diff options
Diffstat (limited to 'frontend/_rigidbody/2d/rigidbody_3b.js')
| -rw-r--r-- | frontend/_rigidbody/2d/rigidbody_3b.js | 188 |
1 files changed, 0 insertions, 188 deletions
diff --git a/frontend/_rigidbody/2d/rigidbody_3b.js b/frontend/_rigidbody/2d/rigidbody_3b.js deleted file mode 100644 index 803161a..0000000 --- a/frontend/_rigidbody/2d/rigidbody_3b.js +++ /dev/null @@ -1,188 +0,0 @@ -/// <reference path="../../scripts/jquery-3.5.1.min.js"/> -/// <reference path="../../_shared/math/vec2.js" /> -/// <reference path="../../_shared/math/mat4.js" /> -/// <reference path="../../_shared/2d/shader.js" /> -/// <reference path="../../_shared/math/circle.js" /> -/// <reference path="../../_shared/2d/program_common.js" /> - -(function() { - // Define Constants - const GRAVITY = 50.0; - const COF_OF_RESTITUITION = 0.9; - - var lProgramContext = undefined; - - function main() { - lProgramContext = getContext('#rigidbody_3b'); - - 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); - lProgramContext.playButton.on('click', run); - } - - function run() { - console.log('Running Rigid Body 3b'); - lProgramContext.load().then(function(pProgramInfo) { - const lNumHorizontalPegs = lProgramContext.width / 80.0, - lNumVerticalPegs = lProgramContext.height / 80.0, - lBall = circle(lProgramContext.gl, 16.0, 16, - [ { x: 1, y: 0, z: 0, w: 1 }, { x: 0, y: 1, z: 0, w: 1 }, { x: 0, y: 0, z: 1, w: 1 } ], - vec2(38 * 8, lProgramContext.height - 24.0), 10.0), - lPegList = []; - - lBall.velocity = vec2(0, -50.0); - - // Generate a peg. These pegs will NOT be updated, so that they - // dont' fall due to gravity. - for (let lRowIdx = 0; lRowIdx < lNumVerticalPegs - 1; lRowIdx++) { - for (let lColIdx = 0; lColIdx <= lNumHorizontalPegs; lColIdx++) { - lPegList.push(circle(lProgramContext.gl, - 16.0, 16, - [ { x: 165.0 / 255.0, y: 42.0 / 255.0, z: 42.0 / 255.0, w: 1.0 }], - vec2((lRowIdx % 2 ? 40 : 0) + (lColIdx) * 80.0, lRowIdx * 80.0), - 10000 // Real big so it's almost negligble - )); - } - } - - function updateCircle(pCircle, pDeltaTimeSeconds) { - // Same physics updates from part 1 - applyForce(pCircle, vec2(0, -1.0 * (pCircle.mass * GRAVITY))); - const lCurrentAcceleration = scaleVec2(pCircle.force, 1.0 / pCircle.mass); - pCircle.prevVelocity = pCircle.velocity; - pCircle.velocity = addVec2(pCircle.velocity, scaleVec2(lCurrentAcceleration, pDeltaTimeSeconds)); - pCircle.prevPos = { ...pCircle.position }; - pCircle.position = addVec2(pCircle.position, scaleVec2(pCircle.velocity, pDeltaTimeSeconds)); - pCircle.force = vec2(); - - // Same physics updates from part 2 - - const lMomentOfInertia = getMomentOfInertia(pCircle); - const lAngularAcceleration = pCircle.torque / lMomentOfInertia; - pCircle.rotationVelocity += lAngularAcceleration * pDeltaTimeSeconds; - pCircle.rotationRadians += pCircle.rotationVelocity * pDeltaTimeSeconds; - pCircle.torque = 0; - - pCircle.model = rotateMatrix2d(translateMatrix(mat4(), pCircle.position.x, pCircle.position.y, 0), pCircle.rotationRadians); - } - - function update(pDeltaTimeSeconds) { - updateCircle(lBall, pDeltaTimeSeconds); - collision(pDeltaTimeSeconds); - render(); - } - - function collision(pDeltaTimeSeconds) { - for (let lPegIdx = 0; lPegIdx < lPegList.length; lPegIdx++) { - const lPeg = lPegList[lPegIdx]; - - if (!doCirclesIntersect(lPeg, lBall)) { - continue; - } - - // We have an intersection! Let's try and figure out precisely when that happened. - let lSubdividedDeltaTime = pDeltaTimeSeconds; - - // Create a ball and move it back to the balls previous position - let lSubdividedBall = undefined; - - do { - // Move the subdivided ball back to the previous position, and then - // advance its position by increasingly smaller timestep. This could be pretty - // slow in some circumstances, and it most definitely does not prevent tunneling, - // but - for now - this is not so bad. - lSubdividedBall = JSON.parse(JSON.stringify(lBall)); - lSubdividedBall.position = {...lBall.prevPos}; - lSubdividedBall.velocity = {...lBall.prevVelocity}; - lSubdividedDeltaTime = lSubdividedDeltaTime / 2.0; - updateCircle(lSubdividedBall, lSubdividedDeltaTime); - if (lSubdividedDeltaTime === 0) { - console.error('This should NOT be happening'); - break; - } - } while (doCirclesIntersect(lPeg, lSubdividedBall)) - - // The ball is no longer intersecting at the time presented here. That means this is - // (nearly) the precise point of intersection. - - const lIntersectionResult = getIntersectionDataForCircles(lPeg, lSubdividedBall); - - const lRelativeVelocity = lIntersectionResult.relativeVelocity, - lCollisionNormal = lIntersectionResult.collisionNormal, - lFirstPerp = getPerp2(lIntersectionResult.firstPointOfApplication), - lSecondPerp = getPerp2(lIntersectionResult.secondPointOfApplication); - - const lNumerator = dot2(scaleVec2(lRelativeVelocity, -(1.0 + COF_OF_RESTITUITION)), lCollisionNormal); - const lLinearDenomPart = dot2(lCollisionNormal, (scaleVec2(lCollisionNormal, 1 / lBall.mass))); - const lRotationalDenomPart = (Math.pow(dot2(lFirstPerp, lCollisionNormal), 2) / getMomentOfInertia(lPeg)) - + (Math.pow(dot2(lSecondPerp, lCollisionNormal), 2) / getMomentOfInertia(lBall)) - - const lImpulseMagnitude = lNumerator / (lLinearDenomPart + lRotationalDenomPart); - - lBall.position = lSubdividedBall.position; // Move the ball back to its proper subdivided position - lBall.velocity = subVec2(lBall.velocity, scaleVec2(lCollisionNormal, lImpulseMagnitude / lBall.mass)); - lBall.rotationVelocity = lBall.rotationVelocity - dot2(lSecondPerp, scaleVec2(lCollisionNormal, lImpulseMagnitude)) / getMomentOfInertia(lBall); - - // Now we update in our new direction with the remaining time that we have left. - updateCircle(lBall, pDeltaTimeSeconds - lSubdividedDeltaTime); - - break; - } - } - - function render() { - 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); - - lPegList.forEach(function(pCircle) { - renderCircle(lProgramContext.gl, pProgramInfo, pCircle); - }); - - renderCircle(lProgramContext.gl, pProgramInfo, lBall); - } - - const TORQUE_MULTIPLIER = 100.0; // TODO: This may be unncessary - function applyForce(pCircle, pForceVector, pPointOfApplication) { - if (pPointOfApplication !== undefined) { - const lOriginToPointOfApp = subVec2(vec2(), pPointOfApplication), - lPerpVec = vec2(-lOriginToPointOfApp.y, lOriginToPointOfApp.x); - - pCircle.torque += TORQUE_MULTIPLIER * dot2(lPerpVec, pForceVector); - } - - pCircle.force = addVec2(pCircle.force, pForceVector); - } - - function cleanup() { - lPegList.forEach(function(pCircle) { freeCircle(lProgramContext.gl, pCircle); }); - freeCircle(lProgramContext.gl, lBall); - - 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(); - $('#time_step_slider').unbind('change'); - } - - const lExitRequestFunc = requestUpdateLoop(update, cleanup); - lProgramContext.stopButton.on('click', reset); - $('#time_step_slider').on('change', function() { lTimeStepScale = $(this).val(); }); - }); - } - - $(document).ready(main); -})()
\ No newline at end of file |