Ignoring general SAT rotations for now, going to focus on redoing the original demos

4 files changed, 15 insertions, 4 deletions

diff --git a/2d/_collisions/polygon_polygon/dist/output.wasm b/2d/_collisions/polygon_polygon/dist/output.wasm
index e355676..d008042 100755
--- a/2d/_collisions/polygon_polygon/dist/output.wasm
+++ b/2d/_collisions/polygon_polygon/dist/output.wasm
diff --git a/2d/_collisions/polygon_polygon/main.cpp b/2d/_collisions/polygon_polygon/main.cpp
index 916a057..b928f02 100644
--- a/2d/_collisions/polygon_polygon/main.cpp
+++ b/2d/_collisions/polygon_polygon/main.cpp
@@ -331,12 +331,13 @@ void resolveCollision(Rigidbody* first, Rigidbody* second, IntersectionResult* i
     float32 linearDenomPart = collisionNormal.dot(collisionNormal * (1.f / first->mass + 1.f / second->mass));
 	float32 rotationalDenomPart = (firstPerpNorm * firstPerpNorm) / first->momentOfInertia + (sndPerpNorm * sndPerpNorm) / second->momentOfInertia;
 
-    float32 impulseMagnitude = numerator / (linearDenomPart + rotationalDenomPart);
+    // @TODO: Most of my 2D rotational work is pretty broken. Let's ignore it for the time being;
+    float32 impulseMagnitude = numerator / (linearDenomPart);// + rotationalDenomPart);
     first->velocity = first->velocity + (collisionNormal * (impulseMagnitude / first->mass));
 	second->velocity = second->velocity - (collisionNormal * (impulseMagnitude / second->mass));
 
-    first->rotationalVelocity = first->rotationalVelocity + firstPerp.dot(collisionNormal * impulseMagnitude) / first->momentOfInertia;
-    second->rotationalVelocity = second->rotationalVelocity - secondPerp.dot(collisionNormal * impulseMagnitude) / second->momentOfInertia;
+    // first->rotationalVelocity = first->rotationalVelocity + firstPerp.dot(collisionNormal * impulseMagnitude) / first->momentOfInertia;
+    // second->rotationalVelocity = second->rotationalVelocity - secondPerp.dot(collisionNormal * impulseMagnitude) / second->momentOfInertia;
 }
 
 void update(float32 deltaTimeSeconds, void* userData) {
@@ -393,15 +394,19 @@ void update(float32 deltaTimeSeconds, void* userData) {
     for (int p = 0; p < 4; p++) {
         ConvexPolygon* polygon = &polygons[p];
         if (polygon->body.position.x <= 0.f) {
+            polygon->body.position.x = 0.f;
             polygon->body.velocity = polygon->body.velocity - Vector2 { 1.f, 0.f } * (2 * (polygon->body.velocity.dot(Vector2 { 1.f, 0.f })));
         }
         if (polygon->body.position.y <= 0.f) {
+            polygon->body.position.y = 0.f;
             polygon->body.velocity = polygon->body.velocity - Vector2 { 0.f, 1.f } * (2 * (polygon->body.velocity.dot(Vector2 { 0.f, 1.f })));
         } 
         if (polygon->body.position.x >= 640.f) {
+            polygon->body.position.x = 640.f;
             polygon->body.velocity = polygon->body.velocity - Vector2 { -1.f, 0.f } * (2 * (polygon->body.velocity.dot(Vector2{ -1.f, 0.f })));
         }
         if (polygon->body.position.y >= 480.f) {
+            polygon->body.position.y = 480.f;
             polygon->body.velocity = polygon->body.velocity - Vector2 { 0.f, -1.f } * (2 * (polygon->body.velocity.dot(Vector2 { 0.f, -1.f }))) ;
         }
     }
diff --git a/2d/_collisions/rectangle_rectangle/dist/output.wasm b/2d/_collisions/rectangle_rectangle/dist/output.wasm
index 5a17a67..f61e371 100755
--- a/2d/_collisions/rectangle_rectangle/dist/output.wasm
+++ b/2d/_collisions/rectangle_rectangle/dist/output.wasm
diff --git a/2d/_collisions/rectangle_rectangle/main.cpp b/2d/_collisions/rectangle_rectangle/main.cpp
index 99dafe5..689ea11 100644
--- a/2d/_collisions/rectangle_rectangle/main.cpp
+++ b/2d/_collisions/rectangle_rectangle/main.cpp
@@ -398,19 +398,25 @@ void update(float32 deltaTimeSeconds, void* userData) {
 		}
 	}
 
-    // Check collisions with walls
+    // Check collisions with walls.
+    // @NOTE: Setting the position backwards by a small amount _could_ move it into another object, but we are ignoring that circumstance
+    // for now, as it is very unlikely.
     for (int r = 0; r < 4; r++) {
         Rectangle* rect = &rectangleList[r];
         if (rect->body.position.x <= 0.f) {
+            rect->body.position.x = 0.f;
             rect->body.velocity = rect->body.velocity - Vector2 { 1.f, 0.f } * (2 * (rect->body.velocity.dot(Vector2 { 1.f, 0.f })));
         }
         if (rect->body.position.y <= 0.f) {
+            rect->body.position.y = 0.f;
             rect->body.velocity = rect->body.velocity - Vector2 { 0.f, 1.f } * (2 * (rect->body.velocity.dot(Vector2 { 0.f, 1.f })));
         } 
         if (rect->body.position.x >= 640.f) {
+            rect->body.position.x = 640.f;
             rect->body.velocity = rect->body.velocity - Vector2 { -1.f, 0.f } * (2 * (rect->body.velocity.dot(Vector2{ -1.f, 0.f })));
         }
         if (rect->body.position.y >= 480.f) {
+            rect->body.position.y = 480.f;
             rect->body.velocity = rect->body.velocity - Vector2 { 0.f, -1.f } * (2 * (rect->body.velocity.dot(Vector2 { 0.f, -1.f }))) ;
         }
     }