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

7 files changed, 275 insertions, 118 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 }))) ;
         }
     }
diff --git a/roadmap.html b/roadmap.html
index 912e8c6..9e5e82e 100644
--- a/roadmap.html
+++ b/roadmap.html
@@ -1,124 +1,162 @@
 <!DOCTYPE html>
 <html lang="en">
-    <head>
-      <meta charset="utf-8">
-	  <script src="scripts/jquery-3.5.1.min.js"></script>
-        <script src="index.js"></script>
-        <link rel="stylesheet" href="index.css">
-        <title>Roadmap</title>
-		<style>
-		  section ul {
-			  list-style: none;
-			  padding-left: 0;
-		  }
-		  section li {
-			  position: relative;
-			  padding-left: 1.5em;  /* space to preserve indentation on wrap */
-		  }
-		  section li:before {
-			  content: '';
-			  position: absolute;
-			  left: 0;
-			  width: 1rem;
-			  height: 1rem;
-		  }
-		  section ul {
-			  list-style: none;
-		  }
+	<head>
+		<meta charset="utf-8">
+		<link rel="stylesheet" href="/index.css">
+		<title>Physics for Games</title>
+		<link rel="shortcut icon" href="favicon/favicon.ico" type="image/x-icon">
+	</head>
+	<body>
+		<header>
+			<h1>Physics for Games</h1>
+		</header>
+		<main>
+		<nav>
+		<ul class="outer-tree">
+			<li><a href="/">Introduction</a></li>
+			<li>
+				<span>&#127936;<span>2D</span></span>
+				<ul class="inner-tree">
+					<li><label>Rigidbody</label></li>
+					<li><a href="/2d/_rigidbody/part_1.html">Linear Forces</a></li>
+					<li><a href="/2d/_rigidbody/part_2.html">Rotational Forces</a></li>
+					<li><a href="/2d/_rigidbody/part_3.html">Collision Forces</a></li>
+					<li><label>Collisions</label></li>
+					<li><a href="/2d/_collisions/circle_line.html">Circle-Line</a></li>
+					<li><a href="/2d/_collisions/rectangle_line.html">Rectangle-Line</a></li>
+					<li><a href="/2d/_collisions/rectangle_rectangle.html">Rectangle-Rectangle</a></li>
+					<li><a href="/2d/_collisions/pill_line.html">Pill-Line</a></li>
+					<li><a href="/2d/_collisions/pill_pill.html">Pill-Pill</a></li>
+					<li><a href="/2d/_collisions/polygon_polygon.html">Polygon-Polygon</a></li>
+				</ul>
+			</li>
+			<li>
+				<span>&#127776;<span>3D</span></span>
+				<ul class="inner-tree">
+				</ul>
+			</li>
+			<li>
+				<span>&#128295;<span>WebAssembly</span></span>
+				<ul class="inner-tree">
+					<li><a href="/intro/intro.html">Introduction</a></li>
+				</ul>
+			</li>
+			<li>
+				<span>&#128712;<span>About</span></span>
+				<ul class="inner-tree">
+					<li><a href="/roadmap.html">Roadmap</a></li>
+				</ul>
+			</li>
+		</ul>
+		</nav>
 
-		  section ul li:before {
-			  content: '-';
-		  }
+<style>
+  section ul {
+	  list-style: none;
+	  padding-left: 0;
+  }
+  section li {
+	  position: relative;
+	  padding-left: 1.5em;  /* space to preserve indentation on wrap */
+  }
+  section li:before {
+	  content: '';
+	  position: absolute;
+	  left: 0;
+	  width: 1rem;
+	  height: 1rem;
+  }
+  section ul {
+	  list-style: none;
+  }
 
-		  .done {
-			  color: lightgreen;
-		  }
+  section ul li:before {
+	  content: '-';
+  }
 
-		  .halfway {
-			  color: orange;
-		  }
+  .done {
+	  color: lightgreen;
+  }
 
-          .failed {
-              color: red;
-          }
+  .halfway {
+	  color: orange;
+  }
 
-		  section ul li.done:before {
-			  content: '✓'
-		  }
+  .failed {
+      color: red;
+  }
 
-		  section ul li.halfway:before {
-			  content: '⚠'
-		  }
+  section ul li.done:before {
+	  content: '✓'
+  }
 
-          section ul li.failed:before {
-              content: '✗'
-          }
-		</style>
-    </head>
-    <body>
-	  <header>
-        <h1>Physics for Games</h1>
-      </header>
-	  <main>
-		<nav></nav>
-        <section>
-          <h1>May/June 2021: More Collisions</h1>
-          <ul>
-            <li>SAT Collisions for Convex Polygons with Explanation</li>
-            <li>Pill Collisions</li>
-            <li>Remove (or hide) ellipse collision pages for now</li>
-            <li>3D scene setup</li>
-            <li>3D scene basic physics with spheres bouncing around a scene</li>
-          </ul>
-          <p style="color: pink; font-size: 18px;">
-			Obviously, the month of April did not go as planned. I got caught up with a number of tasks that I couldn't handle,
-            namely, the pill collisions. These, as I discovered, were quite unfeasible and involved a lot of complex maths
-            that I didn't quite yet understand. They are also unreasonable for game development's sake, so I will ditch that
-            effort and focus on doing other things. This, of course, is not time entirely wasted, as I now I have a somewhat
-            better understanding of why ellipses (and by extension ellipsoids, although I am not entirely sure of this). I should
-            <i>instead</i> try to figure out the intersection using pills, not ellipses. Pills are simply 2D shapes made of a
-            rectangle in the middle and two half-circles at either ends. This is a far less expensive collision to calculate.
-            <br/>
-            I also failed when it came to getting a good physics collision system going. This stemmed from a general misunderstanding
-            of moment of inertia and how it can properly be implemented for each shape. I think I am getting a better grip on it now,
-            however.
-            <br />
-            And that brings me to May/June. I am combining these two months because I am quite busy in May with family stuff,
-            and hence won't be able to give my full attention to the project. That being said, as a high-level goal, I hope to
-            get some more 2D collisions going, and maybe move onto 3D fairly soon. For 3D, I would simply like to get the physics
-            simulation up and running with simple objects (spheres, cubes, etc.). From there, I want to begin exploring more complex
-            physics simulation topics like oct-trees, multiple collision resolution, etc. We will see what happens, but I am optimistic,
-            so long as I stay the course.
-		  </p>
-        </section>
-		<section>
-		  <h1>April 2021: Ground Work and Initial Collisions</h1>
-		  <ul>
-			<li class="done">Orthographic rendering basics</li>
-			<li class="done">Uniform build Process for WebAssembly</li>
-			<li class="done">WASM Framework with simulation loop</li>
-		  </ul>
-		  <hr/>
-		  <h1>2D Collisions with Descriptions</h1>
-		  <ul>
-			<li class="halfway">Ellipse-Line Collision</li>
-			<li class="failed">Ellipse-Ellipse Collisions</li>
-			<li class="failed">Ellipse-Circle Collisions</li>
-			<li class="failed">Ellipse-Square Collisions</li>
-			<li class="done">Rectangle-Line Collisions</li>
-			<li class="halfway">Circle-Line Collisions (Redo)</li>
-			<li class="failed">Rectangle-Circle Collision</li>
-		  </ul>
-		  <hr />
-		  <h1>Brief Wasm Series</h1>
-		  <ul>
-			<li class="halfway">Getting started with WASM docs</li>
-			<li class="halfway">Wasm examples</li>
-		  </ul>
-		  <p style="color: pink; font-size: 18px;">
-			Everything above has a due date of <b>April 30th, 2021</b>. None of it is that hard, so this should be a very doable timeline.
-		  </p>
-		</section>
-	  </main>
+  section ul li.halfway:before {
+	  content: '⚠'
+  }
+
+  section ul li.failed:before {
+      content: '✗'
+  }
+</style>
+<article>
+  <section>
+    <h1>May/June 2021: More Collisions</h1>
+    <ul>
+      <li>SAT Collisions for Convex Polygons with Explanation</li>
+      <li>Pill Collisions</li>
+      <li>Remove (or hide) ellipse collision pages for now</li>
+      <li>3D scene setup</li>
+      <li>3D scene basic physics with spheres bouncing around a scene</li>
+    </ul>
+    <p style="font-size: 18px;">
+	  Obviously, the month of April did not go as planned. I got caught up with a number of tasks that I couldn't handle,
+      namely, the pill collisions. These, as I discovered, were quite unfeasible and involved a lot of complex maths
+      that I didn't quite yet understand. They are also unreasonable for game development's sake, so I will ditch that
+      effort and focus on doing other things. This, of course, is not time entirely wasted, as I now I have a somewhat
+      better understanding of why ellipses (and by extension ellipsoids, although I am not entirely sure of this). I should
+      <i>instead</i> try to figure out the intersection using pills, not ellipses. Pills are simply 2D shapes made of a
+      rectangle in the middle and two half-circles at either ends. This is a far less expensive collision to calculate.
+      <br/><br/>
+      I also failed when it came to getting a good physics collision system going. This stemmed from a general misunderstanding
+      of moment of inertia and how it can properly be implemented for each shape. I think I am getting a better grip on it now,
+      however.
+      <br/><br/>
+      And that brings me to May/June. I am combining these two months because I am quite busy in May with family stuff,
+      and hence won't be able to give my full attention to the project. That being said, as a high-level goal, I hope to
+      get some more 2D collisions going, and maybe move onto 3D fairly soon. For 3D, I would simply like to get the physics
+      simulation up and running with simple objects (spheres, cubes, etc.). From there, I want to begin exploring more complex
+      physics simulation topics like oct-trees, multiple collision resolution, etc. We will see what happens, but I am optimistic,
+      so long as I stay the course.
+	</p>
+  </section>
+  <hr/>
+  <section>
+	<h1>April 2021: Ground Work and Initial Collisions</h1>
+	<ul>
+	  <li class="done">Orthographic rendering basics</li>
+	  <li class="done">Uniform build Process for WebAssembly</li>
+	  <li class="done">WASM Framework with simulation loop</li>
+	</ul>
+	<h2>2D Collisions with Descriptions</h1>
+	<ul>
+	  <li class="halfway">Ellipse-Line Collision</li>
+	  <li class="failed">Ellipse-Ellipse Collisions</li>
+	  <li class="failed">Ellipse-Circle Collisions</li>
+	  <li class="failed">Ellipse-Square Collisions</li>
+	  <li class="done">Rectangle-Line Collisions</li>
+	  <li class="halfway">Circle-Line Collisions (Redo)</li>
+	  <li class="failed">Rectangle-Circle Collision</li>
+	</ul>
+	<h2>Brief Wasm Series</h1>
+	<ul>
+	  <li class="halfway">Getting started with WASM docs</li>
+	  <li class="halfway">Wasm examples</li>
+	</ul>
+	<p style="color: pink; font-size: 18px;">
+	  Everything above has a due date of <b>April 30th, 2021</b>. None of it is that hard, so this should be a very doable timeline.
+	</p>
+  </section>
+</article>
+		</main>
 	</body>
 </html>
diff --git a/roadmap.html.content b/roadmap.html.content
new file mode 100644
index 0000000..5509dc8
--- /dev/null
+++ b/roadmap.html.content
@@ -0,0 +1,108 @@
+
+<style>
+  section ul {
+	  list-style: none;
+	  padding-left: 0;
+  }
+  section li {
+	  position: relative;
+	  padding-left: 1.5em;  /* space to preserve indentation on wrap */
+  }
+  section li:before {
+	  content: '';
+	  position: absolute;
+	  left: 0;
+	  width: 1rem;
+	  height: 1rem;
+  }
+  section ul {
+	  list-style: none;
+  }
+
+  section ul li:before {
+	  content: '-';
+  }
+
+  .done {
+	  color: lightgreen;
+  }
+
+  .halfway {
+	  color: orange;
+  }
+
+  .failed {
+      color: red;
+  }
+
+  section ul li.done:before {
+	  content: '✓'
+  }
+
+  section ul li.halfway:before {
+	  content: '⚠'
+  }
+
+  section ul li.failed:before {
+      content: '✗'
+  }
+</style>
+<article>
+  <section>
+    <h1>May/June 2021: More Collisions</h1>
+    <ul>
+      <li>SAT Collisions for Convex Polygons with Explanation</li>
+      <li>Pill Collisions</li>
+      <li>Remove (or hide) ellipse collision pages for now</li>
+      <li>3D scene setup</li>
+      <li>3D scene basic physics with spheres bouncing around a scene</li>
+    </ul>
+    <p style="font-size: 18px;">
+	  Obviously, the month of April did not go as planned. I got caught up with a number of tasks that I couldn't handle,
+      namely, the pill collisions. These, as I discovered, were quite unfeasible and involved a lot of complex maths
+      that I didn't quite yet understand. They are also unreasonable for game development's sake, so I will ditch that
+      effort and focus on doing other things. This, of course, is not time entirely wasted, as I now I have a somewhat
+      better understanding of why ellipses (and by extension ellipsoids, although I am not entirely sure of this). I should
+      <i>instead</i> try to figure out the intersection using pills, not ellipses. Pills are simply 2D shapes made of a
+      rectangle in the middle and two half-circles at either ends. This is a far less expensive collision to calculate.
+      <br/><br/>
+      I also failed when it came to getting a good physics collision system going. This stemmed from a general misunderstanding
+      of moment of inertia and how it can properly be implemented for each shape. I think I am getting a better grip on it now,
+      however.
+      <br/><br/>
+      And that brings me to May/June. I am combining these two months because I am quite busy in May with family stuff,
+      and hence won't be able to give my full attention to the project. That being said, as a high-level goal, I hope to
+      get some more 2D collisions going, and maybe move onto 3D fairly soon. For 3D, I would simply like to get the physics
+      simulation up and running with simple objects (spheres, cubes, etc.). From there, I want to begin exploring more complex
+      physics simulation topics like oct-trees, multiple collision resolution, etc. We will see what happens, but I am optimistic,
+      so long as I stay the course.
+	</p>
+  </section>
+  <hr/>
+  <section>
+	<h1>April 2021: Ground Work and Initial Collisions</h1>
+	<ul>
+	  <li class="done">Orthographic rendering basics</li>
+	  <li class="done">Uniform build Process for WebAssembly</li>
+	  <li class="done">WASM Framework with simulation loop</li>
+	</ul>
+	<h2>2D Collisions with Descriptions</h1>
+	<ul>
+	  <li class="halfway">Ellipse-Line Collision</li>
+	  <li class="failed">Ellipse-Ellipse Collisions</li>
+	  <li class="failed">Ellipse-Circle Collisions</li>
+	  <li class="failed">Ellipse-Square Collisions</li>
+	  <li class="done">Rectangle-Line Collisions</li>
+	  <li class="halfway">Circle-Line Collisions (Redo)</li>
+	  <li class="failed">Rectangle-Circle Collision</li>
+	</ul>
+	<h2>Brief Wasm Series</h1>
+	<ul>
+	  <li class="halfway">Getting started with WASM docs</li>
+	  <li class="halfway">Wasm examples</li>
+	</ul>
+	<p style="color: pink; font-size: 18px;">
+	  Everything above has a due date of <b>April 30th, 2021</b>. None of it is that hard, so this should be a very doable timeline.
+	</p>
+  </section>
+</article>
diff --git a/upload.sh b/upload.sh
index ae5767f..0960cbc 100755
--- a/upload.sh
+++ b/upload.sh
@@ -1 +1 @@
-rsync -a frontend/ root@physicsforgames.com:/var/www/physicsforgames
+rsync -a ./ root@physicsforgames.com:/var/www/physicsforgames