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<html><head>
  <meta name="viewport" content="width=device-width">
  <title>Car - Planck.js</title>
</head><body>
<script src="https://cdn.jsdelivr.net/npm/planck-js@0.2/dist/planck-with-testbed.js"></script>
<script>
/*
 * Copyright (c) 2016-2017 Ali Shakiba http://shakiba.me/planck.js
 * Copyright (c) 2006-2011 Erin Catto  http://www.box2d.org
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
 * arising from the use of this software.
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 * 1. The origin of this software must not be misrepresented; you must not
 * claim that you wrote the original software. If you use this software
 * in a product, an acknowledgment in the product documentation would be
 * appreciated but is not required.
 * 2. Altered source versions must be plainly marked as such, and must not be
 * misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
 */
​
// This is a fun demo that shows off the wheel joint
planck.testbed('Car', function(testbed) {
  
  testbed.speed = 1.3;
  testbed.hz = 50;
​
  var pl = planck, Vec2 = pl.Vec2;
  var world = new pl.World({
    gravity : Vec2(0, -10)
  });
​
  // wheel spring settings
  var HZ = 4.0;
  var ZETA = 0.7;
  var SPEED = 50.0;
​
  var ground = world.createBody();
​
  var groundFD = {
    density : 0.0,
    friction : 0.6
  };
​
  ground.createFixture(pl.Edge(Vec2(-20.0, 0.0), Vec2(20.0, 0.0)), groundFD);
​
  var hs = [ 0.25, 1.0, 4.0, 0.0, 0.0, -1.0, -2.0, -2.0, -1.25, 0.0 ];
​
  var x = 20.0, y1 = 0.0, dx = 5.0;
​
  for (var i = 0; i < 10; ++i) {
    var y2 = hs[i];
    ground.createFixture(pl.Edge(Vec2(x, y1), Vec2(x + dx, y2)), groundFD);
    y1 = y2;
    x += dx;
  }
​
  for (var i = 0; i < 10; ++i) {
    var y2 = hs[i];
    ground.createFixture(pl.Edge(Vec2(x, y1), Vec2(x + dx, y2)), groundFD);
    y1 = y2;
    x += dx;
  }
​
  ground.createFixture(pl.Edge(Vec2(x, 0.0), Vec2(x + 40.0, 0.0)), groundFD);
​
  x += 80.0;
  ground.createFixture(pl.Edge(Vec2(x, 0.0), Vec2(x + 40.0, 0.0)), groundFD);
​
  x += 40.0;
  ground.createFixture(pl.Edge(Vec2(x, 0.0), Vec2(x + 10.0, 5.0)), groundFD);
​
  x += 20.0;
  ground.createFixture(pl.Edge(Vec2(x, 0.0), Vec2(x + 40.0, 0.0)), groundFD);
​
  x += 40.0;
  ground.createFixture(pl.Edge(Vec2(x, 0.0), Vec2(x, 20.0)), groundFD);
​
  // Teeter
  var teeter = world.createDynamicBody(Vec2(140.0, 1.0));
  teeter.createFixture(pl.Box(10.0, 0.25), 1.0);
  world.createJoint(pl.RevoluteJoint({
    lowerAngle : -8.0 * Math.PI / 180.0,
    upperAngle : 8.0 * Math.PI / 180.0,
    enableLimit : true
  }, ground, teeter, teeter.getPosition()));
​
  teeter.applyAngularImpulse(100.0, true);
​
  // Bridge
  var bridgeFD = {};
  bridgeFD.density = 1.0;
  bridgeFD.friction = 0.6;
​
  var prevBody = ground;
  for (var i = 0; i < 20; ++i) {
    var bridgeBlock = world.createDynamicBody(Vec2(161.0 + 2.0 * i, -0.125));
    bridgeBlock.createFixture(pl.Box(1.0, 0.125), bridgeFD);
​
    world.createJoint(pl.RevoluteJoint({}, prevBody, bridgeBlock, Vec2(160.0 + 2.0 * i, -0.125)));
​
    prevBody = bridgeBlock;
  }
​
  world.createJoint(pl.RevoluteJoint({}, prevBody, ground, Vec2(160.0 + 2.0 * i, -0.125)));
​
  // Boxes
  var box = pl.Box(0.5, 0.5);
​
  world.createDynamicBody(Vec2(230.0, 0.5))
    .createFixture(box, 0.5);
​
  world.createDynamicBody(Vec2(230.0, 1.5))
    .createFixture(box, 0.5);
​
  world.createDynamicBody(Vec2(230.0, 2.5))
    .createFixture(box, 0.5);
​
  world.createDynamicBody(Vec2(230.0, 3.5))
    .createFixture(box, 0.5);
​
  world.createDynamicBody(Vec2(230.0, 4.5))
    .createFixture(box, 0.5);
​
  // Car
  var car = world.createDynamicBody(Vec2(0.0, 1.0));
  car.createFixture(pl.Polygon([
    Vec2(-1.5, -0.5),
    Vec2(1.5, -0.5),
    Vec2(1.5, 0.0),
    Vec2(0.0, 0.9),
    Vec2(-1.15, 0.9),
    Vec2(-1.5, 0.2)
  ]), 1.0);
​
  var wheelFD = {};
  wheelFD.density = 1.0;
  wheelFD.friction = 0.9;
​
  var wheelBack = world.createDynamicBody(Vec2(-1.0, 0.35));
  wheelBack.createFixture(pl.Circle(0.4), wheelFD);
​
  var wheelFront = world.createDynamicBody(Vec2(1.0, 0.4));
  wheelFront.createFixture(pl.Circle(0.4), wheelFD);
​
  var springBack = world.createJoint(pl.WheelJoint({
    motorSpeed : 0.0,
    maxMotorTorque : 20.0,
    enableMotor : true,
    frequencyHz : HZ,
    dampingRatio : ZETA
  }, car, wheelBack, wheelBack.getPosition(), Vec2(0.0, 1.0)));
​
  var springFront = world.createJoint(pl.WheelJoint({
    motorSpeed : 0.0,
    maxMotorTorque : 10.0,
    enableMotor : false,
    frequencyHz : HZ,
    dampingRatio : ZETA
  }, car, wheelFront, wheelFront.getPosition(), Vec2(0.0, 1.0)));
​
  testbed.keydown = function() {
    if (testbed.activeKeys.down) {
      HZ = Math.max(0.0, HZ - 1.0);
      springBack.setSpringFrequencyHz(HZ);
      springFront.setSpringFrequencyHz(HZ);
​
    } else if (testbed.activeKeys.up) {
      HZ += 1.0;
      springBack.setSpringFrequencyHz(HZ);
      springFront.setSpringFrequencyHz(HZ);
    }
  };
​
  testbed.step = function() {
    if (testbed.activeKeys.right && testbed.activeKeys.left) {
      springBack.setMotorSpeed(0);
      springBack.enableMotor(true);
​
    } else if (testbed.activeKeys.right) {
      springBack.setMotorSpeed(-SPEED);
      springBack.enableMotor(true);
​
    } else if (testbed.activeKeys.left) {
      springBack.setMotorSpeed(+SPEED);
      springBack.enableMotor(true);
​
    } else {
      springBack.setMotorSpeed(0);
      springBack.enableMotor(false);
    }
​
    var cp = car.getPosition();
    if (cp.x > testbed.x + 10) {
      testbed.x = cp.x - 10;
​
    } else if (cp.x < testbed.x - 10) {
      testbed.x = cp.x + 10;
    }
  };
​
  testbed.info('←/→: Accelerate car, ↑/↓: Change spring frequency');
​
  return world;
});
​
</script>
</body></html>
 
​
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