three.js & cannon-es车辆车轮转动控制求助：无法结合横竖转动及判断进退

算力阿峰

2026-8-13

问题描述

我没法把车轮的水平转向和垂直转动结合起来，而且车轮只会向前转。我不知道怎么判断车辆是前进还是后退，所以没法正确处理车轮的运动。

代码实现细节

车轮水平转向

按下"a"或"d"键时调用该函数
deg变量取值为0或Math.PI / 8

const steeringWheels = (deg) => {
    options.vehilce.wheelFrontOponaLeft.rotation.z = deg;
    options.vehilce.wheelFrontFelgaLeft.rotation.z = deg;
    options.vehilce.wheelFrontFelgaRight.rotation.z = deg;
    options.vehilce.wheelFrontOponaRight.rotation.z = deg;
}

车轮垂直转动

每帧渲染时调用该函数

const moveVehicle = (delta) => {
    options.vehilce.model.position.copy(options.vehilce.cannon.chassisBody.position.clone().vadd(new CANNON.Vec3(0, -.2, 0)));
    options.vehilce.model.quaternion.copy(options.vehilce.cannon.chassisBody.quaternion);

    angularVelocity = options.vehilce.cannon.wheelBodies[0].angularVelocity.length();

    options.vehilce.wheelFrontFelgaLeft.rotateX(angularVelocity * delta);
    options.vehilce.wheelFrontFelgaRight.rotateX(angularVelocity * delta);
    options.vehilce.wheelFrontOponaLeft.rotateX(angularVelocity * delta);
    options.vehilce.wheelFrontOponaRight.rotateX(angularVelocity * delta);
    options.vehilce.wheelBackFelgaLeft.rotateX(angularVelocity * delta);
    options.vehilce.wheelBackFelgaRight.rotateX(angularVelocity * delta);
    options.vehilce.wheelBackOponaLeft.rotateX(angularVelocity * delta);
    options.vehilce.wheelBackOponaRight.rotateX(angularVelocity * delta);
}