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March 30, 2021 16:56
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| <!DOCTYPE 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.js' | |
| import { Demo } from './js/Demo.js' | |
| window.CANNON = CANNON | |
| /** | |
| * A container filled with spheres. | |
| */ | |
| const demo = new Demo() | |
| // Test scalability - add scenes for different number of spheres | |
| demo.addScene('test', () => { | |
| createContainer(demo) | |
| }) | |
| function createTetra() { | |
| const vertices = [ | |
| new CANNON.Vec3( 1, 0, -Math.SQRT1_2), | |
| new CANNON.Vec3(0, 1, Math.SQRT1_2), | |
| new CANNON.Vec3(-1, 0, -Math.SQRT1_2), | |
| new CANNON.Vec3(0, -1, Math.SQRT1_2), | |
| ] | |
| return new CANNON.ConvexPolyhedron({ | |
| vertices, | |
| faces: [ | |
| [0, 3, 2], // -x | |
| [0, 1, 3], // -y | |
| [0, 2, 1], // -z | |
| [1, 2, 3], // +xyz | |
| ], | |
| }) | |
| } | |
| // https://materialsproject.org/materials/mp-6945/ | |
| // https://materialsproject.org/materials/mp-8059/ | |
| const tetra = createTetra(), | |
| wx = 5.085, | |
| wy = 7.099, | |
| wz = 5.085, | |
| triggerBox = new CANNON.Box(new CANNON.Vec3(wx/2, wy/2, wz/2)) | |
| function startScene(world) { | |
| const body = new CANNON.Body({ mass: 0 }) | |
| body.addShape(tetra) | |
| body.position.set(0, wy, 0) | |
| world.addBody(body) | |
| demo.addVisual(body) | |
| const trigger = new CANNON.Body({ isTrigger: true }) | |
| trigger.addShape(triggerBox) | |
| trigger.position.set(0, wy/2, 0) | |
| world.addBody(trigger) | |
| demo.addVisual(trigger) | |
| } | |
| 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(-wx/2, 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(wx/2, 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, -wz/2) | |
| 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, wz/2) | |
| 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) | |
| } | |
| } | |
| } | |
| */ | |
| startScene(world) | |
| } | |
| 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 | |
| } | |
| demo.start() | |
| </script> | |
| </body> | |
| </html> |
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