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car-using-physics-constraints.html
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car-using-physics-constraints.html
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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8" />
<meta
name="viewport"
content="width=device-width, initial-scale=1.0, minimum-scale=1.0, maximum-scale=1.0, user-scalable=no, viewport-fit=cover"
/>
<meta http-equiv="X-UA-Compatible" content="ie=edge" />
<title>Car using Physics Constraints</title>
<link rel="stylesheet" href="/css/examples.css?ver=1.0.0" />
<script src="/js/examples.js?ver=1.1.1"></script>
<script src="/lib/enable3d/enable3d.framework.0.25.4.min.js"></script>
</head>
<body>
<div id="info-text">Car using only physics<br />(Feel free to improve this example)</div>
<script>
const { Project, Scene3D, PhysicsLoader, THREE } = ENABLE3D
var transparent = true
var debug = true
class MainScene extends Scene3D {
keys = {
w: false,
a: false,
s: false,
d: false,
space: false
}
preload() {
this.load.preload('grass', '/assets/img/grass.jpg')
}
addPlate() {
const plate = this.add.box(
{ y: 1, width: 1.8, depth: 4.7, mass: 5000, height: 0.25 },
{ lambert: { wireframe: true } }
)
this.physics.add.existing(plate)
return plate
}
addAxis(z, radius = 0.06) {
const axis = this.add.cylinder(
{ z, y: 1, mass: 10, radiusTop: radius, radiusBottom: radius, height: 2.6 },
{ lambert: { color: 'blue', transparent, opacity: 0.5 } }
)
axis.rotateZ(Math.PI / 2)
this.physics.add.existing(axis)
return axis
}
addRotor(x, z) {
const rotor = this.add.cylinder(
{ mass: 10, radiusBottom: 0.35, radiusTop: 0.35, radiusSegments: 24, height: 0.4, x, y: 1, z },
{ lambert: { color: 'red', transparent, opacity: 0.5 } }
)
rotor.rotateZ(Math.PI / 2)
this.physics.add.existing(rotor)
return rotor
}
addWheel(x, z) {
const wheel = this.add.cylinder(
{ mass: 20, radiusBottom: 0.5, radiusTop: 0.5, radiusSegments: 24, height: 0.35, x, y: 1, z },
{ lambert: { color: 'blue', transparent, opacity: 0.5 } }
)
wheel.rotateZ(Math.PI / 2)
this.physics.add.existing(wheel)
wheel.body.setFriction(3)
return wheel
}
addAxisRotor(x, y, z) {
const axisRotor = this.add.box(
{ x, y, z, mass: 5, width: 0.25, height: 0.2, depth: 1 },
{ lambert: { transparent, opacity: 0.5 } }
)
this.physics.add.existing(axisRotor)
return axisRotor
}
async create() {
this.warpSpeed('-ground')
const grass = await this.load.texture('grass')
grass.wrapS = grass.wrapT = 1000 // RepeatWrapping
grass.offset.set(0, 0)
grass.repeat.set(50, 50)
let ground = this.physics.add.ground({ width: 500, height: 500, y: 0 }, { phong: { map: grass } })
ground.body.setFriction(1)
if (debug) this.physics.debug?.enable()
this.physics.debug?.mode(2048 + 4096)
this.camera.position.set(10, 10, 10)
const wheelX = 1.5,
wheelZ = 2,
axisZ = 0.2
// blue wheels
const wheelBackRight = this.addWheel(wheelX, wheelZ)
const wheelBackLeft = this.addWheel(-wheelX, wheelZ)
const wheelFrontRight = this.addWheel(wheelX, -wheelZ) // right front
const wheelFrontLeft = this.addWheel(-wheelX, -wheelZ)
// red rotors
const rotorBackRight = this.addRotor(wheelX, wheelZ)
const rotorBackLeft = this.addRotor(-wheelX, wheelZ)
const rotorFrontRight = this.addRotor(wheelX, -wheelZ)
const rotorFrontLeft = this.addRotor(-wheelX, -wheelZ)
// blue axis
const axisBackOne = this.addAxis(wheelZ) // the one at the back
const axisFrontOne = this.addAxis(-wheelZ + axisZ, 0.04)
const axisFrontTwo = this.addAxis(-wheelZ - axisZ)
/**
* CONSTRAINTS
*/
// constraint wheel to rotor
const wheelToRotorConstraint = { axisA: { y: 1 }, axisB: { y: 1 } }
this.motorBackLeft = this.physics.add.constraints.hinge(
wheelBackLeft.body,
rotorBackLeft.body,
wheelToRotorConstraint
)
this.motorBackRight = this.physics.add.constraints.hinge(
wheelBackRight.body,
rotorBackRight.body,
wheelToRotorConstraint
)
this.motorFrontLeft = this.physics.add.constraints.hinge(
wheelFrontLeft.body,
rotorFrontLeft.body,
wheelToRotorConstraint
)
this.motorFrontRight = this.physics.add.constraints.hinge(
wheelFrontRight.body,
rotorFrontRight.body,
wheelToRotorConstraint
)
// constraint axis to rotor
const axisToRotor = (rotorRight, rotorLeft, axis, z) => {
const right = this.physics.add.constraints.hinge(rotorRight.body, axis.body, {
pivotA: { y: 0.2, z: z },
pivotB: { y: -1.3 },
axisA: { x: 1 },
axisB: { x: 1 }
})
const left = this.physics.add.constraints.hinge(rotorLeft.body, axis.body, {
pivotA: { y: -0.2, z: z },
pivotB: { y: 1.3 },
axisA: { x: 1 },
axisB: { x: 1 }
})
return { right, left }
}
this.physics.add.constraints.lock(rotorBackRight.body, axisBackOne.body)
this.physics.add.constraints.lock(rotorBackLeft.body, axisBackOne.body)
this.m0 = axisToRotor(rotorFrontRight, rotorFrontLeft, axisFrontTwo, -0)
axisToRotor(rotorFrontRight, rotorFrontLeft, axisFrontOne, 0.4)
this.plate = this.addPlate()
this.plate.add(this.camera)
this.camera.lookAt(this.plate.position.clone())
this.physics.add.constraints.lock(this.plate.body, axisBackOne.body)
this.physics.add.constraints.lock(this.plate.body, axisFrontTwo.body)
const limit = 0.3
const dofSettings = {
angularLowerLimit: { x: 0, y: 0, z: 0 },
angularUpperLimit: { x: 0, y: 0, z: 0 },
linearLowerLimit: { x: 0, y: -limit, z: -0.1 },
linearUpperLimit: { x: 0, y: limit, z: 0.1 }
}
this.physics.add.constraints.dof(this.plate.body, axisFrontOne.body, { ...dofSettings, offset: { y: 0.9 } })
this.physics.add.constraints.dof(this.plate.body, axisFrontOne.body, { ...dofSettings, offset: { y: -0.9 } })
this.m0.left.enableAngularMotor(true, 0, 1000)
this.m0.right.enableAngularMotor(true, 0, 1000)
const press = (e, isDown) => {
e.preventDefault()
const { code } = e
switch (code) {
case 'KeyW':
this.keys.w = isDown
break
case 'KeyA':
this.keys.a = isDown
break
case 'KeyS':
this.keys.s = isDown
break
case 'KeyD':
this.keys.d = isDown
break
case 'Space':
this.keys.space = isDown
break
}
}
document.addEventListener('keydown', e => press(e, true))
document.addEventListener('keyup', e => press(e, false))
}
update() {
this.camera.lookAt(this.plate.position.clone())
const speed = 40
if (this.keys.w) {
this.motorBackLeft.enableAngularMotor(true, -speed, 0.25)
this.motorBackRight.enableAngularMotor(true, -speed, 0.25)
this.motorFrontLeft.enableAngularMotor(true, -speed, 0.25)
this.motorFrontRight.enableAngularMotor(true, -speed, 0.25)
} else if (this.keys.s) {
this.motorBackLeft.enableAngularMotor(true, speed, 0.25)
this.motorBackRight.enableAngularMotor(true, speed, 0.25)
this.motorFrontLeft.enableAngularMotor(true, speed, 0.25)
this.motorFrontRight.enableAngularMotor(true, speed, 0.25)
} else {
this.motorBackLeft.enableAngularMotor(true, 0, 0.05)
this.motorBackRight.enableAngularMotor(true, 0, 0.05)
this.motorFrontLeft.enableAngularMotor(true, 0, 0.05)
this.motorFrontRight.enableAngularMotor(true, 0, 0.05)
}
const maxAngle = 0.4
if (this.keys.a) {
this.m0.left.setMotorTarget(-maxAngle, 0.5)
this.m0.right.setMotorTarget(-maxAngle, 0.5)
} else if (this.keys.d) {
this.m0.left.setMotorTarget(maxAngle, 0.5)
this.m0.right.setMotorTarget(maxAngle, 0.5)
} else {
this.m0.left.setMotorTarget(0, 0.5)
this.m0.right.setMotorTarget(0, 0.5)
}
}
}
PhysicsLoader(
'/lib/ammo/kripken',
() => new Project({ scenes: [MainScene], maxSubSteps: 4, fixedTimeStep: 1 / 120 })
)
</script>
</body>
</html>