(mkosarek) Cube to better understand the bounds

3 files changed, 86 insertions, 25 deletions

diff --git a/3d/rigidbody/dist/output.js b/3d/rigidbody/dist/output.js
index e2fe7b4..28d7b0b 100644
--- a/3d/rigidbody/dist/output.js
+++ b/3d/rigidbody/dist/output.js
@@ -2474,6 +2474,8 @@ var ASM_CONSTS = {
       GLctx.currentElementArrayBufferBinding = ibo ? (ibo.name | 0) : 0;
     }
 
+  function _glBlendFunc(x0, x1) { GLctx['blendFunc'](x0, x1) }
+
   function _glBufferData(target, size, data, usage) {
   
       if (GL.currentContext.version >= 2) { // WebGL 2 provides new garbage-free entry points to call to WebGL. Use those always when possible.
@@ -2965,6 +2967,7 @@ var asmLibraryArg = {
   "glAttachShader": _glAttachShader,
   "glBindBuffer": _glBindBuffer,
   "glBindVertexArray": _glBindVertexArray,
+  "glBlendFunc": _glBlendFunc,
   "glBufferData": _glBufferData,
   "glClear": _glClear,
   "glClearColor": _glClearColor,
diff --git a/3d/rigidbody/dist/output.wasm b/3d/rigidbody/dist/output.wasm
index 1bc13cc..2ac9b12 100755
--- a/3d/rigidbody/dist/output.wasm
+++ b/3d/rigidbody/dist/output.wasm
diff --git a/3d/rigidbody/main.cpp b/3d/rigidbody/main.cpp
index f95e634..deac83e 100644
--- a/3d/rigidbody/main.cpp
+++ b/3d/rigidbody/main.cpp
@@ -38,8 +38,10 @@ struct Rigidbody3d {
 
     void reset() {
         numImpulses = 0;
-        velocity = { 0, 0, 0};
-        rotationalVelocity = { 0, 0, 0 };
+        velocity = Vector3();
+        rotationalVelocity = Vector3();
+        position = Vector3();
+        rotation = Quaternion();
     }
 
     void applyImpulse(Impulse i) {
@@ -103,13 +105,13 @@ struct Rigidbody3d {
 };
 
 // -- Sphere definition
-float32 bounds = 20.f;
+float32 bounds = 50.f;
 
 struct Sphere {
 	Mesh3d mesh;
     Rigidbody3d previousBody;
     Rigidbody3d body;
-    float32 radius = 5.f;
+    float32 radius = 1.f;
 
 	void load(Renderer3d* renderer) {
         const float32 angleIncrements = 2.f;
@@ -119,6 +121,8 @@ struct Sphere {
         Vertex3d* vertices = new Vertex3d[numVertices];
         GLuint* indices = new GLuint[numIndices];
 
+        radius = body.mass; // Set the radius to be proportional to the mass
+
         // Generate vertices and indices
         GLint index = 0;
         int32 vidx = 0;
@@ -169,11 +173,7 @@ struct Sphere {
 
 		mesh.load(vertices, numVertices, indices, numIndices, renderer);
 
-        body.position = Vector3 { 0.f, 0.f, 0.f };
-        body.velocity = Vector3 { 0.f, 0.f, 0.f };
-
-        float32 singleFaceArea = radius;
-        body.momentOfInertia = (body.mass * singleFaceArea) / 6.f;
+        body.momentOfInertia = (2.f / 5.f) * (body.mass * (radius * radius));
 
         delete [] vertices;
         delete [] indices;
@@ -183,31 +183,34 @@ struct Sphere {
         previousBody = body;
         body.update(dtSeconds);
 
+        Vector3 upper = body.position + Vector3(radius, radius, radius);
+        Vector3 lower = body.position - Vector3(radius, radius, radius);
+
         // -- Constrain inside of the box
-        if (body.position.x > bounds) {
-            body.position.x = bounds;
+        if (upper.x > bounds) {
+            body.position.x = bounds - radius;
             body.velocity.x = -body.velocity.x;
         }
-        else if (body.position.x < -bounds) {
-            body.position.x = -bounds;
+        else if (lower.x < -bounds) {
+            body.position.x = -bounds + radius;
             body.velocity.x = -body.velocity.x;
         }
 
-        if (body.position.y > bounds) {
-            body.position.y = bounds;
+        if (upper.y > bounds) {
+            body.position.y = bounds - radius;
             body.velocity.y = -body.velocity.y;
         }
-        else if (body.position.y < -bounds) {
-            body.position.y = -bounds;
+        else if (lower.y < -bounds) {
+            body.position.y = -bounds + radius;
             body.velocity.y = -body.velocity.y;
         }
 
-        if (body.position.z > bounds) {
-            body.position.z = bounds;
+        if (upper.z > bounds) {
+            body.position.z = bounds - radius;
             body.velocity.z = -body.velocity.z;
         }
-        else if (body.position.z < -bounds) {
-            body.position.z = -bounds;
+        else if (lower.z < -bounds) {
+            body.position.z = -bounds + radius;
             body.velocity.z = -body.velocity.z;
         }
 
@@ -220,10 +223,52 @@ struct Sphere {
 	}
 
 	void unload() {
+        body.reset();
 		mesh.unload();
 	}
 };
 
+struct Cube {
+    Mesh3d mesh;
+
+    void load(Renderer3d* renderer) {
+        Vertex3d vertices[8];
+        GLuint indices[] = {
+            2, 6, 7, 2, 7, 3,
+            6, 4, 5, 6, 5, 7,
+            4, 0, 1, 4, 1, 5,
+            0, 4, 6, 0, 6, 2,
+            1, 5, 7, 1, 7, 3,
+        };
+
+        vertices[0].position = Vector3(-1.f, 1.f, 1.f);
+        vertices[1].position = Vector3(-1.f, -1.f, 1.f);
+        vertices[2].position = Vector3(1.f, 1.f, 1.f);
+        vertices[3].position = Vector3(1.f, -1.f, 1.f);
+        vertices[4].position = Vector3(-1.f, 1.f, -1.f);
+        vertices[5].position = Vector3(-1.f, -1.f, -1.f);
+        vertices[6].position = Vector3(1.f, 1.f, -1.f);
+        vertices[7].position = Vector3(1.f, -1.f, -1.f);
+
+        for (int idx = 0; idx < 8; idx++) {
+            vertices[idx].normal = Vector3(0, 1, 0);
+            vertices[idx].color = Vector4(randomFloatBetween(0, 1), randomFloatBetween(0, 1), randomFloatBetween(0, 1), 0.9f).normalize();
+        }
+
+        mesh.load(vertices, 8, indices, 30, renderer);
+        float32 scale = bounds;
+        mesh.model = Mat4x4().scale(Vector3(scale, scale, scale));//.translate(Vector3(0, 0, scale / 2.f));
+    }
+
+    void render(Renderer3d* renderer) {
+        mesh.render(renderer);
+    }
+
+    void unload() {
+        mesh.unload();
+    }
+};
+
 // -- Intersection info
 struct IntersectionResult {
     bool intersect = false;
@@ -250,8 +295,9 @@ Camera3d camera;
 MainLoop mainLoop;
 bool isIntersectingPointer = false;
 
-const int32 numSpheres = 2;
+const int32 numSpheres = 3;
 Sphere sphereList[numSpheres];
+Cube environmentCube;
 
 int main() {
 	context.init("#gl_canvas");
@@ -264,20 +310,28 @@ int main() {
 void load() {
     renderer.load(&context);
 
-    sphereList[0].load(&renderer);
     sphereList[0].body.mass = 10.f;
     sphereList[0].body.position = Vector3(10.f, 0, -5);
     sphereList[0].body.velocity = Vector3(-10.f, 10.f, 10.f);
     sphereList[0].body.rotationalVelocity = Vector3(1.f, 1.f, 1.f);
+    sphereList[0].load(&renderer);
 
-    sphereList[1].load(&renderer);
     sphereList[1].body.mass = 6.f;
     sphereList[1].body.position = Vector3(-10.f, 0, 5);
     sphereList[1].body.velocity = Vector3(10.f, -10.f, -10.f);
     sphereList[1].body.rotationalVelocity = Vector3(1.f, 1.f, 1.f);
+    sphereList[1].load(&renderer);
+
+    sphereList[2].body.mass = 3.f;
+    sphereList[2].body.position = Vector3(-10.f, -10, 5);
+    sphereList[2].body.velocity = Vector3(10.f, 0.f, -10.f);
+    sphereList[2].body.rotationalVelocity = Vector3(1.f, 1.f, 1.f);
+    sphereList[2].load(&renderer);
+
+    environmentCube.load(&renderer);
 
 	camera.projection  = Mat4x4().getPerspectiveProjection(0.1f, 10000.f, DEG_TO_RAD(45.f), 800.f / 600.f);
-	camera.view = Mat4x4().translate({ 0, 0, -60.f });
+	camera.view = Mat4x4().translate({ 0, 0, -175.f });
     mainLoop.run(update);
 }
 
@@ -372,6 +426,8 @@ void update(float32 deltaTimeSeconds, void* userData) {
     for (int32 idx = 0; idx < numSpheres; idx++) {
         sphereList[idx].render(&renderer);
     }
+
+    environmentCube.render(&renderer);
 }
 
 void unload() {
@@ -380,6 +436,8 @@ void unload() {
     for (int32 idx = 0; idx < numSpheres; idx++) {
         sphereList[idx].unload();
     }
+
+    environmentCube.unload();
 }
 
 //