From d1b528b01796601c2bfea7b1a9813e5907e1c728 Mon Sep 17 00:00:00 2001 From: Matthew Kosarek Date: Sat, 27 Feb 2021 17:32:32 -0500 Subject: Close to being done on line-circle collisions, but it appears we're running into a rotation problem. Going to work on square-line collisions in the meantime --- frontend/2d/_collisions/circle_line.html | 51 ++++++++ frontend/2d/_collisions/circle_line.js | 178 ++++++++++++++++++++++++++++ frontend/2d/_collisions/collisions_1.js | 125 ------------------- frontend/2d/_collisions/part_1.html | 63 ---------- frontend/2d/_collisions/rectangle_line.html | 52 ++++++++ frontend/2d/_collisions/rectangle_line.js | 105 ++++++++++++++++ frontend/2d/_rigidbody/rigidbody_2.js | 2 +- frontend/2d/_rigidbody/rigidbody_3a.js | 10 +- frontend/2d/_rigidbody/rigidbody_3b.js | 8 +- 9 files changed, 396 insertions(+), 198 deletions(-) create mode 100644 frontend/2d/_collisions/circle_line.html create mode 100644 frontend/2d/_collisions/circle_line.js delete mode 100644 frontend/2d/_collisions/collisions_1.js delete mode 100644 frontend/2d/_collisions/part_1.html create mode 100644 frontend/2d/_collisions/rectangle_line.html create mode 100644 frontend/2d/_collisions/rectangle_line.js (limited to 'frontend/2d') diff --git a/frontend/2d/_collisions/circle_line.html b/frontend/2d/_collisions/circle_line.html new file mode 100644 index 0000000..038c759 --- /dev/null +++ b/frontend/2d/_collisions/circle_line.html @@ -0,0 +1,51 @@ + + + + + + + + + + Physics for Games + + + + + + + + + + + + +

Physics for Games

+ +

Circle-Line

+ Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. Ut enim ad minim veniam, quis nostrud exercitation ullamco laboris nisi ut aliquip ex ea commodo consequat. Duis aute irure dolor in reprehenderit in voluptate velit esse cillum dolore eu fugiat nulla pariatur. Excepteur sint occaecat cupidatat non proident, sunt in culpa qui officia deserunt mollit anim id est laborum. +

+ +

+ + +

+ + \ No newline at end of file diff --git a/frontend/2d/_collisions/circle_line.js b/frontend/2d/_collisions/circle_line.js new file mode 100644 index 0000000..e5898f0 --- /dev/null +++ b/frontend/2d/_collisions/circle_line.js @@ -0,0 +1,178 @@ +/// +/// +/// +/// +/// +/// +/// +/// + +(function() { + // Define Constants + const CIRCLE_RADIUS = 16; + const GRAVITY = 20.0; + const COF_OF_RESTITUITION = 0.75; + const TORQUE_MULTIPLIER = 100.0; // TODO: This may be unncessary + + var programContext, + circleObject, + lineObjectList, + programInfo, + exitRequestFunc; + + function main() { + programContext = getContext('#circle_line_collision'); + + if (programContext.gl === null) { + console.error('Unable to initialize WebGL. Your browser or machine may not support it.'); + return; + } + + programContext.gl.clearColor(0.1, 0.15, 0.2, 1.0); + programContext.gl.clear(programContext.gl.COLOR_BUFFER_BIT); + programContext.playButton.on('click', run); + } + + function run() { + console.log('Running Circle-Line Collisions'); + programContext.load().then(function(pProgramInfo) { + programInfo = pProgramInfo; + circleObject = circle(programContext.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(programContext.width * (3.0 / 4.0), programContext.height / 2.0 + 100)); + + circleObject.velocity = vec2(0, -50); + + lineObjectList = []; + + lineObjectList.push(line2({ x: 100, y: 100 }, { x: programContext.width - 100, y: 200 }, programContext.gl, + { x: 1, y: 0, z: 0, w: 1 }, 2.0)); + + lineObjectList.push(line2({ x: 100, y: 200 }, { x: programContext.width - 100, y: 100 }, programContext.gl, + { x: 1, y: 1, z: 0, w: 1 }, 2.0)); + + lineObjectList.push(line2({ x: 100, y: 0 }, { x: 100, y: programContext.height }, programContext.gl, + { x: 0, y: 1, z: 0, w: 1 }, 2.0)); + + lineObjectList.push(line2({ x: programContext.width - 100, y: 0 }, { x: programContext.width - 100, y: programContext.height }, programContext.gl, + { x: 0, y: 1, z: 0, w: 1 }, 2.0)); + + + exitRequestFunc = requestUpdateLoop(update, cleanup); + programContext.stopButton.on('click', reset); + }); + } + + function update(pDeltaTimeSeconds) { + pDeltaTimeSeconds = pDeltaTimeSeconds; + updateCircle(circleObject, pDeltaTimeSeconds); + collision(pDeltaTimeSeconds); + render(); + } + + function updateCircle(pCircle, pDeltaTimeSeconds) { + 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(); + + const lMomentOfInertia = getCircleMomentOfInertia(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 collision(pDeltaTimeSeconds) { + lineObjectList.forEach(function(lineObject) { + if (!lineCircleCollision2(circleObject, lineObject)) { + return; + } + + var lSubdividedDeltaTime = pDeltaTimeSeconds, + lSubdividedCircle = undefined; + + do { + lSubdividedCircle = JSON.parse(JSON.stringify(circleObject)); + lSubdividedCircle.position = {...circleObject.prevPos}; + lSubdividedCircle.velocity = {...circleObject.prevVelocity}; + lSubdividedDeltaTime = lSubdividedDeltaTime / 2.0; + updateCircle(lSubdividedCircle, lSubdividedDeltaTime); + if (lSubdividedDeltaTime === 0) { + console.error('This should NOT be happening'); + break; + } + } while (lineCircleCollision2(lSubdividedCircle, lineObject)) + + const lIntersectionResult = getLineCircleCollison2Data(lSubdividedCircle, lineObject), + 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 / circleObject.mass))); + const lRotationalDenomPart = (Math.pow(dot2(lFirstPerp, lCollisionNormal), 2) / getCircleMomentOfInertia(circleObject)); + + const lImpulseMagnitude = lNumerator / (lLinearDenomPart + lRotationalDenomPart); + + circleObject.position = lSubdividedCircle.position; + circleObject.velocity = addVec2(lSubdividedCircle.velocity, scaleVec2(lCollisionNormal, lImpulseMagnitude / circleObject.mass)); + circleObject.rotationVelocity = lSubdividedCircle.rotationVelocity + dot2(lFirstPerp, scaleVec2(lCollisionNormal, lImpulseMagnitude)); + + updateCircle(circleObject, pDeltaTimeSeconds - lSubdividedDeltaTime); + + return; + }) + } + + 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 render() { + programContext.gl.clearColor(0.1, 0.15, 0.2, 1.0); + programContext.gl.clearDepth(1.0); + programContext.gl.enable(programContext.gl.DEPTH_TEST); + programContext.gl.depthFunc(programContext.gl.LEQUAL); + programContext.gl.clear(programContext.gl.COLOR_BUFFER_BIT | programContext.gl.DEPTH_BUFFER_BIT); + programContext.gl.useProgram(programInfo.program); + programContext.gl.uniformMatrix4fv(programInfo.uniformLocations.projection, false, programContext.perspective); + + renderCircle(programContext.gl, programInfo, circleObject); + lineObjectList.forEach(function(lineObject) { + renderLine2(programContext.gl, programInfo, lineObject); + }); + } + + function cleanup() { + programContext.gl.deleteBuffer(circleObject.buffer); + lineObjectList.forEach(function(lineObject) { + programContext.gl.deleteBuffer(lineObject.buffer); + }); + programContext.gl.deleteProgram(programInfo.program); + programContext.gl.clearColor(0.1, 0.15, 0.2, 1.0); + programContext.gl.clear(programContext.gl.COLOR_BUFFER_BIT); + } + + function reset() { + exitRequestFunc(); + programContext.reset(); + } + + $(document).ready(main); +})() \ No newline at end of file diff --git a/frontend/2d/_collisions/collisions_1.js b/frontend/2d/_collisions/collisions_1.js deleted file mode 100644 index ac325c2..0000000 --- a/frontend/2d/_collisions/collisions_1.js +++ /dev/null @@ -1,125 +0,0 @@ -/// -/// -/// -/// -/// -/// -/// -/// - -(function() { - - function main() { - // Define Constants - const CIRCLE_RADIUS = 16; - const GRAVITY = 9.8; - const COF_OF_RESTITUITION = 0.7; - - // Retrieve context - const lProgramContext = getContext('#collision_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 Circle-Line Collisions'); - lProgramContext.load().then(function(pProgramInfo) { - const mCircle = 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)); - - const mline = line2({ x: 100, y: 100 }, { x: lProgramContext.width - 100, y: 200 }, lProgramContext.gl, - { x: 1, y: 0, z: 0, w: 1 }, 2.0); - - /** - * 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.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) { - pDeltaTimeSeconds = pDeltaTimeSeconds; - updateCircle(mCircle, pDeltaTimeSeconds); - collision(pDeltaTimeSeconds); - render(); - } - - function collision(pDeltaTimeSeconds) { - lineCircleCollision2(mCircle, mline); - return false; - } - - 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, mCircle); - renderLine2(lProgramContext.gl, pProgramInfo, mline); - } - - 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(mCircle.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/2d/_collisions/part_1.html b/frontend/2d/_collisions/part_1.html deleted file mode 100644 index 06a4b3d..0000000 --- a/frontend/2d/_collisions/part_1.html +++ /dev/null @@ -1,63 +0,0 @@ - - - - - - - - - - Physics for Games - - - - - - - - - - - -

Physics for Games

- -

Part 1: Circle-Line

- Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. Ut enim ad minim veniam, quis nostrud exercitation ullamco laboris nisi ut aliquip ex ea commodo consequat. Duis aute irure dolor in reprehenderit in voluptate velit esse cillum dolore eu fugiat nulla pariatur. Excepteur sint occaecat cupidatat non proident, sunt in culpa qui officia deserunt mollit anim id est laborum. -

Linear Force:N/A
Linear Acceleration:N/A
Linear Velocity:N/A
Linear Position:N/A

- -

- - -

- - \ No newline at end of file diff --git a/frontend/2d/_collisions/rectangle_line.html b/frontend/2d/_collisions/rectangle_line.html new file mode 100644 index 0000000..5db958c --- /dev/null +++ b/frontend/2d/_collisions/rectangle_line.html @@ -0,0 +1,52 @@ + + + + + + + + + + Physics for Games + + + + + + + + + + + + + +

Physics for Games

+ +

Rectangle-Line

+ +

+ + +

+ + \ No newline at end of file diff --git a/frontend/2d/_collisions/rectangle_line.js b/frontend/2d/_collisions/rectangle_line.js new file mode 100644 index 0000000..ac73f71 --- /dev/null +++ b/frontend/2d/_collisions/rectangle_line.js @@ -0,0 +1,105 @@ +/// +/// +/// +/// +/// +/// +/// +/// + +(function() { + var programContext, + rectangleObject, + lineObjectList, + programInfo, + exitRequestFunc; + + function main() { + programContext = getContext('#rectangle_line_collision'); + + if (programContext.gl === null) { + console.error('Unable to initialize WebGL. Your browser or machine may not support it.'); + return; + } + + programContext.gl.clearColor(0.1, 0.15, 0.2, 1.0); + programContext.gl.clear(programContext.gl.COLOR_BUFFER_BIT); + programContext.playButton.on('click', run); + } + + function run() { + console.log('Running Rectangle-Line Collisions'); + programContext.load().then(function(pProgramInfo) { + programInfo = pProgramInfo; + + rectangleObject = rectangle(programContext.gl, { + width: 50, + height: 25, + color: { x: 0.3, y: 0.5, z: 0.1, w: 0.7 }, + position: vec2(programContext.width / 2.0 - 100, programContext.height / 2.0 + 100) + }); + rectangleObject.velocity = vec2(0, -50); + + lineObjectList = []; + + lineObjectList.push(line2({ x: 100, y: 100 }, { x: programContext.width - 100, y: 200 }, programContext.gl, + { x: 1, y: 0, z: 0, w: 1 }, 2.0)); + + lineObjectList.push(line2({ x: 100, y: 200 }, { x: programContext.width - 100, y: 100 }, programContext.gl, + { x: 1, y: 1, z: 0, w: 1 }, 2.0)); + + lineObjectList.push(line2({ x: 100, y: 0 }, { x: 100, y: programContext.height }, programContext.gl, + { x: 0, y: 1, z: 0, w: 1 }, 2.0)); + + lineObjectList.push(line2({ x: programContext.width - 100, y: 0 }, { x: programContext.width - 100, y: programContext.height }, programContext.gl, + { x: 0, y: 1, z: 0, w: 1 }, 2.0)); + + + exitRequestFunc = requestUpdateLoop(update, cleanup); + programContext.stopButton.on('click', reset); + }); + } + + function update(pDeltaTimeSeconds) { + pDeltaTimeSeconds = pDeltaTimeSeconds; + updateRigidBody2(rectangleObject, pDeltaTimeSeconds); + collision(pDeltaTimeSeconds); + render(); + } + + function collision(pDeltaTimeSeconds) { + + } + + function render() { + programContext.gl.clearColor(0.1, 0.15, 0.2, 1.0); + programContext.gl.clearDepth(1.0); + programContext.gl.enable(programContext.gl.DEPTH_TEST); + programContext.gl.depthFunc(programContext.gl.LEQUAL); + programContext.gl.clear(programContext.gl.COLOR_BUFFER_BIT | programContext.gl.DEPTH_BUFFER_BIT); + programContext.gl.useProgram(programInfo.program); + programContext.gl.uniformMatrix4fv(programInfo.uniformLocations.projection, false, programContext.perspective); + + programInfo.renderShape(rectangleObject); + lineObjectList.forEach(function(lineObject) { + renderLine2(programContext.gl, programInfo, lineObject); + }); + } + + function cleanup() { + programContext.gl.deleteBuffer(rectangleObject.buffer); + lineObjectList.forEach(function(lineObject) { + programContext.gl.deleteBuffer(lineObject.buffer); + }); + programContext.gl.deleteProgram(programInfo.program); + programContext.gl.clearColor(0.1, 0.15, 0.2, 1.0); + programContext.gl.clear(programContext.gl.COLOR_BUFFER_BIT); + } + + function reset() { + exitRequestFunc(); + programContext.reset(); + } + + $(document).ready(main); +})() \ No newline at end of file diff --git a/frontend/2d/_rigidbody/rigidbody_2.js b/frontend/2d/_rigidbody/rigidbody_2.js index 4632b11..76d8047 100644 --- a/frontend/2d/_rigidbody/rigidbody_2.js +++ b/frontend/2d/_rigidbody/rigidbody_2.js @@ -43,7 +43,7 @@ // Angular code starts here // Retrieve the moment of inertia for our shape (Ours is a circle by default) - const lMomentOfInertia = getMomentOfInertia(lCircle); + const lMomentOfInertia = getCircleMomentOfInertia(lCircle); // Calculate the angular acceperation (omega = T / I) const lAngularAcceleration = lCircle.torque / lMomentOfInertia; diff --git a/frontend/2d/_rigidbody/rigidbody_3a.js b/frontend/2d/_rigidbody/rigidbody_3a.js index d38f1da..ef9577b 100644 --- a/frontend/2d/_rigidbody/rigidbody_3a.js +++ b/frontend/2d/_rigidbody/rigidbody_3a.js @@ -62,7 +62,7 @@ pCircle.force = vec2(); // Same physics updates from part 2 - const lMomentOfInertia = getMomentOfInertia(pCircle); + const lMomentOfInertia = getCircleMomentOfInertia(pCircle); const lAngularAcceleration = pCircle.torque / lMomentOfInertia; pCircle.rotationVelocity += lAngularAcceleration * pDeltaTimeSeconds; pCircle.rotationRadians += pCircle.rotationVelocity * pDeltaTimeSeconds; @@ -118,8 +118,8 @@ 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 lRotationalDenomPart = (Math.pow(dot2(lFirstPerp, lCollisionNormal), 2) / getCircleMomentOfInertia(horizontalCircle)) + + (Math.pow(dot2(lSecondPerp, lCollisionNormal), 2) / getCircleMomentOfInertia(verticalCircle)) const lImpulseMagnitude = lNumerator / (lLinearDenomPart + lRotationalDenomPart); @@ -129,8 +129,8 @@ 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); + horizontalCircle.rotationVelocity = horizontalCircle.rotationVelocity + dot2(lFirstPerp, scaleVec2(lCollisionNormal, lImpulseMagnitude)) / getCircleMomentOfInertia(horizontalCircle); + verticalCircle.rotationVelocity = verticalCircle.rotationVelocity - dot2(lSecondPerp, scaleVec2(lCollisionNormal, lImpulseMagnitude)) / getCircleMomentOfInertia(verticalCircle); updateCircle(horizontalCircle, pDeltaTimeSeconds - lSubdividedDeltaTime); updateCircle(verticalCircle, pDeltaTimeSeconds - lSubdividedDeltaTime); diff --git a/frontend/2d/_rigidbody/rigidbody_3b.js b/frontend/2d/_rigidbody/rigidbody_3b.js index 803161a..ddb4c70 100644 --- a/frontend/2d/_rigidbody/rigidbody_3b.js +++ b/frontend/2d/_rigidbody/rigidbody_3b.js @@ -62,7 +62,7 @@ // Same physics updates from part 2 - const lMomentOfInertia = getMomentOfInertia(pCircle); + const lMomentOfInertia = getCircleMomentOfInertia(pCircle); const lAngularAcceleration = pCircle.torque / lMomentOfInertia; pCircle.rotationVelocity += lAngularAcceleration * pDeltaTimeSeconds; pCircle.rotationRadians += pCircle.rotationVelocity * pDeltaTimeSeconds; @@ -119,14 +119,14 @@ 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 lRotationalDenomPart = (Math.pow(dot2(lFirstPerp, lCollisionNormal), 2) / getCircleMomentOfInertia(lPeg)) + + (Math.pow(dot2(lSecondPerp, lCollisionNormal), 2) / getCircleMomentOfInertia(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); + lBall.rotationVelocity = lBall.rotationVelocity - dot2(lSecondPerp, scaleVec2(lCollisionNormal, lImpulseMagnitude)) / getCircleMomentOfInertia(lBall); // Now we update in our new direction with the remaining time that we have left. updateCircle(lBall, pDeltaTimeSeconds - lSubdividedDeltaTime); -- cgit v1.2.1