mirror of
https://github.com/jiawanlong/Cesium-Examples.git
synced 2025-07-05 07:37:31 +00:00
603 lines
22 KiB
HTML
603 lines
22 KiB
HTML
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<!--********************************************************************
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* by jiawanlong
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*********************************************************************-->
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<!DOCTYPE html>
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<html>
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<head>
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<meta charset="UTF-8" />
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<link rel="stylesheet" href="./../../cesium/Cesium1.72/Widgets/widgets.css" />
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<script type="text/javascript" src="./../../cesium/Cesium1.72/Cesium.js"></script>
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<script src="./ammolibs/ammo/ammo.js"></script>
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</head>
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<body style="
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margin: 0;
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overflow: hidden;
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background: #fff;
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width: 100%;
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height: 100%;
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position: absolute;
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top: 0;
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">
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<div id="cesiumContainer" style="margin: 0 auto; width: 100%; height: 100%"></div>
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<!-- 操作提示：W 前进、S 后退、 A 左转弯、D 右转弯 -->
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<script src="./ammolibs/three/three.min.js"></script>
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<script src="./ammolibs/ammo/ex/ConvexObjectBreaker.js"></script>
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<script src="./ammolibs/ammo/ex/QuickHull.js"></script>
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<script src="./ammolibs/ammo/ex/geometries/ConvexGeometry.js"></script>
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<script src="./ammolibs/meshVisualizer/CesiumMeshVisualizer.js"></script>
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<script>
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Cesium.Ion.defaultAccessToken =
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"eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJqdGkiOiI3ZjQ5ZGUzNC1jNWYwLTQ1ZTMtYmNjYS05YTY4ZTVmN2I2MDkiLCJpZCI6MTE3MTM4LCJpYXQiOjE2NzY0NDUyODB9.ZaNSBIfc1sGLhQd_xqhiSsc0yr8oS0wt1hAo9gbke6M";
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const viewer = new Cesium.Viewer("cesiumContainer", { });
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var homePosition = [114.40184, 30.46331, 100]; //初始位置
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look(homePosition[0], homePosition[1], homePosition[2]);
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viewer.scene.debugShowFramesPerSecond = true; //查看帧率
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var center = Cesium.Cartesian3.fromDegrees(
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homePosition[0],
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homePosition[1],
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10
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);
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var modelMatrix = Cesium.Transforms.eastNorthUpToFixedFrame(center);
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var meshVisualizer = new Cesium.MeshVisualizer({
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modelMatrix: modelMatrix,
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up: {
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y: 1,
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},
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referenceAxisParameter: {
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length: 100,
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width: 0.05,
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headLength: 2,
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headWidth: 0.1,
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},
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});
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viewer.scene.primitives.add(meshVisualizer);
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meshVisualizer.showReference = true; //显示坐标轴
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Cesium.Cartesian3.prototype.set = function (x, y, z) {
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this.x = x;
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this.y = y;
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this.z = z;
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};
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Cesium.Quaternion.prototype.set = function (x, y, z, w) {
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this.x = x;
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this.y = y;
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this.z = z;
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this.w = w;
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};
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Ammo().then(function () {
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// - Global variables -
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var DISABLE_DEACTIVATION = 4;
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var TRANSFORM_AUX = new Ammo.btTransform();
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var ZERO_QUATERNION = new Cesium.Quaternion(0, 0, 0, 1);
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// Graphics variables
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var materialDynamic, materialStatic, materialInteractive;
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// Physics variables
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var collisionConfiguration;
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var dispatcher;
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var broadphase;
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var solver;
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var physicsWorld;
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var syncList = [];
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var time = 0;
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var objectTimePeriod = 3;
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var timeNextSpawn = time + objectTimePeriod;
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var maxNumObjects = 30;
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// Keybord actions
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var actions = {};
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var keysActions = {
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KeyW: "acceleration",
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KeyS: "braking",
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KeyA: "left",
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KeyD: "right",
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};
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// - Functions -
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function initGraphics() {
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materialDynamic = createMaterial();
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materialStatic = createMaterial();
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materialInteractive = createMaterial();
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top.window.addEventListener("keydown", keydown);
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top.window.addEventListener("keyup", keyup);
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}
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function initPhysics() {
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// Physics configuration
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collisionConfiguration = new Ammo.btDefaultCollisionConfiguration();
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dispatcher = new Ammo.btCollisionDispatcher(collisionConfiguration);
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broadphase = new Ammo.btDbvtBroadphase();
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solver = new Ammo.btSequentialImpulseConstraintSolver();
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physicsWorld = new Ammo.btDiscreteDynamicsWorld(
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dispatcher,
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broadphase,
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solver,
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collisionConfiguration
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);
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physicsWorld.setGravity(new Ammo.btVector3(0, -9.82, 0));
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}
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function updatePhysics(deltTime) {
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for (var i = 0; i < syncList.length; i++) syncList[i](deltTime);
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physicsWorld.stepSimulation(deltTime, 10);
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time += deltTime;
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}
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function keyup(e) {
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if (keysActions[e.code]) {
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actions[keysActions[e.code]] = false;
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e.preventDefault();
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e.stopPropagation();
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return false;
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}
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}
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function keydown(e) {
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if (keysActions[e.code]) {
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actions[keysActions[e.code]] = true;
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e.preventDefault();
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e.stopPropagation();
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return false;
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}
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}
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//创建立方体盒子
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function createBox(pos, quat, w, l, h, mass, friction) {
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var material = createMaterial(); //= mass > 0 ? materialDynamic : materialStatic;
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var shape = Cesium.BoxGeometry.fromDimensions({
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dimensions: new Cesium.Cartesian3(w, l, h),
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vertexFormat: new Cesium.VertexFormat({
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position: true,
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normal: true,
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}),
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});
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var geometry = new Ammo.btBoxShape(
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new Ammo.btVector3(w * 0.5, l * 0.5, h * 0.5)
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);
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if (!mass) mass = 0;
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if (!friction) friction = 1;
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var mesh = new Cesium.Mesh(shape, material);
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Cesium.Cartesian3.clone(pos, mesh.position);
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mesh.quaternion = new Cesium.Quaternion(
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quat.x,
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quat.y,
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quat.z,
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quat.w
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);
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meshVisualizer.add(mesh);
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var transform = new Ammo.btTransform();
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transform.setIdentity();
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transform.setOrigin(new Ammo.btVector3(pos.x, pos.y, pos.z));
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transform.setRotation(
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new Ammo.btQuaternion(quat.x, quat.y, quat.z, quat.w)
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);
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var motionState = new Ammo.btDefaultMotionState(transform);
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var localInertia = new Ammo.btVector3(0, 0, 0);
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geometry.calculateLocalInertia(mass, localInertia);
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var rbInfo = new Ammo.btRigidBodyConstructionInfo(
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mass,
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motionState,
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geometry,
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localInertia
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);
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var body = new Ammo.btRigidBody(rbInfo);
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body.setFriction(friction);
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//body.setRestitution(.9);
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//body.setDamping(0.2, 0.2);
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physicsWorld.addRigidBody(body);
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if (mass > 0) {
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body.setActivationState(DISABLE_DEACTIVATION);
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// Sync physics and graphics
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function sync(dt) {
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var ms = body.getMotionState();
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if (ms) {
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ms.getWorldTransform(TRANSFORM_AUX);
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var p = TRANSFORM_AUX.getOrigin();
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var q = TRANSFORM_AUX.getRotation();
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mesh.position.set(p.x(), p.y(), p.z());
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mesh.quaternion.set(q.x(), q.y(), q.z(), q.w());
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mesh.modelMatrixNeedsUpdate = true;
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}
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}
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syncList.push(sync);
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}
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}
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//创建车轮
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function createWheelMesh(radius, width) {
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var t = new Cesium.CylinderGeometry({
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length: width,
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topRadius: radius,
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bottomRadius: radius,
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slices: 24,
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});
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//var t = new THREE.CylinderGeometry(radius, radius, width, 24, 1);
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var mesh = new Cesium.Mesh(t, materialInteractive);
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Cesium.GeometryUtils.rotateY(mesh.geometry, Math.PI / 2);
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mesh.quaternion = new Cesium.Quaternion(); // Cesium.Quaternion.fromAxisAngle(new Cesium.Cartesian3(0, 0, 1), Math.PI / 2);
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var shape = Cesium.BoxGeometry.fromDimensions({
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dimensions: new Cesium.Cartesian3(
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width * 1.5,
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radius * 1.75,
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radius * 0.25
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),
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vertexFormat: new Cesium.VertexFormat({
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position: true,
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normal: true,
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}),
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});
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var meshShape = new Cesium.Mesh(shape, materialInteractive);
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meshShape.quaternion = new Cesium.Quaternion(); //.fromAxisAngle(new Cesium.Cartesian3(0, 0, 1), 0);
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mesh.add(meshShape);
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meshVisualizer.add(mesh);
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return mesh;
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}
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//创建车体
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function createChassisMesh(w, l, h) {
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var shape = Cesium.BoxGeometry.fromDimensions({
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dimensions: new Cesium.Cartesian3(w, l, h),
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vertexFormat: new Cesium.VertexFormat({
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position: true,
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normal: true,
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}),
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});
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var mesh = new Cesium.Mesh(shape, materialInteractive);
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mesh.quaternion = new Cesium.Quaternion(0, 0, 0, 1);
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meshVisualizer.add(mesh);
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return mesh;
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}
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//创建小车
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function createVehicle(pos, quat) {
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// Vehicle contants
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var chassisWidth = 1.8;
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var chassisHeight = 0.6;
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var chassisLength = 4;
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var massVehicle = 800;
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var wheelAxisPositionBack = -1;
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var wheelRadiusBack = 0.4;
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var wheelWidthBack = 0.3;
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var wheelHalfTrackBack = 1;
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var wheelAxisHeightBack = 0.3;
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var wheelAxisFrontPosition = 1.7;
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var wheelHalfTrackFront = 1;
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var wheelAxisHeightFront = 0.3;
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var wheelRadiusFront = 0.35;
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var wheelWidthFront = 0.2;
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var friction = 1000;
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var suspensionStiffness = 20.0;
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var suspensionDamping = 2.3;
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var suspensionCompression = 4.4;
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var suspensionRestLength = 0.6;
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var rollInfluence = 0.2;
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var steeringIncrement = 0.04;
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var steeringClamp = 0.5;
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var maxEngineForce = 2000;
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var maxBreakingForce = 100;
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// Chassis
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var geometry = new Ammo.btBoxShape(
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new Ammo.btVector3(
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chassisWidth * 0.5,
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chassisHeight * 0.5,
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chassisLength * 0.5
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)
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);
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var transform = new Ammo.btTransform();
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transform.setIdentity();
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transform.setOrigin(new Ammo.btVector3(pos.x, pos.y, pos.z));
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transform.setRotation(
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new Ammo.btQuaternion(quat.x, quat.y, quat.z, quat.w)
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);
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var motionState = new Ammo.btDefaultMotionState(transform);
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var localInertia = new Ammo.btVector3(0, 0, 0);
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geometry.calculateLocalInertia(massVehicle, localInertia);
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var body = new Ammo.btRigidBody(
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new Ammo.btRigidBodyConstructionInfo(
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massVehicle,
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motionState,
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geometry,
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localInertia
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)
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);
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body.setActivationState(DISABLE_DEACTIVATION);
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physicsWorld.addRigidBody(body);
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var chassisMesh = createChassisMesh(
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chassisWidth,
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chassisHeight,
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chassisLength
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);
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// Raycast Vehicle
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var engineForce = 0;
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var vehicleSteering = 0;
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var breakingForce = 0;
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var tuning = new Ammo.btVehicleTuning();
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var rayCaster = new Ammo.btDefaultVehicleRaycaster(physicsWorld);
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var vehicle = new Ammo.btRaycastVehicle(tuning, body, rayCaster);
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vehicle.setCoordinateSystem(0, 1, 2);
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physicsWorld.addAction(vehicle);
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// Wheels
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var FRONT_LEFT = 0;
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|
|
var FRONT_RIGHT = 1;
|
|||
|
|
var BACK_LEFT = 2;
|
|||
|
|
var BACK_RIGHT = 3;
|
|||
|
|
var wheelMeshes = [];
|
|||
|
|
var wheelDirectionCS0 = new Ammo.btVector3(0, -1, 0);
|
|||
|
|
var wheelAxleCS = new Ammo.btVector3(-1, 0, 0);
|
|||
|
|
|
|||
|
|
//添加轮子
|
|||
|
|
function addWheel(isFront, pos, radius, width, index) {
|
|||
|
|
var wheelInfo = vehicle.addWheel(
|
|||
|
|
pos,
|
|||
|
|
wheelDirectionCS0,
|
|||
|
|
wheelAxleCS,
|
|||
|
|
suspensionRestLength,
|
|||
|
|
radius,
|
|||
|
|
tuning,
|
|||
|
|
isFront
|
|||
|
|
);
|
|||
|
|
|
|||
|
|
wheelInfo.set_m_suspensionStiffness(suspensionStiffness);
|
|||
|
|
wheelInfo.set_m_wheelsDampingRelaxation(suspensionDamping);
|
|||
|
|
wheelInfo.set_m_wheelsDampingCompression(suspensionCompression);
|
|||
|
|
wheelInfo.set_m_frictionSlip(friction);
|
|||
|
|
wheelInfo.set_m_rollInfluence(rollInfluence);
|
|||
|
|
|
|||
|
|
wheelMeshes[index] = createWheelMesh(radius, width);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
addWheel(
|
|||
|
|
true,
|
|||
|
|
new Ammo.btVector3(
|
|||
|
|
wheelHalfTrackFront,
|
|||
|
|
wheelAxisHeightFront,
|
|||
|
|
wheelAxisFrontPosition
|
|||
|
|
),
|
|||
|
|
wheelRadiusFront,
|
|||
|
|
wheelWidthFront,
|
|||
|
|
FRONT_LEFT
|
|||
|
|
);
|
|||
|
|
addWheel(
|
|||
|
|
true,
|
|||
|
|
new Ammo.btVector3(
|
|||
|
|
-wheelHalfTrackFront,
|
|||
|
|
wheelAxisHeightFront,
|
|||
|
|
wheelAxisFrontPosition
|
|||
|
|
),
|
|||
|
|
wheelRadiusFront,
|
|||
|
|
wheelWidthFront,
|
|||
|
|
FRONT_RIGHT
|
|||
|
|
);
|
|||
|
|
addWheel(
|
|||
|
|
false,
|
|||
|
|
new Ammo.btVector3(
|
|||
|
|
-wheelHalfTrackBack,
|
|||
|
|
wheelAxisHeightBack,
|
|||
|
|
wheelAxisPositionBack
|
|||
|
|
),
|
|||
|
|
wheelRadiusBack,
|
|||
|
|
wheelWidthBack,
|
|||
|
|
BACK_LEFT
|
|||
|
|
);
|
|||
|
|
addWheel(
|
|||
|
|
false,
|
|||
|
|
new Ammo.btVector3(
|
|||
|
|
wheelHalfTrackBack,
|
|||
|
|
wheelAxisHeightBack,
|
|||
|
|
wheelAxisPositionBack
|
|||
|
|
),
|
|||
|
|
wheelRadiusBack,
|
|||
|
|
wheelWidthBack,
|
|||
|
|
BACK_RIGHT
|
|||
|
|
);
|
|||
|
|
|
|||
|
|
// Sync keybord actions and physics and graphics
|
|||
|
|
function sync(dt) {
|
|||
|
|
var speed = vehicle.getCurrentSpeedKmHour();
|
|||
|
|
//console.log((speed < 0 ? '(R) ' : '') + Math.abs(speed).toFixed(1) + ' km/h')
|
|||
|
|
//speedometer.innerHTML = (speed < 0 ? '(R) ' : '') + Math.abs(speed).toFixed(1) + ' km/h';
|
|||
|
|
|
|||
|
|
breakingForce = 0;
|
|||
|
|
engineForce = 0;
|
|||
|
|
|
|||
|
|
if (actions.acceleration) {
|
|||
|
|
if (speed < -1) breakingForce = maxBreakingForce;
|
|||
|
|
else engineForce = maxEngineForce;
|
|||
|
|
}
|
|||
|
|
if (actions.braking) {
|
|||
|
|
if (speed > 1) breakingForce = maxBreakingForce;
|
|||
|
|
else engineForce = -maxEngineForce / 2;
|
|||
|
|
}
|
|||
|
|
if (actions.left) {
|
|||
|
|
if (vehicleSteering < steeringClamp)
|
|||
|
|
vehicleSteering += steeringIncrement;
|
|||
|
|
} else {
|
|||
|
|
if (actions.right) {
|
|||
|
|
if (vehicleSteering > -steeringClamp)
|
|||
|
|
vehicleSteering -= steeringIncrement;
|
|||
|
|
} else {
|
|||
|
|
if (vehicleSteering < -steeringIncrement)
|
|||
|
|
vehicleSteering += steeringIncrement;
|
|||
|
|
else {
|
|||
|
|
if (vehicleSteering > steeringIncrement)
|
|||
|
|
vehicleSteering -= steeringIncrement;
|
|||
|
|
else {
|
|||
|
|
vehicleSteering = 0;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
vehicle.applyEngineForce(engineForce, BACK_LEFT);
|
|||
|
|
vehicle.applyEngineForce(engineForce, BACK_RIGHT);
|
|||
|
|
|
|||
|
|
vehicle.setBrake(breakingForce / 2, FRONT_LEFT);
|
|||
|
|
vehicle.setBrake(breakingForce / 2, FRONT_RIGHT);
|
|||
|
|
vehicle.setBrake(breakingForce, BACK_LEFT);
|
|||
|
|
vehicle.setBrake(breakingForce, BACK_RIGHT);
|
|||
|
|
|
|||
|
|
vehicle.setSteeringValue(vehicleSteering, FRONT_LEFT);
|
|||
|
|
vehicle.setSteeringValue(vehicleSteering, FRONT_RIGHT);
|
|||
|
|
|
|||
|
|
var tm, p, q, i;
|
|||
|
|
var n = vehicle.getNumWheels();
|
|||
|
|
for (i = 0; i < n; i++) {
|
|||
|
|
vehicle.updateWheelTransform(i, true);
|
|||
|
|
tm = vehicle.getWheelTransformWS(i);
|
|||
|
|
p = tm.getOrigin();
|
|||
|
|
q = tm.getRotation();
|
|||
|
|
wheelMeshes[i].position.set(p.x(), p.y(), p.z());
|
|||
|
|
wheelMeshes[i].quaternion.set(q.x(), q.y(), q.z(), q.w());
|
|||
|
|
|
|||
|
|
wheelMeshes[i].modelMatrixNeedsUpdate = true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
tm = vehicle.getChassisWorldTransform();
|
|||
|
|
p = tm.getOrigin();
|
|||
|
|
q = tm.getRotation();
|
|||
|
|
chassisMesh.position.set(p.x(), p.y(), p.z());
|
|||
|
|
chassisMesh.quaternion.set(q.x(), q.y(), q.z(), q.w());
|
|||
|
|
chassisMesh.modelMatrixNeedsUpdate = true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
syncList.push(sync);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
function createObjects() {
|
|||
|
|
//创建平台
|
|||
|
|
createBox(
|
|||
|
|
new Cesium.Cartesian3(0, -0.5, 0),
|
|||
|
|
ZERO_QUATERNION,
|
|||
|
|
75,
|
|||
|
|
1,
|
|||
|
|
75,
|
|||
|
|
0,
|
|||
|
|
2
|
|||
|
|
);
|
|||
|
|
|
|||
|
|
//创建坡道
|
|||
|
|
var quaternion = new Cesium.Quaternion(0, 0, 0, 1);
|
|||
|
|
Cesium.Quaternion.fromAxisAngle(
|
|||
|
|
new Cesium.Cartesian3(1, 0, 0),
|
|||
|
|
-Math.PI / 18,
|
|||
|
|
quaternion
|
|||
|
|
);
|
|||
|
|
createBox(new Cesium.Cartesian3(0, -1.5, 0), quaternion, 8, 4, 10, 0);
|
|||
|
|
|
|||
|
|
//创建马赛克墙
|
|||
|
|
var size = 0.75;
|
|||
|
|
var nw = 8;
|
|||
|
|
var nh = 6;
|
|||
|
|
for (var j = 0; j < nw; j++)
|
|||
|
|
for (var i = 0; i < nh; i++)
|
|||
|
|
createBox(
|
|||
|
|
new Cesium.Cartesian3(
|
|||
|
|
size * j - (size * (nw - 1)) / 2,
|
|||
|
|
size * i,
|
|||
|
|
10
|
|||
|
|
),
|
|||
|
|
ZERO_QUATERNION,
|
|||
|
|
size,
|
|||
|
|
size,
|
|||
|
|
size,
|
|||
|
|
10
|
|||
|
|
);
|
|||
|
|
|
|||
|
|
//创建小车
|
|||
|
|
createVehicle(new Cesium.Cartesian3(0, 4, -20), ZERO_QUATERNION);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
var start = false;
|
|||
|
|
var init = false;
|
|||
|
|
var startTime = new Date();
|
|||
|
|
|
|||
|
|
function update(frameState) {
|
|||
|
|
var deltaTime = (new Date() - startTime) / 1000.0;
|
|||
|
|
updatePhysics(deltaTime);
|
|||
|
|
startTime = new Date();
|
|||
|
|
}
|
|||
|
|
setTimeout(function () {
|
|||
|
|
if (!init) {
|
|||
|
|
// - Init -
|
|||
|
|
initGraphics();
|
|||
|
|
initPhysics();
|
|||
|
|
createObjects();
|
|||
|
|
init = true;
|
|||
|
|
}
|
|||
|
|
if (!start) {
|
|||
|
|
meshVisualizer.beforeUpdate.addEventListener(update);
|
|||
|
|
start = true;
|
|||
|
|
} else {
|
|||
|
|
meshVisualizer.beforeUpdate.removeEventListener(update);
|
|||
|
|
start = false;
|
|||
|
|
}
|
|||
|
|
}, 1000 * 3);
|
|||
|
|
});
|
|||
|
|
|
|||
|
|
function createRandomColor() {
|
|||
|
|
return Cesium.Color.fromRandom({
|
|||
|
|
alpha: 1,
|
|||
|
|
}); //fromRgba(Math.floor(Math.random() * (1 << 24)));
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
function createMaterial() {
|
|||
|
|
return new Cesium.MeshPhongMaterial({
|
|||
|
|
defaultColor: createRandomColor(),
|
|||
|
|
side: Cesium.MeshMaterial.Sides.DOUBLE,
|
|||
|
|
translucent: false,
|
|||
|
|
});
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
function look(lon, lat, offset) {
|
|||
|
|
var center = Cesium.Cartesian3.fromDegrees(lon, lat);
|
|||
|
|
var transform = Cesium.Transforms.eastNorthUpToFixedFrame(center);
|
|||
|
|
|
|||
|
|
// View in east-north-up frame
|
|||
|
|
var camera = viewer.camera;
|
|||
|
|
camera.constrainedAxis = Cesium.Cartesian3.UNIT_Z;
|
|||
|
|
camera.lookAtTransform(
|
|||
|
|
transform,
|
|||
|
|
new Cesium.Cartesian3(-offset, -offset, offset)
|
|||
|
|
);
|
|||
|
|
setTimeout(function () {
|
|||
|
|
camera.lookAtTransform(Cesium.Matrix4.IDENTITY);
|
|||
|
|
}, 100);
|
|||
|
|
}
|
|||
|
|
</script>
|
|||
|
|
</body>
|
|||
|
|
|
|||
|
|
</html>
|