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/// <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/math/line2.js" />
/// <reference path="../../_shared/math/collision.js" />
/// <reference path="../../_shared/2d/program_common.js" />
(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);
})()
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