demos/trimesh.html

<!DOCTYPE html>
<html>
  <head>
    <title>cannon.js - trimesh demo</title>
    <meta charset="utf-8">
    <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 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/TrackballControls.js"></script>
    <script src="../libs/Detector.js"></script>
    <script src="../libs/Stats.js"></script>
    <script src="../libs/smoothie.js"></script>
    <script>

      var demo = new CANNON.Demo();
      var size = 2;

      demo.addScene("Trimesh",function(){

        var shape = CANNON.Trimesh.createTorus(4, 3.5, 16, 16);

        // Create world
        var world = demo.getWorld();
        world.gravity.set(0,0,-10);
        world.broadphase = new CANNON.NaiveBroadphase();
        world.solver.iterations = 10;

        world.defaultContactMaterial.contactEquationStiffness = 1e7;
        world.defaultContactMaterial.contactEquationRelaxation = 4;

        // ground plane
        var groundShape = new CANNON.Plane();
        var groundBody = new CANNON.Body({ mass: 0 });
        groundBody.addShape(groundShape);
        world.addBody(groundBody);
        demo.addVisual(groundBody);

        // sphere
        var sphereShape = new CANNON.Sphere(1);
        var sphereBody = new CANNON.Body({
          mass: 1,
          shape: sphereShape,
          position: new CANNON.Vec3(3,3,11)
        });
        world.addBody(sphereBody);
        demo.addVisual(sphereBody);

        // Shape on plane
        var shapeBody = new CANNON.Body({ mass: 1 });
        shapeBody.addShape(shape);
        var pos = new CANNON.Vec3(0,0,size);
        shapeBody.position.set(0,0,size*2);
        shapeBody.velocity.set(0,1,1);
        shapeBody.angularVelocity.set(0,0,0);
        world.addBody(shapeBody);
        demo.addVisual(shapeBody);
      });

      demo.addScene("Raycasting",function(){

        var shape = CANNON.Trimesh.createTorus(4, 3.5, 16, 16);

        // Create world
        var world = demo.getWorld();
        world.gravity.set(0,0,0);

        // particle as marker for the raycast hit
        var N = 5;
        var particleShape = new CANNON.Particle();
        var particleBodies = [];
        for(var i=0; i<N*N; i++){
          var particleBody = new CANNON.Body({
            mass: 1,
            shape: particleShape,
            collisionResponse: false
          });
          world.addBody(particleBody);
          demo.addVisual(particleBody);
          particleBodies.push(particleBody);
        }

        // Shape on plane
        var shapeBody = new CANNON.Body({ mass: 1, position: new CANNON.Vec3(0.01, 0.01, 0.01) });
        shapeBody.addShape(shape);
        shapeBody.angularVelocity.set(0,1,0);
        world.addBody(shapeBody);
        demo.addVisual(shapeBody);

        var from = new CANNON.Vec3(10,1,0);
        var to = new CANNON.Vec3(-10,1,0);
        var result = new CANNON.RaycastResult();
        var raycastOptions = {};
        var listener = function (evt) {
          for(var i=0; i<N; i++){
            for(var j=0; j<N; j++){
              from.set(
                10,
                i * 0.1,
                j * 0.1
              );
              to.set(
                -10,
                i * 0.1,
                j * 0.1
              );
              result.reset();
              world.raycastClosest(from, to, raycastOptions, result);
              particleBodies[i * N + j].position.copy(result.hitPointWorld);
            }
          }
        };
        world.addEventListener('postStep', listener);
        var destroyer = function(){
          world.removeEventListener('postStep', listener);
          demo.removeEventListener('destroy', destroyer);
        };
        demo.addEventListener('destroy', destroyer);
      });

      demo.start();

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