Update examples code

dist/cannon-es.cjs.js

@@ -6723,9 +6723,9 @@ class RaycastVehicle {
     this.wheelInfos = [];
     this.sliding = false;
     this.world = null;
-    this.indexRightAxis = typeof options.indexRightAxis !== 'undefined' ? options.indexRightAxis : 1;
+    this.indexRightAxis = typeof options.indexRightAxis !== 'undefined' ? options.indexRightAxis : 2;
     this.indexForwardAxis = typeof options.indexForwardAxis !== 'undefined' ? options.indexForwardAxis : 0;
-    this.indexUpAxis = typeof options.indexUpAxis !== 'undefined' ? options.indexUpAxis : 2;
+    this.indexUpAxis = typeof options.indexUpAxis !== 'undefined' ? options.indexUpAxis : 1;
     this.constraints = [];
 
     this.preStepCallback = () => {};
@@ -7366,7 +7366,7 @@ class RigidVehicle {
       // No chassis body given. Create it!
       this.chassisBody = new Body({
         mass: 1,
-        shape: new Box(new Vec3(5, 2, 0.5))
+        shape: new Box(new Vec3(5, 0.5, 2))
       });
     }
 
@@ -7407,7 +7407,7 @@ class RigidVehicle {
     this.chassisBody.pointToWorldFrame(position, worldPosition);
     wheelBody.position.set(worldPosition.x, worldPosition.y, worldPosition.z); // Constrain wheel
 
-    const axis = typeof options.axis !== 'undefined' ? options.axis.clone() : new Vec3(0, 1, 0);
+    const axis = typeof options.axis !== 'undefined' ? options.axis.clone() : new Vec3(0, 0, 1);
     this.wheelAxes.push(axis);
     const hingeConstraint = new HingeConstraint(this.chassisBody, wheelBody, {
       pivotA: position,
@@ -7434,8 +7434,8 @@ class RigidVehicle {
     const c = Math.cos(value);
     const s = Math.sin(value);
     const x = axis.x;
-    const y = axis.y;
-    this.constraints[wheelIndex].axisA.set(c * x - s * y, s * x + c * y, 0);
+    const z = axis.z;
+    this.constraints[wheelIndex].axisA.set(-c * x + s * z, 0, s * x + c * z);
   }
   /**
    * Set the target rotational speed of the hinge constraint.
@@ -9127,7 +9127,7 @@ class Trimesh extends Shape {
         const n = this.vertices.length / 3,
             verts = this.vertices;
         const minx,miny,minz,maxx,maxy,maxz;
-          const v = tempWorldVertex;
+         const v = tempWorldVertex;
         for(let i=0; i<n; i++){
             this.getVertex(i, v);
             quat.vmult(v, v);
@@ -9137,12 +9137,12 @@ class Trimesh extends Shape {
             } else if(v.x > maxx || maxx===undefined){
                 maxx = v.x;
             }
-              if (v.y < miny || miny===undefined){
+             if (v.y < miny || miny===undefined){
                 miny = v.y;
             } else if(v.y > maxy || maxy===undefined){
                 maxy = v.y;
             }
-              if (v.z < minz || minz===undefined){
+             if (v.z < minz || minz===undefined){
                 minz = v.z;
             } else if(v.z > maxz || maxz===undefined){
                 maxz = v.z;

dist/cannon-es.js

@@ -6719,9 +6719,9 @@ class RaycastVehicle {
     this.wheelInfos = [];
     this.sliding = false;
     this.world = null;
-    this.indexRightAxis = typeof options.indexRightAxis !== 'undefined' ? options.indexRightAxis : 1;
+    this.indexRightAxis = typeof options.indexRightAxis !== 'undefined' ? options.indexRightAxis : 2;
     this.indexForwardAxis = typeof options.indexForwardAxis !== 'undefined' ? options.indexForwardAxis : 0;
-    this.indexUpAxis = typeof options.indexUpAxis !== 'undefined' ? options.indexUpAxis : 2;
+    this.indexUpAxis = typeof options.indexUpAxis !== 'undefined' ? options.indexUpAxis : 1;
     this.constraints = [];
 
     this.preStepCallback = () => {};
@@ -7362,7 +7362,7 @@ class RigidVehicle {
       // No chassis body given. Create it!
       this.chassisBody = new Body({
         mass: 1,
-        shape: new Box(new Vec3(5, 2, 0.5))
+        shape: new Box(new Vec3(5, 0.5, 2))
       });
     }
 
@@ -7403,7 +7403,7 @@ class RigidVehicle {
     this.chassisBody.pointToWorldFrame(position, worldPosition);
     wheelBody.position.set(worldPosition.x, worldPosition.y, worldPosition.z); // Constrain wheel
 
-    const axis = typeof options.axis !== 'undefined' ? options.axis.clone() : new Vec3(0, 1, 0);
+    const axis = typeof options.axis !== 'undefined' ? options.axis.clone() : new Vec3(0, 0, 1);
     this.wheelAxes.push(axis);
     const hingeConstraint = new HingeConstraint(this.chassisBody, wheelBody, {
       pivotA: position,
@@ -7430,8 +7430,8 @@ class RigidVehicle {
     const c = Math.cos(value);
     const s = Math.sin(value);
     const x = axis.x;
-    const y = axis.y;
-    this.constraints[wheelIndex].axisA.set(c * x - s * y, s * x + c * y, 0);
+    const z = axis.z;
+    this.constraints[wheelIndex].axisA.set(-c * x + s * z, 0, s * x + c * z);
   }
   /**
    * Set the target rotational speed of the hinge constraint.
@@ -9123,7 +9123,7 @@ class Trimesh extends Shape {
         const n = this.vertices.length / 3,
             verts = this.vertices;
         const minx,miny,minz,maxx,maxy,maxz;
-          const v = tempWorldVertex;
+         const v = tempWorldVertex;
         for(let i=0; i<n; i++){
             this.getVertex(i, v);
             quat.vmult(v, v);
@@ -9133,12 +9133,12 @@ class Trimesh extends Shape {
             } else if(v.x > maxx || maxx===undefined){
                 maxx = v.x;
             }
-              if (v.y < miny || miny===undefined){
+             if (v.y < miny || miny===undefined){
                 miny = v.y;
             } else if(v.y > maxy || maxy===undefined){
                 maxy = v.y;
             }
-              if (v.z < minz || minz===undefined){
+             if (v.z < minz || minz===undefined){
                 minz = v.z;
             } else if(v.z > maxz || maxz===undefined){
                 maxz = v.z;

examples/body_types.html

@@ -0,0 +1,85 @@
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <meta charset="utf-8" />
+    <title>cannon.js - body types demo</title>
+    <link rel="stylesheet" href="css/style.css" type="text/css" />
+    <meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0" />
+  </head>
+  <body>
+    <script type="module">
+      import * as CANNON from '../dist/cannon-es.js'
+      import { Demo } from './js/Demo.js'
+
+      /**
+       * Demos of the Body.type types.
+       */
+
+      const demo = new Demo()
+
+      demo.addScene('Moving box', () => {
+        const world = setupWorld(demo)
+
+        const size = 2
+
+        // Kinematic Box
+        // Does only collide with dynamic bodies, but does not respond to any force.
+        // Its movement can be controlled by setting its velocity.
+        const boxShape = new CANNON.Box(new CANNON.Vec3(size, size, size))
+        const boxBody = new CANNON.Body({
+          mass: 0,
+          type: CANNON.Body.KINEMATIC,
+          position: new CANNON.Vec3(0, size * 0.5, 0),
+        })
+        boxBody.addShape(boxShape)
+        world.addBody(boxBody)
+        demo.addVisual(boxBody)
+
+        // To control the box movement we must set its velocity
+        boxBody.velocity.set(0, 5, 0)
+        setInterval(() => {
+          if (boxBody.velocity.y < 0) {
+            boxBody.velocity.set(0, 5, 0)
+          } else {
+            boxBody.velocity.set(0, -5, 0)
+          }
+        }, 1000)
+
+        // Dynamic Sphere
+        // Dynamic bodies can collide with bodies of all other types.
+        const sphereShape = new CANNON.Sphere(size)
+        const sphereBody = new CANNON.Body({
+          mass: 5,
+          position: new CANNON.Vec3(0, size * 3, 0),
+        })
+        sphereBody.addShape(sphereShape)
+        world.addBody(sphereBody)
+        demo.addVisual(sphereBody)
+      })
+
+      demo.start()
+
+      function setupWorld(demo) {
+        const world = demo.getWorld()
+        world.gravity.set(0, -40, 0)
+
+        // Tweak contact properties.
+        // Contact stiffness - use to make softer/harder contacts
+        world.defaultContactMaterial.contactEquationStiffness = 1e8
+
+        // Stabilization time in number of timesteps
+        world.defaultContactMaterial.contactEquationRelaxation = 10
+
+        // Static ground plane
+        const groundShape = new CANNON.Plane()
+        const groundBody = new CANNON.Body({ mass: 0 })
+        groundBody.addShape(groundShape)
+        groundBody.quaternion.setFromEuler(-Math.PI / 2, 0, 0)
+        world.addBody(groundBody)
+        demo.addVisual(groundBody)
+
+        return world
+      }
+    </script>
+  </body>
+</html>