treeform · February 9, 2013 17:36
diff --git a/gistfile1.js b/gistfile1.js
 <DOCTYPE html>
 <html>
  <head>
    <title>cannon.js - compound demo</title>
    <meta charset="utf-8">
    <style>* {margin:0;padding:0}</style>
  </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/Detector.js"></script>
    <script src="../libs/Stats.js"></script>
    <script>

      var demo = new CANNON.Demo({
        stepFrequency:180,
      });
     
      
      // list of spheres
      var sphers = [];
      
      demo.addScene("Spheres",function(){
          var world = setupWorld(demo);
      
          for(i=0; i < 10; i++) {  
              // Compound shape
              var compoundShape = new CANNON.Compound();
              // create a cone/snowman body, many of may space ships have this shape
              compoundShape.addChild(new CANNON.Sphere(.45), new CANNON.Vec3( 0, 0,-.2));
              compoundShape.addChild(new CANNON.Sphere(.4), new CANNON.Vec3( 0, 0, .2));
              compoundShape.addChild(new CANNON.Sphere(.2), new CANNON.Vec3( 0, 0, .6));
              
              var mass = 10;
              var body = new CANNON.RigidBody(mass,compoundShape);
              body.position.set(-Math.random()*5,Math.random()*5,1+Math.random()*5);
              body.quaternion.set(0,1,0,0.1);
              body.angularDamping = .1
     
              // which direction you are going to
              body.dir = -1;
              
              world.add(body);
              demo.addVisual(body);
              sphers.push(body);
              console.log(body);
          }
          move()
        });
      
      function move(){
        for(var i in sphers){
            s = sphers[i]
        
            // there seem to be no quat.traslate vec3
            // so i had to write one myself
            // i might have made errors, copied form here:
            // http://www.flipcode.com/documents/matrfaq.html#Q47
            
            var X = s.quaternion.x, 
                Y = s.quaternion.y, 
                Z = s.quaternion.z, 
                W = s.quaternion.w;
            
            xx      = X * X;
            xy      = X * Y;
            xz      = X * Z;
            xw      = X * W;

            yy      = Y * Y;
            yz      = Y * Z;
            yw      = Y * W;

            zz      = Z * Z;
            zw      = Z * W;

            m3 = new CANNON.Mat3();
            
            mat = m3.elements;

            mat[0]  = 1 - 2 * ( yy + zz );
            mat[1]  =     2 * ( xy - zw );
            mat[2]  =     2 * ( xz + yw );

            mat[3]  =     2 * ( xy + zw );
            mat[4]  = 1 - 2 * ( xx + zz );
            mat[5]  =     2 * ( yz - xw );

            mat[6]  =     2 * ( xz - yw );
            mat[7]  =     2 * ( yz + xw );
            mat[8]  = 1 - 2 * ( xx + yy );

            var fov = new CANNON.Vec3(0,0,1);

            // quaternion.forward() would be nice          
            fov = m3.vmult(fov);

            
            if ((s.dir > 0 && s.position.x > s.dir*10) || (s.dir < 0 && s.position.x < s.dir*10)) {
                console.log("Go the other way!", s.position.x, s.dir)
                s.dir = - s.dir;
            }
            
            // when go exaclty back distabalize and force a turn
            fov.y += Math.random()*.01
            
            // s.applyLocalImpulse would be nice
            s.applyImpulse(
                //s.position,  // zero rotation
                s.position.vadd(fov.mult(7)), // apply some rotation to turn twards the direction
                new CANNON.Vec3(s.dir*4,0,0)
            )
        }
      }
      
      function setupWorld(demo){
        var world = demo.getWorld();
        world.gravity.set(0,0,0);
        world.broadphase = new CANNON.NaiveBroadphase();
        world.solver.iterations = 5;
        world.solver.k = 10000;
        world.solver.d = 10;
      
        // ground plane
        var groundShape = new CANNON.Plane();
        var groundBody = new CANNON.RigidBody(0,groundShape);
        world.add(groundBody);
        demo.addVisual(groundBody);
       
        setInterval(move, 1);
        
        return world;
      };
      
      demo.start();
      
    </script>
  </body>
 </html>
	<DOCTYPE html>
	<html>
	<head>
	<title>cannon.js - compound demo</title>
	<meta charset="utf-8">
	<style>* {margin:0;padding:0}</style>
	</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/Detector.js"></script>
	<script src="../libs/Stats.js"></script>
	<script>

	var demo = new CANNON.Demo({
	stepFrequency:180,
	});


	// list of spheres
	var sphers = [];

	demo.addScene("Spheres",function(){
	var world = setupWorld(demo);

	for(i=0; i < 10; i++) {
	// Compound shape
	var compoundShape = new CANNON.Compound();
	// create a cone/snowman body, many of may space ships have this shape
	compoundShape.addChild(new CANNON.Sphere(.45), new CANNON.Vec3( 0, 0,-.2));
	compoundShape.addChild(new CANNON.Sphere(.4), new CANNON.Vec3( 0, 0, .2));
	compoundShape.addChild(new CANNON.Sphere(.2), new CANNON.Vec3( 0, 0, .6));

	var mass = 10;
	var body = new CANNON.RigidBody(mass,compoundShape);
	body.position.set(-Math.random()5,Math.random()5,1+Math.random()*5);
	body.quaternion.set(0,1,0,0.1);
	body.angularDamping = .1

	// which direction you are going to
	body.dir = -1;

	world.add(body);
	demo.addVisual(body);
	sphers.push(body);
	console.log(body);
	}
	move()
	});

	function move(){
	for(var i in sphers){
	s = sphers[i]

	// there seem to be no quat.traslate vec3
	// so i had to write one myself
	// i might have made errors, copied form here:
	// http://www.flipcode.com/documents/matrfaq.html#Q47

	var X = s.quaternion.x,
	Y = s.quaternion.y,
	Z = s.quaternion.z,
	W = s.quaternion.w;

	xx = X * X;
	xy = X * Y;
	xz = X * Z;
	xw = X * W;

	yy = Y * Y;
	yz = Y * Z;
	yw = Y * W;

	zz = Z * Z;
	zw = Z * W;

	m3 = new CANNON.Mat3();

	mat = m3.elements;

	mat[0] = 1 - 2 * ( yy + zz );
	mat[1] = 2 * ( xy - zw );
	mat[2] = 2 * ( xz + yw );

	mat[3] = 2 * ( xy + zw );
	mat[4] = 1 - 2 * ( xx + zz );
	mat[5] = 2 * ( yz - xw );

	mat[6] = 2 * ( xz - yw );
	mat[7] = 2 * ( yz + xw );
	mat[8] = 1 - 2 * ( xx + yy );

	var fov = new CANNON.Vec3(0,0,1);

	// quaternion.forward() would be nice
	fov = m3.vmult(fov);


	if ((s.dir > 0 && s.position.x > s.dir10) \|\| (s.dir < 0 && s.position.x < s.dir10)) {
	console.log("Go the other way!", s.position.x, s.dir)
	s.dir = - s.dir;
	}

	// when go exaclty back distabalize and force a turn
	fov.y += Math.random()*.01

	// s.applyLocalImpulse would be nice
	s.applyImpulse(
	//s.position, // zero rotation
	s.position.vadd(fov.mult(7)), // apply some rotation to turn twards the direction
	new CANNON.Vec3(s.dir*4,0,0)
	)
	}
	}

	function setupWorld(demo){
	var world = demo.getWorld();
	world.gravity.set(0,0,0);
	world.broadphase = new CANNON.NaiveBroadphase();
	world.solver.iterations = 5;
	world.solver.k = 10000;
	world.solver.d = 10;

	// ground plane
	var groundShape = new CANNON.Plane();
	var groundBody = new CANNON.RigidBody(0,groundShape);
	world.add(groundBody);
	demo.addVisual(groundBody);

	setInterval(move, 1);

	return world;
	};

	demo.start();

	</script>
	</body>
	</html>