2025-03-11 08:25:45 +00:00
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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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2025-03-19 03:00:22 +00:00
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<link rel="stylesheet" href="./../../libs/cesium/Cesium1.72/Widgets/widgets.css" />
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<script type="text/javascript" src="./../../libs/cesium/Cesium1.72/Cesium.js"></script>
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2025-03-11 08:25:45 +00:00
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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： Q 左摆动、 A 右摆动 */} -->
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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 = 'eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJqdGkiOiI3ZjQ5ZGUzNC1jNWYwLTQ1ZTMtYmNjYS05YTY4ZTVmN2I2MDkiLCJpZCI6MTE3MTM4LCJpYXQiOjE2NzY0NDUyODB9.ZaNSBIfc1sGLhQd_xqhiSsc0yr8oS0wt1hAo9gbke6M'
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const viewer = new Cesium.Viewer('cesiumContainer', {});
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var homePosition = [114.40184, 30.46331, 50]; //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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MeshVisualizer = Cesium.MeshVisualizer;
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Mesh = Cesium.Mesh;
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MeshMaterial = Cesium.MeshMaterial;
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FramebufferTexture = Cesium.FramebufferTexture;
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GeometryUtils = Cesium.GeometryUtils;
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MeshPhongMaterial = Cesium.MeshPhongMaterial;
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BasicMeshMaterial = Cesium.BasicMeshMaterial;
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BasicGeometry = Cesium.BasicGeometry;
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LOD = Cesium.LOD;
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var center = Cesium.Cartesian3.fromDegrees(homePosition[0], homePosition[1], 10);
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var modelMatrix = Cesium.Transforms.eastNorthUpToFixedFrame(center);
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var meshVisualizer = new 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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function createRandomColor() {
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return Cesium.Color.fromRandom({
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alpha: 1
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}) //fromRgba(Math.floor(Math.random() * (1 << 24)));
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}
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function createMaterial() {
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return new MeshPhongMaterial({
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defaultColor: createRandomColor(),
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side: MeshMaterial.Sides.DOUBLE,
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translucent: false
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});
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}
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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.Cartesian3.prototype.copy = function (src) {
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this.x = src.x;
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this.y = src.y;
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this.z = src.z;
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}
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Cesium.Cartesian2.prototype.set = function (x, y) {
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this.x = x;
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this.y = y;
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}
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Cesium.Cartesian2.prototype.copy = function (src) {
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this.x = src.x;
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this.y = src.y;
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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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Cesium.Quaternion.prototype.copy = function (src) {
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this.x = src.x;
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this.y = src.y;
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this.z = src.z;
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this.w = src.w;
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}
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Ammo().then(function () {
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// Physics variables
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var gravityConstant = -9.8;
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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 rigidBodies = [];
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var margin = 0.05;
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var hinge;
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var rope;
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var transformAux1 = new Ammo.btTransform();
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var time = 0;
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var armMovement = 0;
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function initPhysics() {
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// Physics configuration
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collisionConfiguration = new Ammo.btSoftBodyRigidBodyCollisionConfiguration();
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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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softBodySolver = new Ammo.btDefaultSoftBodySolver();
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physicsWorld = new Ammo.btSoftRigidDynamicsWorld(dispatcher, broadphase, solver,
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collisionConfiguration,
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softBodySolver);
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physicsWorld.setGravity(new Ammo.btVector3(0, gravityConstant, 0));
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physicsWorld.getWorldInfo().set_m_gravity(new Ammo.btVector3(0, gravityConstant, 0));
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}
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function createObjects() {
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var pos = new Cesium.Cartesian3();
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var quat = new Cesium.Quaternion();
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// Ground
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pos.set(0, -0.5, 0);
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quat.set(0, 0, 0, 1);
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var ground = createParalellepiped(40, 1, 40, 0, pos, quat, new MeshPhongMaterial({
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defaultColor: Cesium.Color.fromRgba(0xFFFFFF).withAlpha(1), //"rgb(200,200,200)",
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side: MeshMaterial.Sides.DOUBLE,
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translucent: false
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}));
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ground.quaternion = null;
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// Ball
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var ballMass = 1.2;
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var ballRadius = 0.6;
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var ball = new Mesh(new Cesium.SphereGeometry({
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radius: ballRadius,
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stackPartitions: 20,
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slicePartitions: 20
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}), new MeshPhongMaterial({
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defaultColor: Cesium.Color.fromRgba(0x000000).withAlpha(1),
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side: MeshMaterial.Sides.DOUBLE,
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translucent: false
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}));
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var ballShape = new Ammo.btSphereShape(ballRadius);
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ballShape.setMargin(margin);
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pos.set(-3, 2, 0);
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quat.set(0, 0, 0, 1);
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createRigidBody(ball, ballShape, ballMass, pos, quat);
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ball.physicsBody.setFriction(0.5);
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// Wall
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var brickMass = 0.5;
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var brickLength = 1.2;
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var brickDepth = 0.6;
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var brickHeight = brickLength * 0.5;
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var numBricksLength = 6;
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var numBricksHeight = 8;
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var z0 = -numBricksLength * brickLength * 0.5;
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pos.set(0, brickHeight * 0.5, z0);
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quat.set(0, 0, 0, 1);
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for (var j = 0; j < numBricksHeight; j++) {
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var oddRow = (j % 2) == 1;
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pos.z = z0;
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if (oddRow) {
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pos.z -= 0.25 * brickLength;
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}
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var nRow = oddRow ? numBricksLength + 1 : numBricksLength;
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for (var i = 0; i < nRow; i++) {
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var brickLengthCurrent = brickLength;
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var brickMassCurrent = brickMass;
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if (oddRow && (i == 0 || i == nRow - 1)) {
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brickLengthCurrent *= 0.5;
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brickMassCurrent *= 0.5;
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}
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var brick = createParalellepiped(brickDepth, brickHeight, brickLengthCurrent,
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brickMassCurrent, pos,
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quat, createMaterial());
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if (oddRow && (i == 0 || i == nRow - 2)) {
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pos.z += 0.75 * brickLength;
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} else {
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pos.z += brickLength;
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}
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}
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pos.y += brickHeight;
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}
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// The rope
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// Rope graphic object
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var ropeNumSegments = 10;
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var ropeLength = 4;
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var ropeMass = 3;
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var ropePos = ball.position.clone();
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ropePos.y += ballRadius;
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var segmentLength = ropeLength / ropeNumSegments;
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var ropeMaterial = new MeshMaterial({
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defaultColor: Cesium.Color.fromRgba(0x000000).withAlpha(1),
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side: MeshMaterial.Sides.DOUBLE,
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translucent: false,
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wireframe: true
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});
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var ropePositions = [];
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var ropeIndices = [];
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for (var i = 0; i < ropeNumSegments + 1; i++) {
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ropePositions.push(ropePos.x, ropePos.y + i * segmentLength, ropePos.z);
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}
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for (var i = 0; i < ropeNumSegments; i++) {
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ropeIndices.push(i, i + 1);
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}
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var ropeGeometry = new Cesium.Geometry({
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attributes: {
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position: new Cesium.GeometryAttribute({
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componentDatatype: Cesium.ComponentDatatype.DOUBLE,
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componentsPerAttribute: 3,
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values: new Float32Array(ropePositions)
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})
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},
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indices: new Uint16Array(ropeIndices),
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primitiveType: Cesium.PrimitiveType.LINES,
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boundingSphere: Cesium.BoundingSphere.fromVertices(ropePositions)
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});
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rope = new Mesh(ropeGeometry, ropeMaterial);
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meshVisualizer.add(rope);
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// Rope physic object
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var softBodyHelpers = new Ammo.btSoftBodyHelpers();
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var ropeStart = new Ammo.btVector3(ropePos.x, ropePos.y, ropePos.z);
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var ropeEnd = new Ammo.btVector3(ropePos.x, ropePos.y + ropeLength, ropePos.z);
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var ropeSoftBody = softBodyHelpers.CreateRope(physicsWorld.getWorldInfo(), ropeStart, ropeEnd,
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ropeNumSegments - 1, 0);
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var sbConfig = ropeSoftBody.get_m_cfg();
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sbConfig.set_viterations(10);
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sbConfig.set_piterations(10);
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ropeSoftBody.setTotalMass(ropeMass, false)
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Ammo.castObject(ropeSoftBody, Ammo.btCollisionObject).getCollisionShape().setMargin(margin * 3);
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physicsWorld.addSoftBody(ropeSoftBody, 1, -1);
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rope.physicsBody = ropeSoftBody;
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// Disable deactivation
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ropeSoftBody.setActivationState(4);
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// The base
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var armMass = 2;
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var armLength = 3;
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var pylonHeight = ropePos.y + ropeLength;
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var baseMaterial = createMaterial();
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pos.set(ropePos.x, 0.1, ropePos.z - armLength);
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quat.set(0, 0, 0, 1);
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var base = createParalellepiped(1, 0.2, 1, 0, pos, quat, baseMaterial);
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base.quaternion = null;
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pos.set(ropePos.x, 0.5 * pylonHeight, ropePos.z - armLength);
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var pylon = createParalellepiped(0.4, pylonHeight, 0.4, 0, pos, quat, baseMaterial);
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pylon.quaternion = null;
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pos.set(ropePos.x, pylonHeight + 0.2, ropePos.z - 0.5 * armLength);
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var arm = createParalellepiped(0.4, 0.4, armLength + 0.4, armMass, pos, quat, baseMaterial);
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// Glue the rope extremes to the ball and the arm
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var influence = 1;
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ropeSoftBody.appendAnchor(0, ball.physicsBody, true, influence);
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ropeSoftBody.appendAnchor(ropeNumSegments, arm.physicsBody, true, influence);
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// Hinge constraint to move the arm
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var pivotA = new Ammo.btVector3(0, pylonHeight * 0.5, 0);
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var pivotB = new Ammo.btVector3(0, -0.2, -armLength * 0.5);
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var axis = new Ammo.btVector3(0, 1, 0);
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hinge = new Ammo.btHingeConstraint(pylon.physicsBody, arm.physicsBody, pivotA, pivotB, axis, axis,
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true);
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physicsWorld.addConstraint(hinge, true);
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}
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function createParalellepiped(sx, sy, sz, mass, pos, quat, material) {
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|
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|
var box = Cesium.BoxGeometry.fromDimensions({
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dimensions: new Cesium.Cartesian3(sx, sy, sz),
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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 threeObject = new Mesh(box, material);
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|
|
|
var shape = new Ammo.btBoxShape(new Ammo.btVector3(sx * 0.5, sy * 0.5, sz * 0.5));
|
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|
|
shape.setMargin(margin);
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|
createRigidBody(threeObject, shape, mass, pos, quat);
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|
return threeObject;
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|
|
|
}
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|
|
function createRigidBody(threeObject, physicsShape, mass, pos, quat) {
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|
|
|
|
threeObject.position.copy(pos);
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|
|
|
threeObject.quaternion = new Cesium.Quaternion(quat);
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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(new Ammo.btQuaternion(quat.x, quat.y, quat.z, quat.w));
|
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|
|
|
var motionState = new Ammo.btDefaultMotionState(transform);
|
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|
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|
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|
|
var localInertia = new Ammo.btVector3(0, 0, 0);
|
|
|
|
|
physicsShape.calculateLocalInertia(mass, localInertia);
|
|
|
|
|
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|
|
|
|
var rbInfo = new Ammo.btRigidBodyConstructionInfo(mass, motionState, physicsShape, localInertia);
|
|
|
|
|
var body = new Ammo.btRigidBody(rbInfo);
|
|
|
|
|
|
|
|
|
|
threeObject.physicsBody = body;
|
|
|
|
|
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|
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|
|
meshVisualizer.add(threeObject);
|
|
|
|
|
|
|
|
|
|
if (mass > 0) {
|
|
|
|
|
rigidBodies.push(threeObject);
|
|
|
|
|
|
|
|
|
|
// Disable deactivation
|
|
|
|
|
body.setActivationState(4);
|
|
|
|
|
}
|
|
|
|
|
|
|
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|
|
physicsWorld.addRigidBody(body);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
function initInput() {
|
|
|
|
|
top.window.addEventListener('keydown', function (event) {
|
|
|
|
|
switch (event.keyCode) {
|
|
|
|
|
case 81: // Q
|
|
|
|
|
armMovement = 1;
|
|
|
|
|
break;
|
|
|
|
|
case 65: // A
|
|
|
|
|
armMovement = -1;
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
}, false);
|
|
|
|
|
|
|
|
|
|
top.window.addEventListener('keyup', function (event) {
|
|
|
|
|
armMovement = 0;
|
|
|
|
|
}, false);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
function updatePhysics(deltaTime) {
|
|
|
|
|
// Hinge control
|
|
|
|
|
hinge.enableAngularMotor(true, 1.5 * armMovement, 50);
|
|
|
|
|
|
|
|
|
|
// Step world
|
|
|
|
|
physicsWorld.stepSimulation(deltaTime, 10);
|
|
|
|
|
|
|
|
|
|
// Update rope
|
|
|
|
|
var softBody = rope.physicsBody;
|
|
|
|
|
var ropePositions = rope.geometry.attributes.position.values;
|
|
|
|
|
var numVerts = ropePositions.length / 3;
|
|
|
|
|
var nodes = softBody.get_m_nodes();
|
|
|
|
|
var indexFloat = 0;
|
|
|
|
|
for (var i = 0; i < numVerts; i++) {
|
|
|
|
|
var node = nodes.at(i);
|
|
|
|
|
var nodePos = node.get_m_x();
|
|
|
|
|
ropePositions[indexFloat++] = nodePos.x();
|
|
|
|
|
ropePositions[indexFloat++] = nodePos.y();
|
|
|
|
|
ropePositions[indexFloat++] = nodePos.z();
|
|
|
|
|
}
|
|
|
|
|
rope.geometry.attributes.position.needsUpdate = true;
|
|
|
|
|
|
|
|
|
|
// Update rigid bodies
|
|
|
|
|
for (var i = 0, il = rigidBodies.length; i < il; i++) {
|
|
|
|
|
var objThree = rigidBodies[i];
|
|
|
|
|
var objPhys = objThree.physicsBody;
|
|
|
|
|
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());
|
|
|
|
|
if (objThree.quaternion) {
|
|
|
|
|
objThree.quaternion.set(q.x(), q.y(), q.z(), q.w());
|
|
|
|
|
}
|
|
|
|
|
objThree.modelMatrixNeedsUpdate = true;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
var init = false;
|
|
|
|
|
var start = 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 -
|
|
|
|
|
initPhysics();
|
|
|
|
|
createObjects();
|
|
|
|
|
initInput();
|
|
|
|
|
|
|
|
|
|
init = true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (!start) {
|
|
|
|
|
startTime = new Date();
|
|
|
|
|
meshVisualizer.beforeUpdate.addEventListener(update);
|
|
|
|
|
start = true;
|
|
|
|
|
} else {
|
|
|
|
|
meshVisualizer.beforeUpdate.removeEventListener(update);
|
|
|
|
|
start = false;
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
}, 1000 * 3);
|
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
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>
|
