Physijs test

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Jim Savage
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How do I make an physijs test?

What is a physijs test? How do you make a physijs test? This script and codes were developed by Jim Savage on 19 November 2022, Saturday.

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Physijs test - Script Codes HTML Codes

<!DOCTYPE html>
<html >
<head> <meta charset="UTF-8"> <title>Physijs test</title> <link rel="stylesheet" href="css/style.css">
</head>
<body> <div id="viewport"></div>
<script id="physijs_worker" type="javascript/worker">
'use strict';
var	transferableMessage = self.webkitPostMessage || self.postMessage,	// enum	MESSAGE_TYPES = {	WORLDREPORT: 0,	COLLISIONREPORT: 1,	VEHICLEREPORT: 2,	CONSTRAINTREPORT: 3	},	// temp variables	_object,	_vector,	_transform,	// functions	public_functions = {},	getShapeFromCache,	setShapeCache,	createShape,	reportWorld,	reportVehicles,	reportCollisions,	reportConstraints,	// world variables	fixedTimeStep, // used when calling stepSimulation	rateLimit, // sets whether or not to sync the simulation rate with fixedTimeStep	last_simulation_time,	last_simulation_duration = 0,	world,	transform,	_vec3_1,	_vec3_2,	_vec3_3,	_quat,	// private cache	_objects = {},	_vehicles = {},	_constraints = {},	_materials = {},	_objects_ammo = {},	_num_objects = 0,	_num_wheels = 0,	_num_constraints = 0,	_object_shapes = {},	// The following objects are to track objects that ammo.js doesn't clean	// up. All are cleaned up when they're corresponding body is destroyed.	// Unfortunately, it's very difficult to get at these objects from the	// body, so we have to track them ourselves.	_motion_states = {},	// Don't need to worry about it for cached shapes. _noncached_shapes = {},	// A body with a compound shape always has a regular shape as well, so we	// have track them separately. _compound_shapes = {},	// object reporting	REPORT_CHUNKSIZE, // report array is increased in increments of this chunk size	WORLDREPORT_ITEMSIZE = 14, // how many float values each reported item needs	worldreport,	COLLISIONREPORT_ITEMSIZE = 5, // one float for each object id, and a Vec3 contact normal	collisionreport,	VEHICLEREPORT_ITEMSIZE = 9, // vehicle id, wheel index, 3 for position, 4 for rotation	vehiclereport,	CONSTRAINTREPORT_ITEMSIZE = 6, // constraint id, offset object, offset, applied impulse	constraintreport;
var ab = new ArrayBuffer( 1 );
transferableMessage( ab, [ab] );
var SUPPORT_TRANSFERABLE = ( ab.byteLength === 0 );
getShapeFromCache = function ( cache_key ) {	if ( _object_shapes[ cache_key ] !== undefined ) {	return _object_shapes[ cache_key ];	}	return null;
};
setShapeCache = function ( cache_key, shape ) {	_object_shapes[ cache_key ] = shape;
}
createShape = function( description ) {	var cache_key, shape;	_transform.setIdentity();	switch ( description.type ) {	case 'plane':	cache_key = 'plane_' + description.normal.x + '_' + description.normal.y + '_' + description.normal.z;	if ( ( shape = getShapeFromCache( cache_key ) ) === null ) {	_vec3_1.setX(description.normal.x);	_vec3_1.setY(description.normal.y);	_vec3_1.setZ(description.normal.z);	shape = new Ammo.btStaticPlaneShape(_vec3_1, 0 );	setShapeCache( cache_key, shape );	}	break;	case 'box':	cache_key = 'box_' + description.width + '_' + description.height + '_' + description.depth;	if ( ( shape = getShapeFromCache( cache_key ) ) === null ) {	_vec3_1.setX(description.width / 2);	_vec3_1.setY(description.height / 2);	_vec3_1.setZ(description.depth / 2);	shape = new Ammo.btBoxShape(_vec3_1);	setShapeCache( cache_key, shape );	}	break;	case 'sphere':	cache_key = 'sphere_' + description.radius;	if ( ( shape = getShapeFromCache( cache_key ) ) === null ) {	shape = new Ammo.btSphereShape( description.radius );	setShapeCache( cache_key, shape );	}	break;	case 'cylinder':	cache_key = 'cylinder_' + description.width + '_' + description.height + '_' + description.depth;	if ( ( shape = getShapeFromCache( cache_key ) ) === null ) {	_vec3_1.setX(description.width / 2);	_vec3_1.setY(description.height / 2);	_vec3_1.setZ(description.depth / 2);	shape = new Ammo.btCylinderShape(_vec3_1);	setShapeCache( cache_key, shape );	}	break;	case 'capsule':	cache_key = 'capsule_' + description.radius + '_' + description.height;	if ( ( shape = getShapeFromCache( cache_key ) ) === null ) {	// In Bullet, capsule height excludes the end spheres	shape = new Ammo.btCapsuleShape( description.radius, description.height - 2 * description.radius );	setShapeCache( cache_key, shape );	}	break;	case 'cone':	cache_key = 'cone_' + description.radius + '_' + description.height;	if ( ( shape = getShapeFromCache( cache_key ) ) === null ) {	shape = new Ammo.btConeShape( description.radius, description.height );	setShapeCache( cache_key, shape );	}	break;	case 'concave':	var i, triangle, triangle_mesh = new Ammo.btTriangleMesh;	if (!description.triangles.length) return false	for ( i = 0; i < description.triangles.length; i++ ) {	triangle = description.triangles[i];	_vec3_1.setX(triangle[0].x);	_vec3_1.setY(triangle[0].y);	_vec3_1.setZ(triangle[0].z);	_vec3_2.setX(triangle[1].x);	_vec3_2.setY(triangle[1].y);	_vec3_2.setZ(triangle[1].z);	_vec3_3.setX(triangle[2].x);	_vec3_3.setY(triangle[2].y);	_vec3_3.setZ(triangle[2].z);	triangle_mesh.addTriangle(	_vec3_1,	_vec3_2,	_vec3_3,	true	);	}	shape = new Ammo.btBvhTriangleMeshShape(	triangle_mesh,	true,	true	);	_noncached_shapes[description.id] = shape;	break;	case 'convex':	var i, point, shape = new Ammo.btConvexHullShape;	for ( i = 0; i < description.points.length; i++ ) {	point = description.points[i];	_vec3_1.setX(point.x);	_vec3_1.setY(point.y);	_vec3_1.setZ(point.z);	shape.addPoint(_vec3_1);	}	_noncached_shapes[description.id] = shape;	break;	case 'heightfield':	var ptr = Ammo.allocate(4 * description.xpts * description.ypts, "float", Ammo.ALLOC_NORMAL);	for (var f = 0; f < description.points.length; f++) {	Ammo.setValue(ptr + f, description.points[f] , 'float');	}	shape = new Ammo.btHeightfieldTerrainShape(	description.xpts,	description.ypts,	ptr,	1,	-description.absMaxHeight,	description.absMaxHeight,	2,	0,	false	);	_vec3_1.setX(description.xsize/(description.xpts - 1));	_vec3_1.setY(description.ysize/(description.ypts - 1));	_vec3_1.setZ(1);	shape.setLocalScaling(_vec3_1);	_noncached_shapes[description.id] = shape;	break;	default:	// Not recognized	return;	break;	}	return shape;
};
public_functions.init = function( params ) {	importScripts( params.ammo );	_transform = new Ammo.btTransform;	_vec3_1 = new Ammo.btVector3(0,0,0);	_vec3_2 = new Ammo.btVector3(0,0,0);	_vec3_3 = new Ammo.btVector3(0,0,0);	_quat = new Ammo.btQuaternion(0,0,0,0);	REPORT_CHUNKSIZE = params.reportsize || 50;	if ( SUPPORT_TRANSFERABLE ) {	// Transferable messages are supported, take advantage of them with TypedArrays	worldreport = new Float32Array(2 + REPORT_CHUNKSIZE * WORLDREPORT_ITEMSIZE); // message id + # of objects to report + chunk size * # of values per object	collisionreport = new Float32Array(2 + REPORT_CHUNKSIZE * COLLISIONREPORT_ITEMSIZE); // message id + # of collisions to report + chunk size * # of values per object	vehiclereport = new Float32Array(2 + REPORT_CHUNKSIZE * VEHICLEREPORT_ITEMSIZE); // message id + # of vehicles to report + chunk size * # of values per object	constraintreport = new Float32Array(2 + REPORT_CHUNKSIZE * CONSTRAINTREPORT_ITEMSIZE); // message id + # of constraints to report + chunk size * # of values per object	} else {	// Transferable messages are not supported, send data as normal arrays	worldreport = [];	collisionreport = [];	vehiclereport = [];	constraintreport = [];	}	worldreport[0] = MESSAGE_TYPES.WORLDREPORT;	collisionreport[0] = MESSAGE_TYPES.COLLISIONREPORT;	vehiclereport[0] = MESSAGE_TYPES.VEHICLEREPORT;	constraintreport[0] = MESSAGE_TYPES.CONSTRAINTREPORT;	var collisionConfiguration = new Ammo.btDefaultCollisionConfiguration,	dispatcher = new Ammo.btCollisionDispatcher( collisionConfiguration ),	solver = new Ammo.btSequentialImpulseConstraintSolver,	broadphase;	if ( !params.broadphase ) params.broadphase = { type: 'dynamic' };	switch ( params.broadphase.type ) {	case 'sweepprune':	_vec3_1.setX(params.broadphase.aabbmin.x);	_vec3_1.setY(params.broadphase.aabbmin.y);	_vec3_1.setZ(params.broadphase.aabbmin.z);	_vec3_2.setX(params.broadphase.aabbmax.x);	_vec3_2.setY(params.broadphase.aabbmax.y);	_vec3_2.setZ(params.broadphase.aabbmax.z);	broadphase = new Ammo.btAxisSweep3(	_vec3_1,	_vec3_2	);	break;	case 'dynamic':	default:	broadphase = new Ammo.btDbvtBroadphase;	break;	}	world = new Ammo.btDiscreteDynamicsWorld( dispatcher, broadphase, solver, collisionConfiguration );	fixedTimeStep = params.fixedTimeStep;	rateLimit = params.rateLimit;	transferableMessage({ cmd: 'worldReady' });
};
public_functions.registerMaterial = function( description ) {	_materials[ description.id ] = description;
};
public_functions.unRegisterMaterial = function( description ) {	delete _materials[ description.id ];
};
public_functions.setFixedTimeStep = function( description ) {	fixedTimeStep = description;
};
public_functions.setGravity = function( description ) {	_vec3_1.setX(description.x);	_vec3_1.setY(description.y);	_vec3_1.setZ(description.z);	world.setGravity(_vec3_1);
};
public_functions.addObject = function( description ) {	var i,	localInertia, shape, motionState, rbInfo, body;
shape = createShape( description );
if (!shape) return
// If there are children then this is a compound shape
if ( description.children ) {	var compound_shape = new Ammo.btCompoundShape, _child;	compound_shape.addChildShape( _transform, shape );	for ( i = 0; i < description.children.length; i++ ) {	_child = description.children[i];	var trans = new Ammo.btTransform;	trans.setIdentity();	_vec3_1.setX(_child.position_offset.x);	_vec3_1.setY(_child.position_offset.y);	_vec3_1.setZ(_child.position_offset.z);	trans.setOrigin(_vec3_1);	_quat.setX(_child.rotation.x);	_quat.setY(_child.rotation.y);	_quat.setZ(_child.rotation.z);	_quat.setW(_child.rotation.w);	trans.setRotation(_quat);	shape = createShape( description.children[i] );	compound_shape.addChildShape( trans, shape );	Ammo.destroy(trans);	}	shape = compound_shape; _compound_shapes[ description.id ] = shape;	}	_vec3_1.setX(0);	_vec3_1.setY(0);	_vec3_1.setZ(0);	shape.calculateLocalInertia( description.mass, _vec3_1 );	_transform.setIdentity();	_vec3_2.setX(description.position.x);	_vec3_2.setY(description.position.y);	_vec3_2.setZ(description.position.z);	_transform.setOrigin(_vec3_2);	_quat.setX(description.rotation.x);	_quat.setY(description.rotation.y);	_quat.setZ(description.rotation.z);	_quat.setW(description.rotation.w);	_transform.setRotation(_quat);	motionState = new Ammo.btDefaultMotionState( _transform ); // #TODO: btDefaultMotionState supports center of mass offset as second argument - implement	rbInfo = new Ammo.btRigidBodyConstructionInfo( description.mass, motionState, shape, _vec3_1 );	if ( description.materialId !== undefined ) {	rbInfo.set_m_friction( _materials[ description.materialId ].friction );	rbInfo.set_m_restitution( _materials[ description.materialId ].restitution );	}	body = new Ammo.btRigidBody( rbInfo );	Ammo.destroy(rbInfo);	if ( typeof description.collision_flags !== 'undefined' ) {	body.setCollisionFlags( description.collision_flags );	}	world.addRigidBody( body );	body.id = description.id;	_objects[ body.id ] = body;	_motion_states[ body.id ] = motionState;	var ptr = body.a != undefined ? body.a : body.ptr;	_objects_ammo[ptr] = body.id;	_num_objects++;	transferableMessage({ cmd: 'objectReady', params: body.id });
};
public_functions.addVehicle = function( description ) {	var vehicle_tuning = new Ammo.btVehicleTuning(),	vehicle;	vehicle_tuning.set_m_suspensionStiffness( description.suspension_stiffness );	vehicle_tuning.set_m_suspensionCompression( description.suspension_compression );	vehicle_tuning.set_m_suspensionDamping( description.suspension_damping );	vehicle_tuning.set_m_maxSuspensionTravelCm( description.max_suspension_travel );	vehicle_tuning.set_m_maxSuspensionForce( description.max_suspension_force );	vehicle = new Ammo.btRaycastVehicle( vehicle_tuning, _objects[ description.rigidBody ], new Ammo.btDefaultVehicleRaycaster( world ) );	vehicle.tuning = vehicle_tuning;	_objects[ description.rigidBody ].setActivationState( 4 );	vehicle.setCoordinateSystem( 0, 1, 2 );	world.addVehicle( vehicle );	_vehicles[ description.id ] = vehicle;
};
public_functions.removeVehicle = function( description ) {	delete _vehicles[ description.id ];
};
public_functions.addWheel = function( description ) {	if ( _vehicles[description.id] !== undefined ) {	var tuning = _vehicles[description.id].tuning;	if ( description.tuning !== undefined ) {	tuning = new Ammo.btVehicleTuning();	tuning.set_m_suspensionStiffness( description.tuning.suspension_stiffness );	tuning.set_m_suspensionCompression( description.tuning.suspension_compression );	tuning.set_m_suspensionDamping( description.tuning.suspension_damping );	tuning.set_m_maxSuspensionTravelCm( description.tuning.max_suspension_travel );	tuning.set_m_maxSuspensionForce( description.tuning.max_suspension_force );	}	_vec3_1.setX(description.connection_point.x);	_vec3_1.setY(description.connection_point.y);	_vec3_1.setZ(description.connection_point.z);	_vec3_2.setX(description.wheel_direction.x);	_vec3_2.setY(description.wheel_direction.y);	_vec3_2.setZ(description.wheel_direction.z);	_vec3_3.setX(description.wheel_axle.x);	_vec3_3.setY(description.wheel_axle.y);	_vec3_3.setZ(description.wheel_axle.z);	_vehicles[description.id].addWheel(	_vec3_1,	_vec3_2,	_vec3_3,	description.suspension_rest_length,	description.wheel_radius,	tuning,	description.is_front_wheel	);	}	_num_wheels++;	if ( SUPPORT_TRANSFERABLE ) {	vehiclereport = new Float32Array(1 + _num_wheels * VEHICLEREPORT_ITEMSIZE); // message id & ( # of objects to report * # of values per object )	vehiclereport[0] = MESSAGE_TYPES.VEHICLEREPORT;	} else {	vehiclereport = [ MESSAGE_TYPES.VEHICLEREPORT ];	}
};
public_functions.setSteering = function( details ) {	if ( _vehicles[details.id] !== undefined ) {	_vehicles[details.id].setSteeringValue( details.steering, details.wheel );	}
};
public_functions.setBrake = function( details ) {	if ( _vehicles[details.id] !== undefined ) {	_vehicles[details.id].setBrake( details.brake, details.wheel );	}
};
public_functions.applyEngineForce = function( details ) {	if ( _vehicles[details.id] !== undefined ) {	_vehicles[details.id].applyEngineForce( details.force, details.wheel );	}
};
public_functions.removeObject = function( details ) {	world.removeRigidBody( _objects[details.id] );	Ammo.destroy(_objects[details.id]);	Ammo.destroy(_motion_states[details.id]); if (_compound_shapes[details.id]) Ammo.destroy(_compound_shapes[details.id]);	if (_noncached_shapes[details.id]) Ammo.destroy(_noncached_shapes[details.id]);	var ptr = _objects[details.id].a != undefined ? _objects[details.id].a : _objects[details.id].ptr;	delete _objects_ammo[ptr];	delete _objects[details.id];	delete _motion_states[details.id]; if (_compound_shapes[details.id]) delete _compound_shapes[details.id];	if (_noncached_shapes[details.id]) delete _noncached_shapes[details.id];	_num_objects--;
};
public_functions.updateTransform = function( details ) {	_object = _objects[details.id];	_object.getMotionState().getWorldTransform( _transform );	if ( details.pos ) {	_vec3_1.setX(details.pos.x);	_vec3_1.setY(details.pos.y);	_vec3_1.setZ(details.pos.z);	_transform.setOrigin(_vec3_1);	}	if ( details.quat ) {	_quat.setX(details.quat.x);	_quat.setY(details.quat.y);	_quat.setZ(details.quat.z);	_quat.setW(details.quat.w);	_transform.setRotation(_quat);	}	_object.setWorldTransform( _transform );	_object.activate();
};
public_functions.updateMass = function( details ) {	// #TODO: changing a static object into dynamic is buggy	_object = _objects[details.id];	// Per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=&f=9&t=3663#p13816	world.removeRigidBody( _object );	_vec3_1.setX(0);	_vec3_1.setY(0);	_vec3_1.setZ(0);	_object.setMassProps( details.mass, _vec3_1 );	world.addRigidBody( _object );	_object.activate();
};
public_functions.applyCentralImpulse = function ( details ) {	_vec3_1.setX(details.x);	_vec3_1.setY(details.y);	_vec3_1.setZ(details.z);	_objects[details.id].applyCentralImpulse(_vec3_1);	_objects[details.id].activate();
};
public_functions.applyImpulse = function ( details ) {	_vec3_1.setX(details.impulse_x);	_vec3_1.setY(details.impulse_y);	_vec3_1.setZ(details.impulse_z);	_vec3_2.setX(details.x);	_vec3_2.setY(details.y);	_vec3_2.setZ(details.z);	_objects[details.id].applyImpulse(	_vec3_1,	_vec3_2	);	_objects[details.id].activate();
};
public_functions.applyCentralForce = function ( details ) {	_vec3_1.setX(details.x);	_vec3_1.setY(details.y);	_vec3_1.setZ(details.z);	_objects[details.id].applyCentralForce(_vec3_1);	_objects[details.id].activate();
};
public_functions.applyForce = function ( details ) {	_vec3_1.setX(details.impulse_x);	_vec3_1.setY(details.impulse_y);	_vec3_1.setZ(details.impulse_z);	_vec3_2.setX(details.x);	_vec3_2.setY(details.y);	_vec3_2.setZ(details.z);	_objects[details.id].applyForce(	_vec3_1,	_vec3_2	);	_objects[details.id].activate();
};
public_functions.setAngularVelocity = function ( details ) {	_vec3_1.setX(details.x);	_vec3_1.setY(details.y);	_vec3_1.setZ(details.z);	_objects[details.id].setAngularVelocity(	_vec3_1	);	_objects[details.id].activate();
};
public_functions.setLinearVelocity = function ( details ) {	_vec3_1.setX(details.x);	_vec3_1.setY(details.y);	_vec3_1.setZ(details.z);	_objects[details.id].setLinearVelocity(	_vec3_1	);	_objects[details.id].activate();
};
public_functions.setAngularFactor = function ( details ) {	_vec3_1.setX(details.x);	_vec3_1.setY(details.y);	_vec3_1.setZ(details.z);	_objects[details.id].setAngularFactor(	_vec3_1	);
};
public_functions.setLinearFactor = function ( details ) {	_vec3_1.setX(details.x);	_vec3_1.setY(details.y);	_vec3_1.setZ(details.z);	_objects[details.id].setLinearFactor(	_vec3_1	);
};
public_functions.setDamping = function ( details ) {	_objects[details.id].setDamping( details.linear, details.angular );
};
public_functions.setCcdMotionThreshold = function ( details ) {	_objects[details.id].setCcdMotionThreshold( details.threshold );
};
public_functions.setCcdSweptSphereRadius = function ( details ) {	_objects[details.id].setCcdSweptSphereRadius( details.radius );
};
public_functions.addConstraint = function ( details ) {	var constraint;	switch ( details.type ) {	case 'point':	if ( details.objectb === undefined ) {	_vec3_1.setX(details.positiona.x);	_vec3_1.setY(details.positiona.y);	_vec3_1.setZ(details.positiona.z);	constraint = new Ammo.btPoint2PointConstraint(	_objects[ details.objecta ],	_vec3_1	);	} else {	_vec3_1.setX(details.positiona.x);	_vec3_1.setY(details.positiona.y);	_vec3_1.setZ(details.positiona.z);	_vec3_2.setX(details.positionb.x);	_vec3_2.setY(details.positionb.y);	_vec3_2.setZ(details.positionb.z);	constraint = new Ammo.btPoint2PointConstraint(	_objects[ details.objecta ],	_objects[ details.objectb ],	_vec3_1,	_vec3_2	);	}	break;	case 'hinge':	if ( details.objectb === undefined ) {	_vec3_1.setX(details.positiona.x);	_vec3_1.setY(details.positiona.y);	_vec3_1.setZ(details.positiona.z);	_vec3_2.setX(details.axis.x);	_vec3_2.setY(details.axis.y);	_vec3_2.setZ(details.axis.z);	constraint = new Ammo.btHingeConstraint(	_objects[ details.objecta ],	_vec3_1,	_vec3_2	);	} else {	_vec3_1.setX(details.positiona.x);	_vec3_1.setY(details.positiona.y);	_vec3_1.setZ(details.positiona.z);	_vec3_2.setX(details.positionb.x);	_vec3_2.setY(details.positionb.y);	_vec3_2.setZ(details.positionb.z);	_vec3_3.setX(details.axis.x);	_vec3_3.setY(details.axis.y);	_vec3_3.setZ(details.axis.z);	constraint = new Ammo.btHingeConstraint(	_objects[ details.objecta ],	_objects[ details.objectb ],	_vec3_1,	_vec3_2,	_vec3_3,	_vec3_3	);	}	break;	case 'slider':	var transforma, transformb, rotation;	transforma = new Ammo.btTransform();	_vec3_1.setX(details.positiona.x);	_vec3_1.setY(details.positiona.y);	_vec3_1.setZ(details.positiona.z);	transforma.setOrigin(_vec3_1);	var rotation = transforma.getRotation();	rotation.setEuler( details.axis.x, details.axis.y, details.axis.z );	transforma.setRotation( rotation );	if ( details.objectb ) {	transformb = new Ammo.btTransform();	_vec3_2.setX(details.positionb.x);	_vec3_2.setY(details.positionb.y);	_vec3_2.setZ(details.positionb.z);	transformb.setOrigin(_vec3_2);	rotation = transformb.getRotation();	rotation.setEuler( details.axis.x, details.axis.y, details.axis.z );	transformb.setRotation( rotation );	constraint = new Ammo.btSliderConstraint(	_objects[ details.objecta ],	_objects[ details.objectb ],	transforma,	transformb,	true	);	} else {	constraint = new Ammo.btSliderConstraint(	_objects[ details.objecta ],	transforma,	true	);	}	Ammo.destroy(transforma);	if (transformb != undefined) {	Ammo.destroy(transformb);	}	break;	case 'conetwist':	var transforma, transformb;	transforma = new Ammo.btTransform();	transforma.setIdentity();	transformb = new Ammo.btTransform();	transformb.setIdentity();	_vec3_1.setX(details.positiona.x);	_vec3_1.setY(details.positiona.y);	_vec3_1.setZ(details.positiona.z);	_vec3_2.setX(details.positionb.x);	_vec3_2.setY(details.positionb.y);	_vec3_2.setZ(details.positionb.z);	transforma.setOrigin(_vec3_1);	transformb.setOrigin(_vec3_2);	var rotation = transforma.getRotation();	rotation.setEulerZYX( -details.axisa.z, -details.axisa.y, -details.axisa.x );	transforma.setRotation( rotation );	rotation = transformb.getRotation();	rotation.setEulerZYX( -details.axisb.z, -details.axisb.y, -details.axisb.x );	transformb.setRotation( rotation );	constraint = new Ammo.btConeTwistConstraint(	_objects[ details.objecta ],	_objects[ details.objectb ],	transforma,	transformb	);	constraint.setLimit( Math.PI, 0, Math.PI );	Ammo.destroy(transforma);	Ammo.destroy(transformb);	break;	case 'dof':	var transforma, transformb, rotation;	transforma = new Ammo.btTransform();	transforma.setIdentity();	_vec3_1.setX(details.positiona.x);	_vec3_1.setY(details.positiona.y);	_vec3_1.setZ(details.positiona.z);	transforma.setOrigin(_vec3_1 );	rotation = transforma.getRotation();	rotation.setEulerZYX( -details.axisa.z, -details.axisa.y, -details.axisa.x );	transforma.setRotation( rotation );	if ( details.objectb ) {	transformb = new Ammo.btTransform();	transformb.setIdentity();	_vec3_2.setX(details.positionb.x);	_vec3_2.setY(details.positionb.y);	_vec3_2.setZ(details.positionb.z);	transformb.setOrigin(_vec3_2);	rotation = transformb.getRotation();	rotation.setEulerZYX( -details.axisb.z, -details.axisb.y, -details.axisb.x );	transformb.setRotation( rotation );	constraint = new Ammo.btGeneric6DofConstraint(	_objects[ details.objecta ],	_objects[ details.objectb ],	transforma,	transformb	);	} else {	constraint = new Ammo.btGeneric6DofConstraint(	_objects[ details.objecta ],	transforma	);	}	Ammo.destroy(transforma);	if (transformb != undefined) {	Ammo.destroy(transformb);	}	break;	default:	return;	};	world.addConstraint( constraint );	constraint.enableFeedback();	_constraints[ details.id ] = constraint;	_num_constraints++;	if ( SUPPORT_TRANSFERABLE ) {	constraintreport = new Float32Array(1 + _num_constraints * CONSTRAINTREPORT_ITEMSIZE); // message id & ( # of objects to report * # of values per object )	constraintreport[0] = MESSAGE_TYPES.CONSTRAINTREPORT;	} else {	constraintreport = [ MESSAGE_TYPES.CONSTRAINTREPORT ];	}
};
public_functions.removeConstraint = function( details ) {	var constraint = _constraints[ details.id ];	if ( constraint !== undefined ) {	world.removeConstraint( constraint );	delete _constraints[ details.id ];	_num_constraints--;	}
};
public_functions.constraint_setBreakingImpulseThreshold = function( details ) {	var constraint = _constraints[ details.id ];	if ( constraint !== undefind ) {	constraint.setBreakingImpulseThreshold( details.threshold );	}
};
public_functions.simulate = function simulate( params ) {	if ( world ) {	params = params || {};	if ( !params.timeStep ) {	if ( last_simulation_time ) {	params.timeStep = 0;	while ( params.timeStep + last_simulation_duration <= fixedTimeStep ) {	params.timeStep = ( Date.now() - last_simulation_time ) / 1000; // time since last simulation	}	} else {	params.timeStep = fixedTimeStep; // handle first frame	}	} else {	if ( params.timeStep < fixedTimeStep ) {	params.timeStep = fixedTimeStep;	}	}	params.maxSubSteps = params.maxSubSteps || Math.ceil( params.timeStep / fixedTimeStep ); // If maxSubSteps is not defined, keep the simulation fully up to date	last_simulation_duration = Date.now();	world.stepSimulation( params.timeStep, params.maxSubSteps, fixedTimeStep );	reportVehicles();	reportCollisions();	reportConstraints();	reportWorld();	last_simulation_duration = ( Date.now() - last_simulation_duration ) / 1000;	last_simulation_time = Date.now();	}
};
// Constraint functions
public_functions.hinge_setLimits = function( params ) {	_constraints[ params.constraint ].setLimit( params.low, params.high, 0, params.bias_factor, params.relaxation_factor );
};
public_functions.hinge_enableAngularMotor = function( params ) {	var constraint = _constraints[ params.constraint ];	constraint.enableAngularMotor( true, params.velocity, params.acceleration );	constraint.getRigidBodyA().activate();	if ( constraint.getRigidBodyB() ) {	constraint.getRigidBodyB().activate();	}
};
public_functions.hinge_disableMotor = function( params ) {	_constraints[ params.constraint ].enableMotor( false );	if ( constraint.getRigidBodyB() ) {	constraint.getRigidBodyB().activate();	}
};
public_functions.slider_setLimits = function( params ) {	var constraint = _constraints[ params.constraint ];	constraint.setLowerLinLimit( params.lin_lower || 0 );	constraint.setUpperLinLimit( params.lin_upper || 0 );	constraint.setLowerAngLimit( params.ang_lower || 0 );	constraint.setUpperAngLimit( params.ang_upper || 0 );
};
public_functions.slider_setRestitution = function( params ) {	var constraint = _constraints[ params.constraint ];	constraint.setSoftnessLimLin( params.linear || 0 );	constraint.setSoftnessLimAng( params.angular || 0 );
};
public_functions.slider_enableLinearMotor = function( params ) {	var constraint = _constraints[ params.constraint ];	constraint.setTargetLinMotorVelocity( params.velocity );	constraint.setMaxLinMotorForce( params.acceleration );	constraint.setPoweredLinMotor( true );	constraint.getRigidBodyA().activate();	if ( constraint.getRigidBodyB ) {	constraint.getRigidBodyB().activate();	}
};
public_functions.slider_disableLinearMotor = function( params ) {	var constraint = _constraints[ params.constraint ];	constraint.setPoweredLinMotor( false );	if ( constraint.getRigidBodyB() ) {	constraint.getRigidBodyB().activate();	}
};
public_functions.slider_enableAngularMotor = function( params ) {	var constraint = _constraints[ params.constraint ];	constraint.setTargetAngMotorVelocity( params.velocity );	constraint.setMaxAngMotorForce( params.acceleration );	constraint.setPoweredAngMotor( true );	constraint.getRigidBodyA().activate();	if ( constraint.getRigidBodyB() ) {	constraint.getRigidBodyB().activate();	}
};
public_functions.slider_disableAngularMotor = function( params ) {	var constraint = _constraints[ params.constraint ];	constraint.setPoweredAngMotor( false );	constraint.getRigidBodyA().activate();	if ( constraint.getRigidBodyB() ) {	constraint.getRigidBodyB().activate();	}
};
public_functions.conetwist_setLimit = function( params ) {	_constraints[ params.constraint ].setLimit( params.z, params.y, params.x ); // ZYX order
};
public_functions.conetwist_enableMotor = function( params ) {	var constraint = _constraints[ params.constraint ];	constraint.enableMotor( true );	constraint.getRigidBodyA().activate();	constraint.getRigidBodyB().activate();
};
public_functions.conetwist_setMaxMotorImpulse = function( params ) {	var constraint = _constraints[ params.constraint ];	constraint.setMaxMotorImpulse( params.max_impulse );	constraint.getRigidBodyA().activate();	constraint.getRigidBodyB().activate();
};
public_functions.conetwist_setMotorTarget = function( params ) {	var constraint = _constraints[ params.constraint ];	_quat.setX(params.x);	_quat.setY(params.y);	_quat.setZ(params.z);	_quat.setW(params.w);	constraint.setMotorTarget(_quat);	constraint.getRigidBodyA().activate();	constraint.getRigidBodyB().activate();
};
public_functions.conetwist_disableMotor = function( params ) {	var constraint = _constraints[ params.constraint ];	constraint.enableMotor( false );	constraint.getRigidBodyA().activate();	constraint.getRigidBodyB().activate();
};
public_functions.dof_setLinearLowerLimit = function( params ) {	var constraint = _constraints[ params.constraint ];	_vec3_1.setX(params.x);	_vec3_1.setY(params.y);	_vec3_1.setZ(params.z);	constraint.setLinearLowerLimit(_vec3_1);	constraint.getRigidBodyA().activate();	if ( constraint.getRigidBodyB() ) {	constraint.getRigidBodyB().activate();	}
};
public_functions.dof_setLinearUpperLimit = function( params ) {	var constraint = _constraints[ params.constraint ];	_vec3_1.setX(params.x);	_vec3_1.setY(params.y);	_vec3_1.setZ(params.z);	constraint.setLinearUpperLimit(_vec3_1);	constraint.getRigidBodyA().activate();	if ( constraint.getRigidBodyB() ) {	constraint.getRigidBodyB().activate();	}
};
public_functions.dof_setAngularLowerLimit = function( params ) {	var constraint = _constraints[ params.constraint ];	_vec3_1.setX(params.x);	_vec3_1.setY(params.y);	_vec3_1.setZ(params.z);	constraint.setAngularLowerLimit(_vec3_1);	constraint.getRigidBodyA().activate();	if ( constraint.getRigidBodyB() ) {	constraint.getRigidBodyB().activate();	}
};
public_functions.dof_setAngularUpperLimit = function( params ) {	var constraint = _constraints[ params.constraint ];	_vec3_1.setX(params.x);	_vec3_1.setY(params.y);	_vec3_1.setZ(params.z);	constraint.setAngularUpperLimit(_vec3_1);	constraint.getRigidBodyA().activate();	if ( constraint.getRigidBodyB() ) {	constraint.getRigidBodyB().activate();	}
};
public_functions.dof_enableAngularMotor = function( params ) {	var constraint = _constraints[ params.constraint ];	var motor = constraint.getRotationalLimitMotor( params.which );	motor.set_m_enableMotor( true );	constraint.getRigidBodyA().activate();	if ( constraint.getRigidBodyB() ) {	constraint.getRigidBodyB().activate();	}
};
public_functions.dof_configureAngularMotor = function( params ) {	var constraint = _constraints[ params.constraint ];	var motor = constraint.getRotationalLimitMotor( params.which );	motor.set_m_loLimit( params.low_angle );	motor.set_m_hiLimit( params.high_angle );	motor.set_m_targetVelocity( params.velocity );	motor.set_m_maxMotorForce( params.max_force );	constraint.getRigidBodyA().activate();	if ( constraint.getRigidBodyB() ) {	constraint.getRigidBodyB().activate();	}
};
public_functions.dof_disableAngularMotor = function( params ) {	var constraint = _constraints[ params.constraint ];	var motor = constraint.getRotationalLimitMotor( params.which );	motor.set_m_enableMotor( false );	constraint.getRigidBodyA().activate();	if ( constraint.getRigidBodyB() ) {	constraint.getRigidBodyB().activate();	}
};
reportWorld = function() {	var index, object,	transform, origin, rotation,	offset = 0,	i = 0;	if ( SUPPORT_TRANSFERABLE ) {	if ( worldreport.length < 2 + _num_objects * WORLDREPORT_ITEMSIZE ) {	worldreport = new Float32Array(	2 + // message id & # objects in report	( Math.ceil( _num_objects / REPORT_CHUNKSIZE ) * REPORT_CHUNKSIZE ) * WORLDREPORT_ITEMSIZE // # of values needed * item size	);	worldreport[0] = MESSAGE_TYPES.WORLDREPORT;	}	}	worldreport[1] = _num_objects; // record how many objects we're reporting on	//for ( i = 0; i < worldreport[1]; i++ ) {	for ( index in _objects ) {	if ( _objects.hasOwnProperty( index ) ) {	object = _objects[index];	// #TODO: we can't use center of mass transform when center of mass can change,	// but getMotionState().getWorldTransform() screws up on objects that have been moved	//object.getMotionState().getWorldTransform( transform );	transform = object.getCenterOfMassTransform();	origin = transform.getOrigin();	rotation = transform.getRotation();	// add values to report	offset = 2 + (i++) * WORLDREPORT_ITEMSIZE;	worldreport[ offset ] = object.id;	worldreport[ offset + 1 ] = origin.x();	worldreport[ offset + 2 ] = origin.y();	worldreport[ offset + 3 ] = origin.z();	worldreport[ offset + 4 ] = rotation.x();	worldreport[ offset + 5 ] = rotation.y();	worldreport[ offset + 6 ] = rotation.z();	worldreport[ offset + 7 ] = rotation.w();	_vector = object.getLinearVelocity();	worldreport[ offset + 8 ] = _vector.x();	worldreport[ offset + 9 ] = _vector.y();	worldreport[ offset + 10 ] = _vector.z();	_vector = object.getAngularVelocity();	worldreport[ offset + 11 ] = _vector.x();	worldreport[ offset + 12 ] = _vector.y();	worldreport[ offset + 13 ] = _vector.z();	}	}	if ( SUPPORT_TRANSFERABLE ) {	transferableMessage( worldreport.buffer, [worldreport.buffer] );	} else {	transferableMessage( worldreport );	}
};
reportCollisions = function() {	var i, offset,	dp = world.getDispatcher(),	num = dp.getNumManifolds(),	manifold, num_contacts, j, pt,	_collided = false;	if ( SUPPORT_TRANSFERABLE ) {	if ( collisionreport.length < 2 + num * COLLISIONREPORT_ITEMSIZE ) {	collisionreport = new Float32Array(	2 + // message id & # objects in report	( Math.ceil( _num_objects / REPORT_CHUNKSIZE ) * REPORT_CHUNKSIZE ) * COLLISIONREPORT_ITEMSIZE // # of values needed * item size	);	collisionreport[0] = MESSAGE_TYPES.COLLISIONREPORT;	}	}	collisionreport[1] = 0; // how many collisions we're reporting on	for ( i = 0; i < num; i++ ) {	manifold = dp.getManifoldByIndexInternal( i );	num_contacts = manifold.getNumContacts();	if ( num_contacts === 0 ) {	continue;	}	for ( j = 0; j < num_contacts; j++ ) {	pt = manifold.getContactPoint( j );	//if ( pt.getDistance() < 0 ) {	offset = 2 + (collisionreport[1]++) * COLLISIONREPORT_ITEMSIZE;	collisionreport[ offset ] = _objects_ammo[ manifold.getBody0() ];	collisionreport[ offset + 1 ] = _objects_ammo[ manifold.getBody1() ];	_vector = pt.get_m_normalWorldOnB();	collisionreport[ offset + 2 ] = _vector.x();	collisionreport[ offset + 3 ] = _vector.y();	collisionreport[ offset + 4 ] = _vector.z();	break;	//}	transferableMessage( _objects_ammo );	}	}	if ( SUPPORT_TRANSFERABLE ) {	transferableMessage( collisionreport.buffer, [collisionreport.buffer] );	} else {	transferableMessage( collisionreport );	}
};
reportVehicles = function() {	var index, vehicle,	transform, origin, rotation,	offset = 0,	i = 0, j = 0;	if ( SUPPORT_TRANSFERABLE ) {	if ( vehiclereport.length < 2 + _num_wheels * VEHICLEREPORT_ITEMSIZE ) {	vehiclereport = new Float32Array(	2 + // message id & # objects in report	( Math.ceil( _num_wheels / REPORT_CHUNKSIZE ) * REPORT_CHUNKSIZE ) * VEHICLEREPORT_ITEMSIZE // # of values needed * item size	);	vehiclereport[0] = MESSAGE_TYPES.VEHICLEREPORT;	}	}	for ( index in _vehicles ) {	if ( _vehicles.hasOwnProperty( index ) ) {	vehicle = _vehicles[index];	for ( j = 0; j < vehicle.getNumWheels(); j++ ) {	//vehicle.updateWheelTransform( j, true );	//transform = vehicle.getWheelTransformWS( j );	transform = vehicle.getWheelInfo( j ).get_m_worldTransform();	origin = transform.getOrigin();	rotation = transform.getRotation();	// add values to report	offset = 1 + (i++) * VEHICLEREPORT_ITEMSIZE;	vehiclereport[ offset ] = index;	vehiclereport[ offset + 1 ] = j;	vehiclereport[ offset + 2 ] = origin.x();	vehiclereport[ offset + 3 ] = origin.y();	vehiclereport[ offset + 4 ] = origin.z();	vehiclereport[ offset + 5 ] = rotation.x();	vehiclereport[ offset + 6 ] = rotation.y();	vehiclereport[ offset + 7 ] = rotation.z();	vehiclereport[ offset + 8 ] = rotation.w();	}	}	}	if ( j !== 0 ) {	if ( SUPPORT_TRANSFERABLE ) {	transferableMessage( vehiclereport.buffer, [vehiclereport.buffer] );	} else {	transferableMessage( vehiclereport );	}	}
};
reportConstraints = function() {	var index, constraint,	offset_body,	transform, origin,	offset = 0,	i = 0;	if ( SUPPORT_TRANSFERABLE ) {	if ( constraintreport.length < 2 + _num_constraints * CONSTRAINTREPORT_ITEMSIZE ) {	constraintreport = new Float32Array(	2 + // message id & # objects in report	( Math.ceil( _num_constraints / REPORT_CHUNKSIZE ) * REPORT_CHUNKSIZE ) * CONSTRAINTREPORT_ITEMSIZE // # of values needed * item size	);	constraintreport[0] = MESSAGE_TYPES.CONSTRAINTREPORT;	}	}	for ( index in _constraints ) {	if ( _constraints.hasOwnProperty( index ) ) {	constraint = _constraints[index];	offset_body = constraint.getRigidBodyA();	transform = constraint.getFrameOffsetA();	origin = transform.getOrigin();	// add values to report	offset = 1 + (i++) * CONSTRAINTREPORT_ITEMSIZE;	constraintreport[ offset ] = index;	constraintreport[ offset + 1 ] = offset_body.id;	constraintreport[ offset + 2 ] = origin.getX();	constraintreport[ offset + 3 ] = origin.getY();	constraintreport[ offset + 4 ] = origin.getZ();	constraintreport[ offset + 5 ] = constraint.getAppliedImpulse();	}	}	if ( i !== 0 ) {	if ( SUPPORT_TRANSFERABLE ) {	transferableMessage( constraintreport.buffer, [constraintreport.buffer] );	} else {	transferableMessage( constraintreport );	}	}
};
self.onmessage = function( event ) {	if ( event.data instanceof Float32Array ) {	// transferable object	switch ( event.data[0] ) {	case MESSAGE_TYPES.WORLDREPORT:	worldreport = new Float32Array( event.data );	break;	case MESSAGE_TYPES.COLLISIONREPORT:	collisionreport = new Float32Array( event.data );	break;	case MESSAGE_TYPES.VEHICLEREPORT:	vehiclereport = new Float32Array( event.data );	break;	case MESSAGE_TYPES.CONSTRAINTREPORT:	constraintreport = new Float32Array( event.data );	break;	}	return;	}	if ( event.data.cmd && public_functions[event.data.cmd] ) {	//if ( event.data.params.id !== undefined && _objects[event.data.params.id] === undefined && event.data.cmd !== 'addObject' && event.data.cmd !== 'registerMaterial' ) return;	public_functions[event.data.cmd]( event.data.params );	}
};
</script> <script src='http://cdnjs.cloudflare.com/ajax/libs/jquery/2.1.3/jquery.min.js'></script>
<script src='http://cdnjs.cloudflare.com/ajax/libs/three.js/r69/three.min.js'></script>
<script src='https://dl.dropboxusercontent.com/u/9583977/physi.js'></script> <script src="js/index.js"></script>
</body>
</html>

Physijs test - Script Codes CSS Codes

body { margin: 0; padding: 0;
}

Physijs test - Script Codes JS Codes

//Physijs.scripts.worker = 'https://dl.dropboxusercontent.com/u/9583977/physijs_worker.js';
var blob = new Blob([	document.querySelector('#physijs_worker').textContent
], { type: "text/javascript" })
Physijs.scripts.worker = window.URL.createObjectURL(blob);
Physijs.scripts.ammo = 'https://dl.dropboxusercontent.com/u/9583977/ammo.js';
var initScene, render, renderer, scene, camera, box;
initScene = function() {	renderer = new THREE.WebGLRenderer({ antialias: true });	renderer.setSize( window.innerWidth, window.innerHeight );	document.getElementById( 'viewport' ).appendChild( renderer.domElement );	scene = new Physijs.Scene;	camera = new THREE.PerspectiveCamera( 35, window.innerWidth / window.innerHeight, 1, 1000	);	camera.position.set( 1, -5, 20 );	camera.lookAt( scene.position );	scene.add( camera );	// Box	box = new Physijs.BoxMesh( new THREE.CubeGeometry( 5, 5, 5 ), new THREE.MeshNormalMaterial()	);	scene.add( box ); // Box2 floor = new THREE.Mesh( new THREE.PlaneGeometry(10, 5), new THREE.MeshNormalMaterial() ); floor.position.y = 6;	scene.add( floor );	requestAnimationFrame( render );
};
render = function() {	scene.simulate(0.2, 1); // run physics	renderer.render( scene, camera); // render the scene	requestAnimationFrame( render );
};
window.onload = initScene;
Physijs test - Script Codes
Physijs test - Script Codes
Home Page Home
Developer Jim Savage
Username madebyjam
Uploaded November 19, 2022
Rating 3
Size 9,815 Kb
Views 16,192
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Jim Savage (madebyjam) Script Codes
Name
Bootstrap 3 inspired docs.
Minecraft Steve
CSS3 background scroll
SVG fun
Hover on everything but...
Lava lamp
Susy2 - mimicking the bootstrap3 grid
Progression Steps
CSS Only - Circular Percentage Chart
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