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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>🏀<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">Springs</a></li>
</ul>
</li>
<li>
<span>🌠<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>🔧<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>🛈<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>
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