : maxForce, 2);
vehicle.applyEngineForce(up ? 0 : maxForce, 3);
break;
case 66: // b
vehicle.setBrake(brakeForce, 0);
vehicle.setBrake(brakeForce, 1);
vehicle.setBrake(brakeForce, 2);
vehicle.setBrake(brakeForce, 3);
break;
case 39: // right
vehicle.setSteeringValue(up ? 0 : -maxSteerVal, 0);
vehicle.setSteeringValue(up ? 0 : -maxSteerVal, 1);
break;
case 37: // left
vehicle.setSteeringValue(up ? 0 : maxSteerVal, 0);
vehicle.setSteeringValue(up ? 0 : maxSteerVal, 1);
break;
}
}
</script>
</body>
</html>