(mkosarek) Rigidbody with rotations

1 files changed, 20 insertions, 3 deletions

diff --git a/2d/_collisions/polygon_polygon.html b/2d/_collisions/polygon_polygon.html
index ce26f62..e8fe7ea 100644
--- a/2d/_collisions/polygon_polygon.html
+++ b/2d/_collisions/polygon_polygon.html
@@ -93,18 +93,35 @@
     <p>
       Given two polygons <b>A</b> and <b>B</b>:
       <ol>
-        <li>For each edge on A, get the normal <i>n</i> of that edge.</li>
+        <li>For each edge on <b>A</b>, get the normal <i>n</i> of that edge.</li>
         <li>Project each vertex <i>v</i> of <b>A</b> onto <i>n</i>. Return the minimum and maximum projection of all vertices.</li>
         <li>Repeat Step 2 for polygon <b>B</b>.</li>
         <li>If the min and max projections found in Steps 2 and 3 do <b>NOT</b> overlap, the polygons are not intersecting. Return false.</li>
         <li>If the projections overlap for each edge of both shapes, the shapes are intersecting. Return true.</li>
       </ol>
+
+      And that is all there is to <i>finding</i> the intersection between two convex polygons.
+    </p>
+  </section>
+  <section>
+    <h2>SAT Collision Resolution</h2>
+    <p>
+      Now that we know our objects have intersecting, we want to be able to send them tumbling away from each other to simulate a collision. To do this, we will need to find the following things:
+      <ul>
+        <li><b>Collision Normal</b>: in what direction, point towards object <b>A</b>, did the polygons intersect</li>
+        <li><b>Point of Application</b>: at what point on each object did the objects first intersect</li>
+        <li><b>Relative Velocity</b>: easily found by taking the difference between the two velocities.
+      </ul>
+
+      <h3>Collision Normal</h3>
+      <p>
+        
+      </p>
     </p>
-    
   </section>
   <section>
 	<h2>
-	  Live Example
+	  Live Example of Intersection Detection
 	</h2>
     <div class="opengl_canvas_container">
       <canvas id="gl_canvas" width="800" height="600"></canvas>