lander

This version of the lander application has been updated to use a new method for transfering the position and orientation of an object from the physics engine to the visualization, and to use body.applyForce() rather than explicit setting of torques.

1-2-three
example 20B: lander

<!DOCTYPE html>
<html>
<head>
<title>example 20B: ammo.js lander</title>

// scratch storage for setMeshTransformFromBody()
var transformAux1 = new Ammo.btTransform();

function setMeshTransformFromBody(objPhys,objThree) {
  var ms = objPhys.getMotionState();

if (ms) {
    ms.getWorldTransform(transformAux1);
    var p = transformAux1.getOrigin();
    var q = transformAux1.getRotation();
    objThree.position.set(p.x(), p.y(), p.z());
    objThree.quaternion.set(q.x(), q.y(), q.z(), q.w());
  }
}

function initPhysics() {
  var collision_config = new Ammo.btDefaultCollisionConfiguration();
  var dispatcher = new Ammo.btCollisionDispatcher( collision_config );
  var overlappingPairCache =  new Ammo.btDbvtBroadphase();
  var solver = new Ammo.btSequentialImpulseConstraintSolver();
  var dynamicsWorld = new Ammo.btDiscreteDynamicsWorld( dispatcher, overlappingPairCache, solver, collision_config );
  dynamicsWorld.setGravity(new Ammo.btVector3(0, -12, 0));
  return dynamicsWorld;
}

function body2world(body,v3B) {
  return body.getCenterOfMassTransform().op_mul(v3B);
}

function copyAmmoVec(frm, to) {
  to.setX( frm.x() );
  to.setY( frm.y() );
  to.setZ( frm.z() );
}

function rotateToWorld(body,localV,worldV) {
  var cmPos = body.getCenterOfMassPosition();
  var resultV = body2world(body,localV);
  copyAmmoVec( resultV, worldV );
  worldV.op_sub(cmPos);
}

function init() {
  var mycanvas = document.getElementsByTagName("canvas")[0];
  var w = mycanvas.clientWidth;
  var h = mycanvas.clientHeight;

renderer = new THREE.WebGLRenderer({canvas:mycanvas});
  renderer.setSize( w, h );

scene = new THREE.Scene();
  scene.matrixAutoUpdate = false;

camera = new THREE.PerspectiveCamera(
      35,     // Field of view
      w / h,  // Aspect ratio
      0.1,    // Near
      10000   // Far
  );
  camera.position.set( -30, 0, 50 );
  scene.add(camera);
  camera.lookAt( new THREE.Vector3(0,-15,0) );

var light = new THREE.PointLight( 0xFFFF33 );
  light.position.set( 10, 0, 10 );
  scene.add( light );
  
  light = new THREE.AmbientLight( 0xCCCCBB );
  scene.add( light );
  
  var dynamicsWorld = initPhysics();
  
  // ground physics
  var groundShape=new Ammo.btBoxShape(new Ammo.btVector3(20,10,20));
  var groundTransform=new Ammo.btTransform();
  groundTransform.setIdentity();
  groundTransform.setOrigin(new Ammo.btVector3(0,-25,0));
  var localInertia=new Ammo.btVector3(0,0,0);
  var motionState = new Ammo.btDefaultMotionState( groundTransform );
  var mass = 0;
  var cInfo = new Ammo.btRigidBodyConstructionInfo(mass, motionState, groundShape, localInertia);
  var body=new Ammo.btRigidBody(cInfo);
  dynamicsWorld.addRigidBody(body);
  
  // ground visualization
  var groundCube = new THREE.Mesh(
    new THREE.CubeGeometry( 2*20, 2*10, 2*20 ),
    new THREE.MeshLambertMaterial( { color: 0x0000FF } )
  );
  scene.add( groundCube );
  groundCube.position.set(0,-25,0);
  
  var lander = new Lander(scene,dynamicsWorld);
  
  var clock = new THREE.Clock();

function onKeyUp(evt) {
    switch (evt.keyCode) {
      case 65: // 'a'
        index = 0;
        lander.thrustCubeA[index].visible = false;
        lander.trimOnA[index] = false;
        break;
      case 68: // 'd'
        index = 1;
        lander.thrustCubeA[index].visible = false;
        lander.trimOnA[index] = false;
        break;
      case 87: // 'w'
        index = 3;
        lander.thrustCubeA[index].visible = false;
        lander.trimOnA[index] = false;
        break;
      case 83: // 's'
        index = 2;
        lander.thrustCubeA[index].visible = false;
        lander.trimOnA[index] = false;
        break;
      case 32: // spacebar
        lander.mainThrustCube.visible = false;
        lander.mainOn = false; 
        break;
    }
  }
  
  window.onkeydown = onKeyDown;
  window.onkeyup = onKeyUp;	
}

window.onload = init;

</script>
 </head>
 <body>
   <canvas id="canvas" style="width:100%;height:95%;border:1px gray solid;"></canvas>
 </body>
</html>

lander

1-2-threeexample 20B: lander

1-2-three
example 20B: lander