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<!DOCTYPE html>
<html lang="en">
	<head>
		<meta charset="utf-8">
		<link rel="stylesheet" href="/index.css">
		<title>Physics for Games</title>
		<link rel="shortcut icon" href="/favicon/favicon.ico" type="image/x-icon">
		<meta name="description" content="A place to learn all about real-time physics simulations through descriptions, code snippets, and example programs all written in C++ and OpenGL.">
		<meta name="og:description" content="A place to learn all about real-time physics simulations through descriptions, code snippets, and example programs all written in C++ and OpenGL.">
	</head>
	<body>
		<header>
			<h1><a title="physicsforgames.com" href="/">Physics for Games</a></h1>
		</header>
		<main>
		<nav>
		<ul class="outer-tree">
			<li><a href="/">Introduction</a></li>
			<li>
				<span>&#127936;<span>2D</span></span>
				<ul class="inner-tree">
					<li><label>Rigidbody</label></li>
					<li><a title="/2d/rigidbody/rigidbody_1.html" href="/2d/rigidbody/rigidbody_1.html">Linear Forces</a></li>
					<li><a title="/2d/rigidbody/rigidbody_2.html" href="/2d/rigidbody/rigidbody_2.html">Rotational Forces</a></li>
					<li><a title="/2d/rigidbody/rigidbody_3.html" href="/2d/rigidbody/rigidbody_3.html">Collisions</a></li>
					<li><label>Collisions</label></li>
					<li><a title="/2d/_collisions/rectangle_rectangle.html" href="/2d/_collisions/rectangle_rectangle.html">Rectangle-Rectangle</a></li>
					<li><a title="/2d/_collisions/polygon_polygon.html" href="/2d/_collisions/polygon_polygon.html">Separating Axis Theorem</a></li>
					<li><label>Softbody</label></li>
					<li><a title="/2d/softbody/softbody_1.html" href="/2d/softbody/softbody_1.html">Softbody</a></li>
				</ul>
			</li>
			<li>
				<span>&#127776;<span>3D</span></span>
				<ul class="inner-tree">
					<li><label>Rigidbody</label></li>
					<li><a title="/3d/rigidbody.html" href="/3d/rigidbody.html">Rigidbody in 3D</a></li>
				</ul>
			</li>
			<li>
				<span>&#128295;<span>WebAssembly</span></span>
				<ul class="inner-tree">
					<li><a title="/intro/intro.html" href="/intro/intro.html">Introduction</a></li>
				</ul>
			</li>
			<li>
				<span>&#128712;<span>About</span></span>
				<ul class="inner-tree">
					<li><a title="/roadmap.html" href="/roadmap.html">Roadmap</a></li>
				</ul>
			</li>
		</ul>
		</nav>
<script src="./rigidbody/dist/output.js"></script>
<script>
  window.onload = function() {
      var lPlayElement = document.getElementById('gl_canvas_play'),
          lStopElement = document.getElementById('gl_canvas_stop');
      lPlayElement.addEventListener('click', function() {
          lPlayElement.style.display = 'none';
          lStopElement.style.display = 'block';
      });
      lStopElement.addEventListener('click', function() {
          lStopElement.style.display = 'none';
          lPlayElement.style.display = 'block';
      });
  }
  
</script>
<article>
  <h1>Rigidbody in 3D</h1>
  <section>
    <section>
      <h2>Quaternions</h2>

    </section>
    <section>
      <h2>Quaternions</h2>
      <p>
        A discussion of 3D physics simulation woudl not 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>
</html>