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-rw-r--r--3d/rigidbody.html51
-rw-r--r--3d/rigidbody.html.content51
-rwxr-xr-x3d/rigidbody/dist/output.wasmbin43167 -> 48113 bytes
-rw-r--r--3d/rigidbody/main.cpp110
4 files changed, 166 insertions, 46 deletions
diff --git a/3d/rigidbody.html b/3d/rigidbody.html
index db91bd0..68244de 100644
--- a/3d/rigidbody.html
+++ b/3d/rigidbody.html
@@ -69,26 +69,37 @@
<article>
<h1>Rigidbody in 3D</h1>
<section>
- <section>
- <h2>
- Live Example
- </h2>
- <div class="opengl_canvas_container">
- <canvas id="gl_canvas" width="800" height="600"></canvas>
- <button id="gl_canvas_play" class="play_button">
- Play
- </button>
- <button id="gl_canvas_stop" class="stop_button">
- Stop
- </button>
- </div>
-
- <footer id="references">
- <h2>References</h2>
- <ul>
- </ul>
- </footer>
- </section>
+ <section>
+ <h2>Quaternion Time</h2>
+ <p>
+ I hate to start off the article like this. I really do. But it really wouldn't be a discussion of 3D simulation if we didn't jump right into quaternions. Before I start, however, I recommend you take a look at <a href='https://www.3dgep.com/understanding-quaternions'>this article</a>. Quaternions have been written about over and over throughout the years (and I have read many articles about them over and over throughout the years), so I will not waste your time describing every single detail here. The article that I linked to should provide you enough information to begin to understand what quaternions are and why they're important. That being said, I will provide a brief intro to quaternions here, as well as my own C++ implementation of their algebra. (This article is also quite useful: <a href='http://danceswithcode.net/engineeringnotes/quaternions/quaternions.html'>Dance's With Code Website</a>)
+ <br/><br/>
+
+ </p>
+ </section>
+ <section>
+ <h2>
+ Live Example
+ </h2>
+ <p>
+ <button id='force_apply'>Click Me</button>
+ </p>
+ <div class="opengl_canvas_container">
+ <canvas id="gl_canvas" width="800" height="600"></canvas>
+ <button id="gl_canvas_play" class="play_button">
+ Play
+ </button>
+ <button id="gl_canvas_stop" class="stop_button">
+ Stop
+ </button>
+ </div>
+
+ <footer id="references">
+ <h2>References</h2>
+ <ul>
+ </ul>
+ </footer>
+ </section>
</article>
</main>
</body>
diff --git a/3d/rigidbody.html.content b/3d/rigidbody.html.content
index 8bbf294..5a3eca2 100644
--- a/3d/rigidbody.html.content
+++ b/3d/rigidbody.html.content
@@ -17,24 +17,35 @@
<article>
<h1>Rigidbody in 3D</h1>
<section>
- <section>
- <h2>
- Live Example
- </h2>
- <div class="opengl_canvas_container">
- <canvas id="gl_canvas" width="800" height="600"></canvas>
- <button id="gl_canvas_play" class="play_button">
- Play
- </button>
- <button id="gl_canvas_stop" class="stop_button">
- Stop
- </button>
- </div>
-
- <footer id="references">
- <h2>References</h2>
- <ul>
- </ul>
- </footer>
- </section>
+ <section>
+ <h2>Quaternion Time</h2>
+ <p>
+ I hate to start off the article like this. I really do. But it really wouldn't be a discussion of 3D simulation if we didn't jump right into quaternions. Before I start, however, I recommend you take a look at <a href='https://www.3dgep.com/understanding-quaternions'>this article</a>. Quaternions have been written about over and over throughout the years (and I have read many articles about them over and over throughout the years), so I will not waste your time describing every single detail here. The article that I linked to should provide you enough information to begin to understand what quaternions are and why they're important. That being said, I will provide a brief intro to quaternions here, as well as my own C++ implementation of their algebra. (This article is also quite useful: <a href='http://danceswithcode.net/engineeringnotes/quaternions/quaternions.html'>Dance's With Code Website</a>)
+ <br/><br/>
+
+ </p>
+ </section>
+ <section>
+ <h2>
+ Live Example
+ </h2>
+ <p>
+ <button id='force_apply'>Click Me</button>
+ </p>
+ <div class="opengl_canvas_container">
+ <canvas id="gl_canvas" width="800" height="600"></canvas>
+ <button id="gl_canvas_play" class="play_button">
+ Play
+ </button>
+ <button id="gl_canvas_stop" class="stop_button">
+ Stop
+ </button>
+ </div>
+
+ <footer id="references">
+ <h2>References</h2>
+ <ul>
+ </ul>
+ </footer>
+ </section>
</article>
diff --git a/3d/rigidbody/dist/output.wasm b/3d/rigidbody/dist/output.wasm
index 98d25e5..8ebe0dd 100755
--- a/3d/rigidbody/dist/output.wasm
+++ b/3d/rigidbody/dist/output.wasm
Binary files differ
diff --git a/3d/rigidbody/main.cpp b/3d/rigidbody/main.cpp
index c83018b..90c6bc8 100644
--- a/3d/rigidbody/main.cpp
+++ b/3d/rigidbody/main.cpp
@@ -13,17 +13,96 @@
#include <cmath>
#include <cfloat>
+struct Impulse {
+ Vector3 force = { 0, 0, 0 };
+ Vector3 pointOfApplication = { 0, 0, 0 };
+ float32 timeOfApplicationSeconds = 0.016f;
+ float32 timeAppliedSeconds = 0.f;
+ bool isDead = false;
+};
+
+const int32 MAX_IMPULSES = 4;
+
struct Rigidbody3d {
+ int32 numImpulses = 0;
+ Impulse activeImpulses[MAX_IMPULSES];
Vector3 velocity;
Vector3 position;
+ float32 mass = 1.f;
+
+ Vector3 rotationalVelocity;
+ Quaternion rotation;
+ float32 momentOfInertia = 1.f;
+
+ void reset() {
+ numImpulses = 0;
+ velocity = { 0, 0, 0};
+ rotationalVelocity = { 0, 0, 0 };
+ }
+
+ void applyImpulse(Impulse i) {
+ if (numImpulses > MAX_IMPULSES) {
+ printf("Unable to apply impulse. Buffer full.\n");
+ return;
+ }
+
+ activeImpulses[numImpulses] = i;
+ numImpulses++;
+ }
+
+ void update(float32 deltaTimeSeconds) {
+ // Apply gravity
+ //velocity += (Vector3 { 0.f, -9.8f, 0.f } * deltaTimeSeconds);
+
+ Vector3 force = { 0.f, 0.f, 0.f };
+ Vector3 torque = { 0.f, 0.f, 0.f };
+ for (int32 idx = 0; idx < numImpulses; idx++) {
+ Impulse& i = activeImpulses[idx];
- void update(float32 dtSeconds) {
+ float32 nextTimeAppliedSeconds = i.timeAppliedSeconds + deltaTimeSeconds;
+ if (nextTimeAppliedSeconds >= i.timeOfApplicationSeconds) {
+ nextTimeAppliedSeconds = i.timeOfApplicationSeconds;
+ i.isDead = true;
+ }
+
+ float32 impulseDtSeconds = nextTimeAppliedSeconds - i.timeAppliedSeconds;
+ Vector3 forceToApply = i.force * (impulseDtSeconds / i.timeOfApplicationSeconds);
+ force += forceToApply;
+
+ force.printDebug("Force applied\n");
+
+ torque += i.pointOfApplication.cross(force).dot(forceToApply);
+ i.timeAppliedSeconds = nextTimeAppliedSeconds;
+ }
+ Vector3 acceleration = force / mass;
+ velocity += (acceleration * deltaTimeSeconds);
+ position += (velocity * deltaTimeSeconds);
+
+ Vector3 rotationalAcceleration = torque / momentOfInertia;
+ rotationalVelocity += (rotationalAcceleration * deltaTimeSeconds);
+
+ Quaternion rotationVelocityQuat = { 0, rotationalVelocity.x, rotationalVelocity.y, rotationalVelocity.z };
+ Quaternion dqDt = (rotationVelocityQuat * rotation) * 0.5f;
+ rotation = rotation + (dqDt * deltaTimeSeconds);
+
+ for (int32 idx = 0; idx < numImpulses; idx++) {
+ if (activeImpulses[idx].isDead) {
+ for (int j = idx + 1; j < numImpulses; j++) {
+ activeImpulses[j - 1] = activeImpulses[j];
+ }
+
+ idx = idx - 1;
+ numImpulses--;
+ }
+ }
}
};
struct Cube {
Mesh3d mesh;
+ Rigidbody3d body;
+ float32 scale = 10.f;
void load(Renderer3d* renderer) {
Vertex3d cubeVertices[] = {
@@ -87,12 +166,18 @@ struct Cube {
mesh.load(&cubeVertices[0], 8, cubeIndices, 36, renderer);
+
+ body.position = Vector3 { 0.f, 0.f, 0.f };
+ body.velocity = Vector3 { 0.f, 0.f, 0.f };
+ mesh.model = Mat4x4().scale(scale);
+
+ float32 singleFaceArea = scale * scale;
+ body.momentOfInertia = (body.mass * singleFaceArea) / 6.f;
}
void update(float32 dtSeconds) {
- float32 multiplier = (PI / 8.f) * dtSeconds;
- Vector3 currentRotation = Vector3 { multiplier, multiplier, multiplier };
- mesh.model = mesh.model.rotate(currentRotation.x, currentRotation.y, currentRotation.z);
+ body.update(dtSeconds);
+ mesh.model = mesh.model.translate(body.position) * body.rotation.toMatrix();
}
void render(Renderer3d* renderer) {
@@ -106,6 +191,7 @@ struct Cube {
EM_BOOL onPlayClicked(int eventType, const EmscriptenMouseEvent* mouseEvent, void* userData);
EM_BOOL onStopClicked(int eventType, const EmscriptenMouseEvent* mouseEvent, void* userData);
+EM_BOOL onForceApplicationRequested(int eventType, const EmscriptenMouseEvent* mouseEvent, void* userData);
void load();
void update(float32 time, void* userData);
@@ -122,14 +208,17 @@ int main() {
context.init("#gl_canvas");
emscripten_set_click_callback("#gl_canvas_play", NULL, false, onPlayClicked);
emscripten_set_click_callback("#gl_canvas_stop", NULL, false, onStopClicked);
+ emscripten_set_click_callback("#force_apply", NULL, false, onForceApplicationRequested);
return 0;
}
void load() {
renderer.load(&context);
+ cube.scale = 12.f;
+ cube.body.mass = 100.f;
cube.load(&renderer);
- camera.projection = Mat4x4().getPerspectiveProjection(0.1f, 100.f, PI / 2.f, 800.f / 600.f);
- camera.view = Mat4x4().translate({ 0, 0, -10 });
+ camera.projection = Mat4x4().getPerspectiveProjection(0.1f, 10000.f, DEG_TO_RAD(60.f), 800.f / 600.f);
+ camera.view = Mat4x4().translate({ 0, 0, -250 });
mainLoop.run(update);
}
@@ -162,3 +251,12 @@ EM_BOOL onStopClicked(int eventType, const EmscriptenMouseEvent* mouseEvent, voi
unload();
return true;
}
+
+EM_BOOL onForceApplicationRequested(int eventType, const EmscriptenMouseEvent* mouseEvent, void* userData) {
+ printf("Force applied\n");
+ Impulse base;
+ base.force = { 0, 1000, 0 };
+ base.pointOfApplication = { 0, 1, 0 };
+ cube.body.applyImpulse(base);
+ return true;
+}
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-22 05:32:03 +0000