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test_car.html
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test_car.html
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<!DOCTYPE html>
<html lang="en">
<head>
<title>Oimo.js Vehicle</title>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
<meta http-equiv="X-UA-Compatible" content="IE=11" />
<link rel="shortcut icon" href="favicon.ico">
<link rel="stylesheet" href="css/demo.css">
<script src="js_new/three.min.js"></script>
<script src="js_new/OrbitControls.js"></script>
<script src="build/oimo.js"></script>
</head>
<body>
<canvas id="canvas"></canvas>
<div id='interface'>
<input type="button" value="demo" onClick=populate(1)>
<input type="number" name="quantity" min="1" max="1" value="1" id='MaxNumber'>
<input type="submit" onClick=populate()>
<input type="number" name="gravity" min="-20" max="20" value="-10" id='gravity' onChange=gravity() >
</div>
<div id='info'></div>
<div id='link'>
<a href="test_basic.html">Basic</a>
<a href="test_compound.html">Compound</a>
<a href="test_compound2.html">Compound2</a>
<a href="test_ragdoll.html">Ragdoll</a>
<a href="test_collision.html">Collision</a>
<a href="test_moving.html">Moving</a>
<a href="test_terrain.html">Terrain</a>
<a href="test_car.html">Vehicle</a>
</div>
<img style="position: absolute; top: 0; right: 0; border: 0;" src="images/ribbon.png"></a>
<a id="ribbon" href="https://github.com/lo-th/Oimo.js"></a>
<script>
var vehicle = function () {
var id = cars.length;
this.speed = 0;
this.force = 25;
var phy = {w:[], j:[]};
var mesh = {w:[]};
var radius = 100;
phy.body = world.add({type:'box', size:[160,50,400], pos:[0,100,0], move:true, config:[10,0.4,0.0], name:'body' + id});
mesh.body = new THREE.Mesh( geos.box, matBox );
mesh.body.scale.set( 160,50,400 );
scene.add( mesh.body );
var x = 100, z = 180;
var axe1 = [0, 0, 1];
var axe2 = [0, 1, 0];
for(var i=0; i<4; i++){
if(i==1 || i==3) x = -100;
else x = 100;
if(i==2 || i==3) z = -180;
phy.w[i] = world.add({type:'cylinder', size:[radius*0.5,30], pos:[x,100,z], rot:[0,0,90], move:true, config:[10,10,0.0], name:'w'+i+'_'+id});
// spring:[8,1]
mesh.w[i] = new THREE.Mesh( geos.cylinder, matBox );
mesh.w[i].scale.set( radius*0.5, 30, radius*0.5 );
phy.j[i] = world.add({type:"jointWheel", body1:'body' + id, body2:'w'+i+'_'+id, pos1:[x,0,z], pos2:[0,0,0], axe1:axe1, axe2:axe2, spring:[8,1], collision:false });
// , spring:[8,1]
scene.add( mesh.w[i] );
}
this.body = phy.body;
this.phy = phy;
this.mesh = mesh;
//return this;
//cars.push({ phy:phy, mesh:mesh })
cars.push(this)
};
vehicle.prototype = {
correctRotation : function (w) {
var t = this.body.rotation.elements;
var x = w.rotation.elements;
var axis1 = new OIMO.Vec3( t[1], t[4], t[7]);
//var axis2 = new OIMO.Vec3( x[2], x[5], x[8]);
var axis2 = new OIMO.Vec3( x[1], x[4], x[7]);
//var axis2 = new OIMO.Vec3( x[0], x[3], x[6]);
var axis3 = new OIMO.Vec3().sub(axis2, axis1.scaleEqual(axis1.dot(axis2)));
w.orientation.mul( new OIMO.Quat().arc(axis2, axis3.normalize(axis3)), w.orientation );
w.orientation.normalize( w.orientation );
}
}
var isMobile = false;
var antialias = true;
// three var
var camera, scene, light, renderer, canvas, controls, content;
var cars = [];
var meshs = [];
var grounds = [];
var paddel;
var matBox, matSphere, matBoxSleep, matSphereSleep, matGround, matGroundTrans;
var buffgeoSphere, buffgeoBox;
var ray, mouse;
var ToRad = Math.PI / 180;
var ToDeg = 180 / Math.PI;
var rotTest;
//oimo var
var world = null;
var bodys = null;
var infos;
var type = 1;
var geos = {};
init();
loop();
function init() {
var n = navigator.userAgent;
if (n.match(/Android/i) || n.match(/webOS/i) || n.match(/iPhone/i) || n.match(/iPad/i) || n.match(/iPod/i) || n.match(/BlackBerry/i) || n.match(/Windows Phone/i)){ isMobile = true; antialias = false; document.getElementById("MaxNumber").value = 200; }
infos = document.getElementById("info");
canvas = document.getElementById("canvas");
camera = new THREE.PerspectiveCamera( 60, window.innerWidth / window.innerHeight, 1, 5000 );
camera.position.set( -400, 160, 0 );
controls = new THREE.OrbitControls( camera, canvas );
controls.enableKeys = false; // So it doesn't conflict with cars
controls.target.set(0, 20, 0);
controls.update();
ray = new THREE.Raycaster();
mouse = new THREE.Vector2();
scene = new THREE.Scene();
renderer = new THREE.WebGLRenderer({ canvas:canvas, precision: "mediump", antialias:antialias });
renderer.setSize( window.innerWidth, window.innerHeight );
content = new THREE.Object3D();
scene.add(content);
var materialType = 'MeshBasicMaterial';
if(!isMobile){
scene.add( new THREE.AmbientLight( 0x3D4143 ) );
light = new THREE.DirectionalLight( 0xffffff , 1);
light.position.set( 300, 1000, 500 );
light.target.position.set( 0, 0, 0 );
light.castShadow = true;
light.shadowCameraNear = 500;
light.shadowCameraFar = 1600;
light.shadowCameraFov = 70;
light.shadowBias = 0.0001;
light.shadowDarkness = 0.7;
light.shadowMapWidth = light.shadowMapHeight = 1024;
scene.add( light );
materialType = 'MeshPhongMaterial';
renderer.shadowMap.enabled = true;
renderer.shadowMap.type = THREE.PCFShadowMap;//THREE.BasicShadowMap;
}
// background
var buffgeoBack = new THREE.BufferGeometry();
buffgeoBack.fromGeometry( new THREE.IcosahedronGeometry(3000,1) );
var back = new THREE.Mesh( buffgeoBack, new THREE.MeshBasicMaterial( { map:gradTexture([[1,0.75,0.5,0.25], ['#1B1D1E','#3D4143','#72797D', '#b0babf']]), side:THREE.BackSide, depthWrite: false } ));
back.geometry.applyMatrix(new THREE.Matrix4().makeRotationZ(15*ToRad));
scene.add( back );
// geometries
geos['sphere'] = new THREE.BufferGeometry().fromGeometry( new THREE.SphereGeometry(1,16,10));
geos['box'] = new THREE.BufferGeometry().fromGeometry( new THREE.BoxGeometry(1,1,1));
geos['cylinder'] = new THREE.BufferGeometry().fromGeometry(new THREE.CylinderGeometry(1,1,1, 20,1));
buffgeoSphere = new THREE.BufferGeometry();
buffgeoSphere.fromGeometry( new THREE.SphereGeometry( 1, 20, 10 ) );
buffgeoBox = new THREE.BufferGeometry();
buffgeoBox.fromGeometry( new THREE.BoxGeometry( 1, 1, 1 ) );
matSphere = new THREE[materialType]( { map: basicTexture(0), name:'sph' } );
matBox = new THREE[materialType]( { map: basicTexture(2), name:'box' } );
matSphereSleep = new THREE[materialType]( { map: basicTexture(1), name:'ssph' } );
matBoxSleep = new THREE[materialType]( { map: basicTexture(3), name:'sbox' } );
matGround = new THREE[materialType]( { color: 0x3D4143, transparent:true, opacity:0.5 } );
matGroundTrans = new THREE[materialType]( { color: 0x3D4143, transparent:true, opacity:0.6 } );
paddel = new THREE.Object3D();
rotTest = new THREE.Vector3();
// events
window.addEventListener( 'resize', onWindowResize, false );
canvas.addEventListener( 'mousemove', rayTest, false);
//canvas.onmousemove = rayTest;
// physics
initOimoPhysics();
}
function loop() {
updateOimoPhysics();
renderer.render( scene, camera );
requestAnimationFrame( loop );
}
function onWindowResize() {
camera.aspect = window.innerWidth / window.innerHeight;
camera.updateProjectionMatrix();
renderer.setSize( window.innerWidth, window.innerHeight );
}
function addStaticBox(size, position, rotation, spec) {
var mesh;
if(spec) mesh = new THREE.Mesh( buffgeoBox, matGroundTrans );
else mesh = new THREE.Mesh( buffgeoBox, matGround );
mesh.scale.set( size[0], size[1], size[2] );
mesh.position.set( position[0], position[1], position[2] );
mesh.rotation.set( rotation[0]*ToRad, rotation[1]*ToRad, rotation[2]*ToRad );
if(!grounds.length) content.add( mesh );
else scene.add( mesh );
grounds.push(mesh);
mesh.castShadow = true;
mesh.receiveShadow = true;
}
function clearMesh(){
var i = meshs.length;
while (i--) scene.remove(meshs[ i ]);
i = grounds.length;
while (i--) scene.remove(grounds[ i ]);
content.remove(content.children[0]);
i = cars.length;
while (i--){
scene.remove(cars[i].mesh.body);
scene.remove(cars[i].mesh.w[0]);
scene.remove(cars[i].mesh.w[1]);
scene.remove(cars[i].mesh.w[2]);
scene.remove(cars[i].mesh.w[3]);
}
grounds = [];
meshs = [];
cars = [];
}
function populate(){
var bm = document.getElementById("MaxNumber").value, v, xbo, ybo, zbo;
clearMesh();
world.clear();
bodys = [];
var ground = world.add({size:[4000, 40, 10000], pos:[0,-20,0] });
addStaticBox([4000, 40, 10000], [0,-20,0], [0,0,0]);
new vehicle();
}
//----------------------------------
// OIMO PHYSICS
//----------------------------------
function initOimoPhysics(){
world = new OIMO.World(1/60, 2, 8);
// ground
var ground = world.add({size:[4000, 40, 10000], pos:[0,-20,0] });
addStaticBox([4000, 40, 10000], [0,-20,0], [0,0,0]);
//populate(1);
//setInterval(updateOimoPhysics, 1000/60);
var v = new vehicle();
//vehicle();
};
function updateOimoPhysics() {
if(world == null) return;
world.step();
var i = cars.length, b, j;
while(i--){
b = cars[i];
b.mesh.body.position.copy(b.phy.body.getPosition());
b.mesh.body.quaternion.copy(b.phy.body.getQuaternion());
//if(b.mesh.body.position.z<-800) b.speed = -100;
//else if(b.mesh.body.position.z>800) b.speed = 100;
j = 4;
while(j--){
b.correctRotation(b.phy.w[j]);
b.mesh.w[j].position.copy(b.phy.w[j].getPosition());
b.mesh.w[j].quaternion.copy(b.phy.w[j].getQuaternion());
b.phy.j[j].rotationalLimitMotor2.setMotor(b.speed, b.force);
//b.correctRotation(b.phy.w[j]);
}
}
// contact test
/* if(world.checkContact('paddle', 'sphere')) meshs[bodys.length-1].material = matSphere;
else if(world.checkContact('paddle', 'box')) meshs[bodys.length-1].material = matBox;
else meshs[bodys.length-1].material = matBoxSleep;*/
infos.innerHTML = world.performance.show();
}
function gravity(g){
nG = document.getElementById("gravity").value
world.gravity = new OIMO.Vec3(0, nG, 0);
}
var unwrapDegrees = function (r) {
r = r % 360;
if (r > 180) r -= 360;
if (r < -180) r += 360;
return r;
}
//----------------------------------
// TEXTURES
//----------------------------------
function gradTexture(color) {
var c = document.createElement("canvas");
var ct = c.getContext("2d");
c.width = 16; c.height = 256;
var gradient = ct.createLinearGradient(0,0,0,256);
var i = color[0].length;
while(i--){ gradient.addColorStop(color[0][i],color[1][i]); }
ct.fillStyle = gradient;
ct.fillRect(0,0,16,256);
var texture = new THREE.Texture(c);
texture.needsUpdate = true;
return texture;
}
function basicTexture(n){
var canvas = document.createElement( 'canvas' );
canvas.width = canvas.height = 64;
var ctx = canvas.getContext( '2d' );
var colors = [];
if(n===0){ // sphere
colors[0] = "#58AA80";
colors[1] = "#58FFAA";
}
if(n===1){ // sphere sleep
colors[0] = "#383838";
colors[1] = "#38AA80";
}
if(n===2){ // box
colors[0] = "#AA8058";
colors[1] = "#FFAA58";
}
if(n===3){ // box sleep
colors[0] = "#383838";
colors[1] = "#AA8038";
}
ctx.fillStyle = colors[0];
ctx.fillRect(0, 0, 64, 64);
ctx.fillStyle = colors[1];
ctx.fillRect(0, 0, 32, 32);
ctx.fillRect(32, 32, 32, 32);
var tx = new THREE.Texture(canvas);
tx.needsUpdate = true;
return tx;
}
//----------------------------------
// RAY TEST
//----------------------------------
function rayTest(e) {
mouse.x = ( e.clientX / window.innerWidth ) * 2 - 1;
mouse.y = - ( e.clientY / window.innerHeight ) * 2 + 1;
ray.setFromCamera( mouse, camera );
var intersects = ray.intersectObjects( content.children, true );
if ( intersects.length) {
paddel.position.copy( intersects[0].point.add(new THREE.Vector3( 0, 20, 0 )) );
}
}
// Key controls
var KEYID = {ARROW_UP: 38, ARROW_DOWN: 40, ARROW_LEFT: 37, ARROW_RIGHT: 39};
document.addEventListener("keydown", function(event){
var j = cars.length, b;
while(j--){
b = cars[j];
switch(event.which || event.keyCode){
case KEYID.ARROW_UP:
b.speed = 100;
break;
case KEYID.ARROW_DOWN:
b.speed = -100;
break;
case KEYID.ARROW_LEFT:
// I'm so confused right now...
//b.phy.j[0].rotationalLimitMotor1.setMotor(100, 20);
//b.phy.j[1].rotationalLimitMotor1.setMotor(100, 20);
break;
case KEYID.ARROW_RIGHT:
// Still confused... I think we need proper docs
//b.phy.j[0].rotationalLimitMotor1.setMotor(-100, 20);
//b.phy.j[1].rotationalLimitMotor1.setMotor(-100, 20);
break;
}
}
});
document.addEventListener("keyup", function(event){
var P = cars.length, b;
while(P--){
b = cars[P];
b.speed = 0;
b.phy.j[0].rotationalLimitMotor1.setMotor(0, 4);
b.phy.j[1].rotationalLimitMotor1.setMotor(0, 4);
}
});
</script>
</body>
</html>