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Diffstat (limited to 'frontend/_rigidbody/rigidbody_3.js')
| -rw-r--r-- | frontend/_rigidbody/rigidbody_3.js | 158 |
1 files changed, 0 insertions, 158 deletions
diff --git a/frontend/_rigidbody/rigidbody_3.js b/frontend/_rigidbody/rigidbody_3.js deleted file mode 100644 index 0316268..0000000 --- a/frontend/_rigidbody/rigidbody_3.js +++ /dev/null @@ -1,158 +0,0 @@ -/// <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; - const COF_OF_RESTITUITION = 0.7; - - // Retrieve context - const lProgramContext = getContext('#rigidbody_3'); - - 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 3'); - lProgramContext.load().then(function(pProgramInfo) { - // Circile initialization - const horizontalCircle = 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(400, lProgramContext.height / 2.0)); - - const verticalCircle = circle(lProgramContext.gl, CIRCLE_RADIUS, 30, [ - { 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(lProgramContext.width / 2.0, lProgramContext.height / 2.0 + 100)); - - horizontalCircle.velocity = vec2(-100, 0); - verticalCircle.velocity = vec2(0, -100); - - lTimeStepScale = $('#time_step_slider').val(); - - /** - * Run the update method of a single circle - * - * @param {circle} pCircle - * @param {number} pDeltaTimeSeconds - */ - 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.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) { - pDeltaTimeSeconds = pDeltaTimeSeconds * lTimeStepScale; - updateCircle(horizontalCircle, pDeltaTimeSeconds); - updateCircle(verticalCircle, pDeltaTimeSeconds); - collision(); - render(); - } - - function collision() { - if (!doCirclesIntersect(horizontalCircle, verticalCircle)) { - return false; - } - - const lIntersectionResult = getIntersectionDataForCircles(horizontalCircle, verticalCircle); - - console.log('We have a collision'); - const lRelativeVelocity = lIntersectionResult.relativeVelocity, - lCollisionNormal = lIntersectionResult.collisionNormal, - lFirstPerp = getPerp2(lIntersectionResult.firstPointOfApplication), - lSecondPerp = getPerp2(lIntersectionResult.secondPointOfApplication); - - console.log(lIntersectionResult); - - const lNumerator = dot2(scaleVec2(lRelativeVelocity, -(1.0 + COF_OF_RESTITUITION)), lCollisionNormal); - const lLinearDenomPart = dot2(lCollisionNormal, (scaleVec2(lCollisionNormal, 1 / horizontalCircle.mass + 1 / verticalCircle.mass))); - const lRotationalDenomPart = (Math.pow(dot2(lFirstPerp, lCollisionNormal), 2) / getMomentOfInertia(horizontalCircle)) - + (Math.pow(dot2(lSecondPerp, lCollisionNormal), 2) / getMomentOfInertia(verticalCircle)) - - const lImpulseMagnitude = lNumerator / (lLinearDenomPart + lRotationalDenomPart); - - horizontalCircle.velocity = addVec2(horizontalCircle.velocity, scaleVec2(lCollisionNormal, lImpulseMagnitude / horizontalCircle.mass)); - verticalCircle.velocity = subVec2(verticalCircle.velocity, scaleVec2(lCollisionNormal, lImpulseMagnitude / verticalCircle.mass)); - - horizontalCircle.rotationVelocity = horizontalCircle.rotationVelocity + dot2(lFirstPerp, scaleVec2(lCollisionNormal, lImpulseMagnitude)) / getMomentOfInertia(horizontalCircle); - verticalCircle.rotationVelocity = verticalCircle.rotationVelocity - dot2(lSecondPerp, scaleVec2(lCollisionNormal, lImpulseMagnitude)) / getMomentOfInertia(verticalCircle); - - return true; - } - - 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); - - renderCircle(lProgramContext.gl, pProgramInfo, horizontalCircle); - renderCircle(lProgramContext.gl, pProgramInfo, verticalCircle); - } - - 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() { - lProgramContext.gl.deleteBuffer(horizontalCircle.buffer); - lProgramContext.gl.deleteBuffer(verticalCircle.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(); - $('#time_step_slider').unbind('change'); - } - - const lExitRequestFunc = requestUpdateLoop(update, cleanup); - lProgramContext.stopButton.on('click', reset); - $('#time_step_slider').on('change', function() { lTimeStepScale = $(this).val(); }); - }); - } - - lProgramContext.playButton.on('click', run); -} - -$(document).ready(main);
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