Initial commit

28 files changed, 899 insertions, 0 deletions

diff --git a/frontend/_rigidbody/circle.js b/frontend/_rigidbody/circle.js
new file mode 100644
index 0000000..c044597
--- /dev/null
+++ b/frontend/_rigidbody/circle.js
@@ -0,0 +1,58 @@
+const BYTES_PER_FLOAT = 4;
+
+function circle(pGl, pRadius, pSegments, pColorList, pInitialPosition) {
+    const lBuffer = pGl.createBuffer();
+
+    pGl.bindBuffer(pGl.ARRAY_BUFFER, lBuffer);
+
+    var lBufferedData = [];
+    vertexCount = 0;
+
+    const lAngleIncrements = (360.0 / pSegments) * (Math.PI / 180.0);
+    for (let lSegIdx = 0; lSegIdx < pSegments; lSegIdx++) {
+        const lAngle = lAngleIncrements * lSegIdx,
+            lNextAngle = lAngleIncrements * (lSegIdx + 1),
+            lColorIndex = Math.floor(pColorList.length * (lSegIdx / pSegments)),
+            lColor = pColorList[lColorIndex]; // TODO: Calculate which one to use
+
+        lBufferedData = lBufferedData.concat([
+            0,                              0,                              lColor.x, lColor.y, lColor.z, lColor.w,
+            pRadius * Math.sin(lAngle),     pRadius * Math.cos(lAngle),     lColor.x, lColor.y, lColor.z, lColor.w,
+            pRadius * Math.sin(lNextAngle), pRadius * Math.cos(lNextAngle), lColor.x, lColor.y, lColor.z, lColor.w
+        ]);
+
+        vertexCount += 3;
+    }
+
+    pGl.bufferData(pGl.ARRAY_BUFFER, new Float32Array(lBufferedData), pGl.STATIC_DRAW)
+    pGl.bindBuffer(pGl.ARRAY_BUFFER, undefined);
+
+    return { 
+        buffer: lBuffer, 
+        vertexCount: vertexCount,
+        position: pInitialPosition || vec2(),
+        velocity: vec2(),
+        force: vec2(),
+        mass: 1,
+        rotationRadians: 0,
+        model: mat4(),
+        radius: pRadius
+    };
+}
+
+function renderCircle(pGl, pProgramInfo, pCircle) {
+    pGl.bindBuffer(pGl.ARRAY_BUFFER, pCircle.buffer);
+    {
+        pGl.enableVertexAttribArray(pProgramInfo.attributeLocations.position);
+        pGl.vertexAttribPointer(pProgramInfo.attributeLocations.position, 2, pGl.FLOAT, false, BYTES_PER_FLOAT * 6, 0);
+
+        pGl.enableVertexAttribArray(pProgramInfo.attributeLocations.color);
+        pGl.vertexAttribPointer(pProgramInfo.attributeLocations.color, 4, pGl.FLOAT, false, BYTES_PER_FLOAT * 6, BYTES_PER_FLOAT * 2);
+    }
+
+    pGl.drawArrays(pGl.TRIANGLE_STRIP, 0, pCircle.vertexCount);
+}
+
+function getMomentOfInertia(pCircle) {
+    return (Math.PI * Math.pow(pCircle.radius, 4)) / 4;
+}
\ No newline at end of file
diff --git a/frontend/_rigidbody/mat4.js b/frontend/_rigidbody/mat4.js
new file mode 100644
index 0000000..6ab29e2
--- /dev/null
+++ b/frontend/_rigidbody/mat4.js
@@ -0,0 +1,43 @@
+function mat4() {
+    return [
+        1, 0, 0, 0,
+        0, 1, 0, 0,
+        0, 0, 1, 0,
+        0, 0, 0, 1
+    ]
+}
+
+function orthographic(pLeft, pRight, pBottom, pTop) {
+    const lResult = mat4();
+    lResult[0] = 2.0 / (pRight - pLeft);
+    lResult[5] = 2.0 / (pTop - pBottom);
+    lResult[10] = 1.0;
+    lResult[12] = -(pRight + pLeft) / (pRight - pLeft);
+    lResult[13] = -(pTop + pBottom) / (pTop - pBottom);
+    return lResult;
+}
+
+function translateMatrix(m, x, y, z) {
+    m = [...m];
+    m[12] += x;
+    m[13] += y;
+    m[14] += z;
+    return m;
+}
+
+function rotateMatrix2d(m, angle) {
+    m = [...m];
+    m[0] = Math.cos(angle);
+    m[1] = -Math.sin(angle);
+    m[4] = Math.sin(angle);
+    m[5] = Math.cos(angle);
+    return m;
+}
+
+function scaleMatrix(m, x, y, z) {
+    m = [...m];
+    m[0] = m[0] * x;
+    m[5] = m[5] * y;
+    m[10] = m[10] * z;
+    return m;
+}
\ No newline at end of file
diff --git a/frontend/_rigidbody/program_common.js b/frontend/_rigidbody/program_common.js
new file mode 100644
index 0000000..9d097e2
--- /dev/null
+++ b/frontend/_rigidbody/program_common.js
@@ -0,0 +1,72 @@
+/// <reference path="shader.js" />
+/// <reference path="mat4.js" />
+
+function getContext(pId, pOnRun) {
+    const lCanvas = $(pId).find('canvas'),
+        lPlayButton = $(pId).find('.play_button'),
+        lStopButton = $(pId).find('.stop_button'),
+        lGl = lCanvas[0].getContext('webgl'),
+        lWidth = lCanvas.width(),
+        lHeight = lCanvas.height();
+
+    return {
+        canvas: lCanvas,
+        playButton: lPlayButton,
+        stopButton: lStopButton,
+        gl: lGl,
+        width: lWidth,
+        height: lHeight,
+        perspective: orthographic(0, lWidth, 0, lHeight),
+        load: function() {
+            lPlayButton.empty().append($('<div>').addClass('spin-loader'));
+            return loadOrthographicShader(lGl).then(function(pProgramInfo) {
+                lPlayButton.css('display', 'none');
+                lStopButton.css('display', 'block');
+                return pProgramInfo;
+            });
+        },
+        reset: function() {
+            lPlayButton.css('display', 'block');
+            lPlayButton.empty().text('Play');
+            lStopButton.css('display', 'none');
+            lStopButton.on('click', undefined);
+        }
+    };
+}
+
+function requestUpdateLoop(pFunction, pOnExit) {
+    let lDeltaTimeSeconds = undefined,
+        lStartTimeSeconds = undefined,
+        lIsRunning = true;
+
+    function update(pTimeStamp) {
+        if (!lIsRunning) {
+            if (pOnExit) {
+                pOnExit();
+            }
+            return;
+        }
+
+        pTimeStamp = pTimeStamp / 1000.0; // Convert to seconds
+
+        // Time calculation
+        if (lStartTimeSeconds === undefined) {
+            lStartTimeSeconds = pTimeStamp;
+            lDeltaTimeSeconds = 0;
+        } else {
+            lDeltaTimeSeconds = lStartTimeSeconds - pTimeStamp;
+            lStartTimeSeconds = pTimeStamp;
+        }
+
+        pFunction(lDeltaTimeSeconds);
+        requestAnimationFrame(update);
+    }
+
+    requestAnimationFrame(update);
+
+    function lExit() {
+        lIsRunning = false;
+    }
+
+    return lExit;
+}
\ No newline at end of file
diff --git a/frontend/_rigidbody/rigidbody_1.js b/frontend/_rigidbody/rigidbody_1.js
new file mode 100644
index 0000000..5021162
--- /dev/null
+++ b/frontend/_rigidbody/rigidbody_1.js
@@ -0,0 +1,106 @@
+/// <reference path="../scripts/jquery-3.5.1.min.js"/>
+/// <reference path="vec2.js" />
+/// <reference path="mat4.js" />
+/// <reference path="shader.js" />
+/// <reference path="circle.js" />
+/// <reference path="program_common.js" />
+
+function main() {
+    // Define Constants
+    const CIRCLE_RADIUS = 16;
+    const GRAVITY = 9.8;
+
+    // Retrieve context
+    const lProgramContext = getContext('#rigidbody_1');
+
+    if (lProgramContext.gl === null) {
+        console.error('Unable to initialize WebGL. Your browser or machine may not support it.');
+        return;
+    }
+
+    lProgramContext.gl.clearColor(0.0, 0.0, 0.0, 1.0);
+    lProgramContext.gl.clear(lProgramContext.gl.COLOR_BUFFER_BIT);
+
+    function run() {
+        console.log('Running Rigid Body 1');
+        lProgramContext.load().then(function(pProgramInfo) {
+            const lCircle = circle(lProgramContext.gl, CIRCLE_RADIUS, 30, [{ x: 0.3, y: 0.3, z: 0.3, w: 1 }], vec2(lProgramContext.width / 2.0, lProgramContext.height / 2.0));
+            
+            function update(pDeltaTimeSeconds) {
+                // Physics updates
+                const lGravityForce = vec2(0, -1.0 * (lCircle.mass * GRAVITY));
+
+                // Add up the forces acting on the circle
+                lCircle.force = addVec2(lCircle.force, lGravityForce);
+
+                // Figure out acceleration (a = F / m)
+                const lCurrentAcceleration = scaleVec2(lCircle.force, 1.0 / lCircle.mass);
+
+                // Calculate the new velocity: v = v0 + a * t
+                lCircle.velocity = addVec2(lCircle.velocity, scaleVec2(lCurrentAcceleration, pDeltaTimeSeconds));
+
+                // Update the position based on velocity: x = x0 + v * t
+                lCircle.position = addVec2(lCircle.position, scaleVec2(lCircle.velocity, pDeltaTimeSeconds));
+
+                // Update the model matrix accordingly
+                lCircle.model = translateMatrix(mat4(), lCircle.position.x, lCircle.position.y, 0);
+
+                // Report the current state to the frontend
+                $('#rigidbody_1_force_field').text(vec2str(lCircle.force));
+                $('#rigidbody_1_acceleration_field').text(vec2str(lCurrentAcceleration));
+                $('#rigidbody_1_velocity_field').text(vec2str(lCircle.velocity));
+                $('#rigidbody_1_position_field').text(vec2str(lCircle.position));
+
+                // Reset the circle's force vector
+                lCircle.force = vec2();
+
+                // Render Code only
+                lProgramContext.gl.clearColor(0.0, 0.0, 0.0, 1.0);  // Clear to black, fully opaque
+                lProgramContext.gl.clearDepth(1.0);                 // Clear everything
+                lProgramContext.gl.enable(lProgramContext.gl.DEPTH_TEST);           // Enable depth testing
+                lProgramContext.gl.depthFunc(lProgramContext.gl.LEQUAL);            // Near things obscure far things
+                lProgramContext.gl.clear(lProgramContext.gl.COLOR_BUFFER_BIT | lProgramContext.gl.DEPTH_BUFFER_BIT);
+
+                lProgramContext.gl.useProgram(pProgramInfo.program);
+                lProgramContext.gl.uniformMatrix4fv(pProgramInfo.uniformLocations.projection, false, lProgramContext.perspective);
+                lProgramContext.gl.uniformMatrix4fv(pProgramInfo.uniformLocations.model, false, lCircle.model);
+
+                renderCircle(lProgramContext.gl, pProgramInfo, lCircle);
+            }
+
+            function addForce(ev) {
+                ev.preventDefault();
+                ev.stopPropagation();
+
+                const lXValue = $(this).find('.vec2_x_input').val(),
+                    lYValue = $(this).find('.vec2_y_input').val();
+
+                console.log('Applying force: ' + lXValue + ', ' + lYValue);
+                lCircle.force = addVec2(lCircle.force, vec2(Number(lXValue), Number(lYValue)));
+            }
+
+            function cleanup() {
+                lProgramContext.gl.deleteBuffer(lCircle.buffer);
+                lProgramContext.gl.deleteProgram(pProgramInfo.program);
+                lProgramContext.gl.clearColor(0.0, 0.0, 0.0, 1.0);
+                lProgramContext.gl.clear(lProgramContext.gl.COLOR_BUFFER_BIT);
+            }
+
+            function reset() {
+                lExitRequestFunc();
+                lProgramContext.reset();
+                $('#rigidbody_1_force_submit_button').unbind('submit').submit(false);
+            }
+
+            const lExitRequestFunc = requestUpdateLoop(update, cleanup);
+            lProgramContext.stopButton.on('click', reset);
+            $('#rigidbody_1_force_submit_button').submit(addForce);
+        });
+    }
+
+    lProgramContext.playButton.on('click', run);
+    $('#rigidbody_1_force_submit_button').submit(false);
+
+}
+
+$(document).ready(main);
\ No newline at end of file
diff --git a/frontend/_rigidbody/rigidbody_2.js b/frontend/_rigidbody/rigidbody_2.js
new file mode 100644
index 0000000..b41fa92
--- /dev/null
+++ b/frontend/_rigidbody/rigidbody_2.js
@@ -0,0 +1,78 @@
+/// <reference path="../scripts/jquery-3.5.1.min.js"/>
+/// <reference path="vec2.js" />
+/// <reference path="mat4.js" />
+/// <reference path="shader.js" />
+/// <reference path="circle.js" />
+
+function main() {
+    // Define Constants
+    const CIRCLE_RADIUS = 16;
+    const GRAVITY = 9.8;
+
+    // Retrieve context
+    const lProgramContext = getContext('#rigidbody_2');
+
+    if (lProgramContext.gl === null) {
+        console.error('Unable to initialize WebGL. Your browser or machine may not support it.');
+        return;
+    }
+
+    lProgramContext.gl.clearColor(0.0, 0.0, 0.0, 1.0);
+    lProgramContext.gl.clear(lProgramContext.gl.COLOR_BUFFER_BIT);
+
+    function run() {
+        console.log('Running Rigid Body 2');
+        lProgramContext.load().then(function(pProgramInfo) {
+            const lCircle = circle(lProgramContext.gl, CIRCLE_RADIUS, 30, [
+                { x: 1, y: 1, z: 0, w: 1 },
+                { x: 1, y: 0, z: 1, w: 1 },
+                { x: 0, y: 1, z: 1, w: 1 },
+                { x: 0, y: 1, z: 0, w: 1 }
+            ], vec2(lProgramContext.width / 2.0, lProgramContext.height / 2.0));
+
+            function update(pDeltaTimeSeconds) {
+                // Same physics updates from previously
+                const lGravityForce = vec2(0, -1.0 * (lCircle.mass * GRAVITY));
+                lCircle.force = addVec2(lCircle.force, lGravityForce);
+                const lCurrentAcceleration = scaleVec2(lCircle.force, 1.0 / lCircle.mass);
+                lCircle.velocity = addVec2(lCircle.velocity, scaleVec2(lCurrentAcceleration, pDeltaTimeSeconds));
+                lCircle.position = addVec2(lCircle.position, scaleVec2(lCircle.velocity, pDeltaTimeSeconds));
+                lCircle.rotationRadians += Math.PI * pDeltaTimeSeconds;
+                lCircle.model = rotateMatrix2d(translateMatrix(mat4(), lCircle.position.x, lCircle.position.y, 0), lCircle.rotationRadians);
+                lCircle.force = vec2();
+
+                // Render Code only
+                lProgramContext.gl.clearColor(0.0, 0.0, 0.0, 1.0);
+                lProgramContext.gl.clearDepth(1.0);
+                lProgramContext.gl.enable(lProgramContext.gl.DEPTH_TEST);
+                lProgramContext.gl.depthFunc(lProgramContext.gl.LEQUAL);
+                lProgramContext.gl.clear(lProgramContext.gl.COLOR_BUFFER_BIT | lProgramContext.gl.DEPTH_BUFFER_BIT);
+
+                lProgramContext.gl.useProgram(pProgramInfo.program);
+                lProgramContext.gl.uniformMatrix4fv(pProgramInfo.uniformLocations.projection, false, lProgramContext.perspective);
+                lProgramContext.gl.uniformMatrix4fv(pProgramInfo.uniformLocations.model, false, lCircle.model);
+
+                renderCircle(lProgramContext.gl, pProgramInfo, lCircle);
+            }
+
+            function cleanup() {
+                lProgramContext.gl.deleteBuffer(lCircle.buffer);
+                lProgramContext.gl.deleteProgram(pProgramInfo.program);
+                lProgramContext.gl.clearColor(0.0, 0.0, 0.0, 1.0);
+                lProgramContext.gl.clear(lProgramContext.gl.COLOR_BUFFER_BIT);
+            }
+
+            function reset() {
+                lExitRequestFunc();
+                lProgramContext.reset();
+            }
+
+            const lExitRequestFunc = requestUpdateLoop(update, cleanup);
+            lProgramContext.stopButton.on('click', reset);
+        });
+    }
+
+    lProgramContext.playButton.on('click', run);
+}
+
+$(document).ready(main);
\ No newline at end of file
diff --git a/frontend/_rigidbody/shader.js b/frontend/_rigidbody/shader.js
new file mode 100644
index 0000000..bf08638
--- /dev/null
+++ b/frontend/_rigidbody/shader.js
@@ -0,0 +1,60 @@
+function loadShader(pGl, pShaderType, pShaderSource) {
+    const lShader = pGl.createShader(pShaderType);
+    pGl.shaderSource(lShader, pShaderSource);
+    pGl.compileShader(lShader);
+    if (!pGl.getShaderParameter(lShader, pGl.COMPILE_STATUS)) {
+      alert('An error occurred compiling the shaders: ' + pGl.getShaderInfoLog(lShader));
+      pGl.deleteShader(lShader);
+      return null;
+    }
+  
+    return lShader;
+}
+
+function loadOrthographicShader(pGl) {
+    var lVertex, lFragment;
+
+    function lLoadShaders() {
+        const lVertexShader = loadShader(pGl, pGl.VERTEX_SHADER, lVertex);
+        const lFragmentShader = loadShader(pGl, pGl.FRAGMENT_SHADER, lFragment);
+
+        const lShaderProgram = pGl.createProgram();
+        pGl.attachShader(lShaderProgram, lVertexShader);
+        pGl.attachShader(lShaderProgram, lFragmentShader);
+        pGl.linkProgram(lShaderProgram);
+
+        if (!pGl.getProgramParameter(lShaderProgram, pGl.LINK_STATUS)) {
+            alert('Unable to initialize the shader program: ' + pGl.getProgramInfoLog(lShaderProgram));
+            return null;
+        }
+
+        return {
+            program: lShaderProgram,
+            attributeLocations: {
+                position: pGl.getAttribLocation(lShaderProgram, 'position'),
+                color: pGl.getAttribLocation(lShaderProgram, 'color')
+            },
+            uniformLocations: {
+                projection: pGl.getUniformLocation(lShaderProgram, 'projection'),
+                model: pGl.getUniformLocation(lShaderProgram, 'model')
+            }
+        }
+    }
+
+    return fetch('/_rigidbody/shaders/orthographic.vert').then(function(pResponse) {
+        if (pResponse.status === 200) {
+            return pResponse.text().then(function(pShader) {
+                lVertex = pShader;
+
+                return fetch('/_rigidbody/shaders/orthographic.frag').then(function(pResponse) {
+                    if (pResponse.status === 200) {
+                        return pResponse.text().then(function(pShader) {
+                            lFragment = pShader;
+                            return lLoadShaders();
+                        });
+                    }
+                });
+            });
+        }
+    });
+}
\ No newline at end of file
diff --git a/frontend/_rigidbody/shaders/orthographic.frag b/frontend/_rigidbody/shaders/orthographic.frag
new file mode 100644
index 0000000..84b6b2e
--- /dev/null
+++ b/frontend/_rigidbody/shaders/orthographic.frag
@@ -0,0 +1,5 @@
+varying lowp vec4 VertexColor;
+
+void main() {
+    gl_FragColor = VertexColor;
+}
\ No newline at end of file
diff --git a/frontend/_rigidbody/shaders/orthographic.vert b/frontend/_rigidbody/shaders/orthographic.vert
new file mode 100644
index 0000000..0356f9c
--- /dev/null
+++ b/frontend/_rigidbody/shaders/orthographic.vert
@@ -0,0 +1,13 @@
+attribute vec2 position;
+attribute vec4 color;
+
+uniform mat4 projection;
+uniform mat4 model;
+
+varying lowp vec4 VertexColor;
+
+void main() {
+    vec4 fragmentPosition = projection * model * vec4(position, 1, 1);
+    gl_Position = fragmentPosition;
+    VertexColor = color;
+}
\ No newline at end of file
diff --git a/frontend/_rigidbody/vec2.js b/frontend/_rigidbody/vec2.js
new file mode 100644
index 0000000..3b24371
--- /dev/null
+++ b/frontend/_rigidbody/vec2.js
@@ -0,0 +1,41 @@
+function vec2(x = 0, y = 0) {
+    return { x: x, y: y};
+}
+
+function addVec2(v1, v2) {
+    return {
+        x: v1.x + v2.x,
+        y: v1.y + v2.y
+    };
+}
+
+function subVec2(v1, v2) {
+    return {
+        x: v1.x - v2.x,
+        y: v1.y - v2.y
+    };
+}
+
+function scaleVec2(v, s) {
+    return {
+        x: v.x * s,
+        y: v.y * s
+    };
+}
+
+function dot2(v1, v2) {
+    return v1.x * v2.x + v1.y * v2.y;
+}
+
+function length2(v) {
+    return Math.sqrt(v.x * v.x + v.y * v.y);
+}
+
+function normalize2(v) {
+    const lLength = 1.0 / length2(v);
+    return { x: v.x * lLength, y: v.y * lLength };
+}
+
+function vec2str(v) {
+    return `(${v.x.toFixed(2)}, ${v.y.toFixed(2)})`;
+}
\ No newline at end of file
diff --git a/frontend/dog-114-203766.png b/frontend/dog-114-203766.png
new file mode 100644
index 0000000..1bed84f
--- /dev/null
+++ b/frontend/dog-114-203766.png
diff --git a/frontend/dog-120-203766.png b/frontend/dog-120-203766.png
new file mode 100644
index 0000000..8630006
--- /dev/null
+++ b/frontend/dog-120-203766.png
diff --git a/frontend/dog-144-203766.png b/frontend/dog-144-203766.png
new file mode 100644
index 0000000..f99123a
--- /dev/null
+++ b/frontend/dog-144-203766.png
diff --git a/frontend/dog-152-203766.png b/frontend/dog-152-203766.png
new file mode 100644
index 0000000..c0e2c85
--- /dev/null
+++ b/frontend/dog-152-203766.png
diff --git a/frontend/dog-16-203766.png b/frontend/dog-16-203766.png
new file mode 100644
index 0000000..bed9af9
--- /dev/null
+++ b/frontend/dog-16-203766.png
diff --git a/frontend/dog-24-203766.png b/frontend/dog-24-203766.png
new file mode 100644
index 0000000..b70836f
--- /dev/null
+++ b/frontend/dog-24-203766.png
diff --git a/frontend/dog-32-203766.png b/frontend/dog-32-203766.png
new file mode 100644
index 0000000..46b6f77
--- /dev/null
+++ b/frontend/dog-32-203766.png
diff --git a/frontend/dog-48-203766.png b/frontend/dog-48-203766.png
new file mode 100644
index 0000000..ba10a5b
--- /dev/null
+++ b/frontend/dog-48-203766.png
diff --git a/frontend/dog-512-203766.png b/frontend/dog-512-203766.png
new file mode 100644
index 0000000..814c34e
--- /dev/null
+++ b/frontend/dog-512-203766.png
diff --git a/frontend/dog-57-203766.png b/frontend/dog-57-203766.png
new file mode 100644
index 0000000..0ee3c44
--- /dev/null
+++ b/frontend/dog-57-203766.png
diff --git a/frontend/dog-64-203766.png b/frontend/dog-64-203766.png
new file mode 100644
index 0000000..d28a1be
--- /dev/null
+++ b/frontend/dog-64-203766.png
diff --git a/frontend/dog-72-203766.png b/frontend/dog-72-203766.png
new file mode 100644
index 0000000..25c5c50
--- /dev/null
+++ b/frontend/dog-72-203766.png
diff --git a/frontend/favicon.ico b/frontend/favicon.ico
new file mode 100644
index 0000000..7c96d7e
--- /dev/null
+++ b/frontend/favicon.ico
diff --git a/frontend/index.css b/frontend/index.css
new file mode 100644
index 0000000..9139963
--- /dev/null
+++ b/frontend/index.css
@@ -0,0 +1,211 @@
+body {
+    font-size: 16px;
+    font-family: "Open Sans", sans-serif;
+    width: 100%;
+    height: 100vh;
+    display: flex;
+    flex-direction: column;
+    align-items: center;
+    margin: 0rem;
+    padding: 0rem;
+}
+
+header {
+    padding-top: 1rem;
+    width: 1260px;
+    flex: 0 1 auto;
+    text-align: center;
+}
+
+header > h1 {
+    margin: 0rem;
+    padding-top: 0.5rem;
+    padding-bottom: 0.5rem;
+}
+
+main {
+    color: #1a1a1a;
+    width: 1260px;
+    background-color: white;
+    flex: 1 1 100%;
+    height: 100%;
+    margin-bottom: 1rem;
+    overflow-y: auto;
+}
+
+nav {
+    width: 1260px;
+    text-align: left;
+    font-size: 1rem;
+    border-bottom: 1px solid #404040;
+}
+
+nav > a {
+    color: #404040;
+    text-decoration: none;
+    display: inline-block;
+    min-width: 196px;
+    padding: 0.25rem;
+}
+
+nav > a:hover {
+    color: #1a1a1a;
+    cursor: pointer;
+}
+
+.nav-selected {
+    color: black;
+    font-weight: bold;
+}
+
+section {
+    padding: 1rem;
+}
+
+hr {
+    width: 90%;
+}
+
+.spin-loader {
+    border: 5px solid #f3f3f3;
+    border-top: 5px solid #555;
+    border-radius: 50%;
+    width: 50px;
+    height: 50px;
+    animation: spin 2s linear infinite;
+}
+
+@keyframes spin {
+    0% { transform: rotate(0deg); }
+    100% { transform: rotate(360deg); }
+}
+
+section > p {
+    padding-left: 2rem;
+    padding-right: 2rem;
+}
+
+/*
+    Helpful inputs
+*/
+.vec2_input_group {
+    display: flex;
+    flex-direction: row;
+    width: 100%;
+    justify-content: space-evenly;
+    padding: 0.25rem;
+}
+
+.vec2_input_group > input {
+    width: 45%;
+}
+
+/*
+    WebGL container styling from here on.
+*/
+section .opengl_canvas_container {
+    position: relative;
+    width: 100%;
+    text-align: center;
+    display: flex;
+    flex-direction: row;
+    justify-content: center;
+}
+
+section .opengl_canvas_container .play_button {
+    all: unset;
+    font-size: 2rem;
+    width: 128px;
+    height: 128px;
+    position: absolute;
+    top: calc(50% - 56px);
+    left: calc(50% - 220px);
+    border: 1px solid white;
+    color: white;
+    background-color: transparent;
+    border-radius: 50%;
+    display: flex;
+    flex-direction: row;
+    align-items: center;
+    justify-content: center;
+}
+
+section .opengl_canvas_container .play_button:hover {
+    cursor: pointer;
+}
+
+section .opengl_canvas_container .stop_button {
+    all: unset;
+    font-size: 1rem;
+    background-color: red;
+    color: white;
+    position: absolute;
+    width: 128px;
+    height: 2rem;
+    border-radius: 2px;
+    top: 0.5rem;
+    left: 612px;
+    display: none;
+}
+
+section .opengl_canvas_container .stop_button:hover {
+    cursor: pointer;
+}
+
+section pre {
+    width: 90%;
+    overflow-x: auto;
+    padding-left: 2rem;
+}
+
+.opengl_canvas_sidebar {
+    width: 312px;
+    height: 480px;
+    border: 1px solid #1a1a1a;
+    border-left: none;
+
+    display: flex;
+    flex-direction: column;
+    text-align: left;
+    justify-content: space-between;
+}
+
+.opengl_canvas_sidebar .opengl_value_tracker {
+    font-size: 14px;
+    display: flex;
+    flex-direction: column;
+    text-align: left;
+}
+
+.opengl_canvas_sidebar .opengl_value_tracker > li {
+    padding-bottom: 0.5rem;
+}
+
+.opengl_canvas_sidebar .opengl_value_tracker > li > b {
+    display: inline-block;
+    width: 128px;
+}
+
+.opengl_canvas_sidebar .opengl_value_tracker > li > span {
+    display: inline-block;
+}
+
+/*
+    Code styles
+*/
+.code_keyword {
+    color: blue;
+    font-weight: bold;
+}
+
+.code_constant {
+    font-weight: bold;
+}
+
+.code_str {
+    color: orange;
+}
+
+.code_comment {
+    color: green;
+}
\ No newline at end of file
diff --git a/frontend/index.html b/frontend/index.html
new file mode 100644
index 0000000..d57d69b
--- /dev/null
+++ b/frontend/index.html
@@ -0,0 +1,23 @@
+<!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">
+        <link href="https://fonts.googleapis.com/css?family=Open+Sans:400,600,300" rel="stylesheet" type="text/css">
+        <title>Simple Website</title>
+    </head>
+    <body>
+        <header>
+            <h1>Matt Kae's Programming Blog</h1>
+        </header>
+        <nav>
+            <a href="/">Home</a>
+            <a href="rigidbody.html">Rigid Body</a>
+            <a href="references.html">Books n' References</a>
+        </nav>
+        <main>
+        </main>
+    </body>
+</html> 
\ No newline at end of file
diff --git a/frontend/index.js b/frontend/index.js
new file mode 100644
index 0000000..0cbd896
--- /dev/null
+++ b/frontend/index.js
@@ -0,0 +1,10 @@
+/// <reference path="scripts/jquery-3.5.1.min.js"/>
+
+function main() {
+    console.log('Document ready.');
+    const lPathName = window.location.pathname.length > 1 && window.location.pathname.startsWith('/') ? window.location.pathname.substr(1) : window.location.pathname;
+    console.log(lPathName);
+    $('nav').find('a[href="' + lPathName + '"').addClass('nav-selected');
+}
+
+$(document).ready(main);
\ No newline at end of file
diff --git a/frontend/readme.txt b/frontend/readme.txt
new file mode 100644
index 0000000..aa00c22
--- /dev/null
+++ b/frontend/readme.txt
@@ -0,0 +1,26 @@
+Thank you for downloading a favicon from Free Favicon! This favicon was created from an image at http://openclipart.org/ and converted to a favicon and other sizes for you to use in your projects. For more details about this image visit this page: https://openclipart.org/detail/203766/dog
+
+For more information about how you can use this image from OpenClipArt see this page: http://openclipart.org/may-clipart-be-used-comparison
+
+Here are the contents of this compressed package:
+
+*  favicon.ico  --  The favicon file (supports both 16*16 and 32*32 dimensions). You will need to rename this to favicon.ico and upload to your web site.
+
+  * You can add a favicon to your web page by uploading favicon.ico to Root of your  website and inserting the following HTML tag between the <head> ... </head> tags of your web page.
+
+<link rel="shortcut icon" href="favicon.ico" /> 
+
+* There are many different sized png files for use a icons for smartphones, tablets and desktop use.  
+
+If you are having any problems installing your favicon we have tips on the Free Favicon blog. http://www.freefavicon.com/blog/
+
+Thank you once again for download from Free Favicon! If you like your favicon we appreciate you taking the time to mention our service to others, blogging about us and of course by linking to us.
+
+We also encourage you to check out Backblaze online backup. We use Backblaze to backup our computers and keep our data safe. They offer a free 15 day trial and are the easiest online backup service we have used.
+
+Use this link http://www.freefavicon.com/blog/outgoing/backblaze.php to try Backblaze for Free!
+
+By signing up for Backblaze you help keep Free Favicon free!
+
+Thank you,
+FreeFavicon.com
\ No newline at end of file
diff --git a/frontend/rigidbody.html b/frontend/rigidbody.html
new file mode 100644
index 0000000..510c667
--- /dev/null
+++ b/frontend/rigidbody.html
@@ -0,0 +1,152 @@
+<!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">
+        <link href="https://fonts.googleapis.com/css?family=Open+Sans:400,600,300" rel="stylesheet" type="text/css">
+        <title>Simple Website</title>
+
+        <script src="_rigidbody/vec2.js"></script>
+        <script src="_rigidbody/mat4.js"></script>
+        <script src="_rigidbody/shader.js"></script>
+        <script src="_rigidbody/circle.js"></script>
+        <script src="_rigidbody/program_common.js"></script>
+        <script src="_rigidbody/rigidbody_1.js"></script>
+        <script src="_rigidbody/rigidbody_2.js"></script>
+    </head>
+    <body>
+        <header>
+            <h1>Matt Kae's Programming Blog</h1>
+        </header>
+        <nav>
+            <a href="/">Home</a>
+            <a href="rigidbody.html">Rigid Body</a>
+            <a href="references.html">Books n' References</a>
+        </nav>
+        <main>
+            <section>
+                <p>
+                    <ul>
+                        <li><a href="#introduction">Introduction</a></li>
+                        <li><a href="#linear-forces">Part 1: Linear Forces</a></li>
+                        <li><a href="#rotational-forces">Part 2: Rotational Forces</a></li>
+                    </ul>
+                </p>
+            </section>
+            <section id='introduction'>
+                <h2>Introduction: Rigid Body Physics</h2>
+                <p>
+                    You're most likely here because you have some interest in the world of rigid body physics. Maybe you have some knowledge of rendering via OpenGL or Vulkan, 
+                    and you want to begin watching your up-until-now static scene come to life. Well, you're in the right place! In the course of this tutorial series I will walk
+                    you through the entirety of a 2D rigid body physics system entirely in the web. All of this information will be extendable to other languages, but we will use
+                    JavaScript and WebGL in these blog posts. Additionally, much of the information presented here can be extended to 3 dimensions, but 3D carries some complications
+                    with it, that we will discuss in future blog posts.
+                </p>
+                <p>
+                    In implementing a rigidy body physics system, we're primarily interested in two sub-fields of physics, namely <b>dynamics</b> and <b>kinematics</b>. Although I'm
+                    far as can be from being an expert in either of these fields, I will explain - from a programmer's persepctive - what they mean to me:
+                    <ul>
+                        <li>
+                            <b>Kinematics</b> is the study of how an object's movement changes over time. These are the classic position, velocity, and acceleration equations
+                            that you're most likely familiar with from high school or college physics.
+                        </li>
+                        <li>
+                            <b>Dynamics</b> is the study of whats <i>causes</i> kinematic movement. These are the classic force and momentum equations that you may already be familiar
+                            with as well.
+                        </li>
+                    </ul>
+                </p>
+                <p>
+                    Finally, I must provide a disclaimer that all of rigid body systems are very math-y. You will need to know a decent amount of vector calculus and linear algebra to really understand
+                    what's going on here. I am going to assume that you have this knowledge. If you don't already have this knowledge, I will try and provide some resources on the Books
+                    n' References page of the website.
+                </p>
+            </section>
+            <hr />
+            <section id="linear-forces">
+                <h2>Part 1: Linear Forces</h2>
+                <p>
+                    The first - and perhaps easiest - part of implementing any rigid body physics system is getting the entities in your scene to move in response to linear forces.
+                    With this implementation alone, you can achieve an interesting level of realism in your 2D (and even 3D) scene.
+                </p>
+                <p>
+                    Let's begin by recalling the relationships between acceleration, velocity, and position.
+                </p>
+                <p>
+                    Knowing all this, you should be able to understand the following source code fairly easily;
+                    <pre>
+                        <code>
+<span class="code_keyword">function</span> update(dtSeconds) {
+    <span class="code_comment">// Add up the forces acting on the circle</span>
+    <span class="code_keyword">const</span> GRAVITY = 9.8;
+    <span class="code_keyword">const</span> lGravityForce = vec2(0, -1.0 * (lCircle.mass * <span class="code_constant">GRAVITY</span>));
+    lCircle.force = addVec2(lCircle.force, lGravityForce);
+
+    <span class="code_comment">// Figure out acceleration (a = F / m)</span>
+    <span class="code_keyword">const</span> lCurrentAcceleration = scaleVec2(lCircle.force, 1.0 / lCircle.mass);
+
+    <span class="code_comment">// Calculate the new velocity: v = v0 + a * t</span>
+    lCircle.velocity = addVec2(lCircle.velocity, scaleVec2(lCurrentAcceleration, dtSeconds));
+
+    <span class="code_comment">// Update the position based on velocity: x = x0 + v * t</span>
+    lCircle.position = addVec2(lCircle.position, scaleVec2(lCircle.velocity, dtSeconds));
+
+    <span class="code_comment">// Update the model matrix accordingly</span>
+    lCircle.model = translateMatrix(mat4(), lCircle.position.x, lCircle.position.y, 0);
+
+    <span class="code_comment">// Reset the force vector for the next update</span>
+    lCircle.force = vec2()
+}
+                        </code>
+                    </pre>
+                </p>
+                <div id="rigidbody_1" class="opengl_canvas_container">
+                    <canvas width="640" height="480"></canvas>
+                    <div class="opengl_canvas_sidebar">
+                        <ul class="opengl_value_tracker">
+                            <li><b>Force:</b><span id="rigidbody_1_force_field">N/A</span></li>
+                            <li><b>Acceleration:</b><span id="rigidbody_1_acceleration_field">N/A</span></li>
+                            <li><b>Velocity:</b><span id="rigidbody_1_velocity_field">N/A</span></li>
+                            <li><b>Position:</b><span id="rigidbody_1_position_field">N/A</span></li>
+                        </ul>
+                        <form id="rigidbody_1_force_submit_button" style="text-align: right; padding: 0.5rem;">
+                            <div class="vec2_input_group">
+                                <input class="vec2_x_input" type="number" value="0"/>
+                                <input class="vec2_y_input" type="number" value="5000"/>
+                            </div>
+                            <input type="submit" value="Apply Force"></input>
+                        </form>
+                    </div>
+                    <button class="play_button">
+                        Play
+                    </button>
+                    <button class="stop_button">
+                        Stop
+                    </button>
+                </div>
+            </section>
+            <hr />
+            <section id="rotational-forces">
+                <h2>Part 2: Rotational Forces</h2>
+                <p>
+                </p>
+                <div id="rigidbody_2" class="opengl_canvas_container">
+                    <canvas width="640" height="480"></canvas>
+                    <div class="opengl_canvas_sidebar">
+                        
+                    </div>
+                    <button class="play_button">
+                        Play
+                    </button>
+                    <button class="stop_button">
+                        Stop
+                    </button>
+                </div>
+            </section>
+
+            <section style="height: 50vh;"></section>
+        </main>
+    </body>
+</html> 
\ No newline at end of file
diff --git a/frontend/scripts/jquery-3.5.1.min.js b/frontend/scripts/jquery-3.5.1.min.js
new file mode 100644
index 0000000..4e83e2d
--- /dev/null
+++ b/frontend/scripts/jquery-3.5.1.min.js
@@ -0,0 +1 @@
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