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- new style
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‎examples/rigid_body_collision.html‎

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<html class="no-js" lang="en">
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<head>
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<meta charset="utf-8">
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<style>
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body {font-family: Helvetica, sans-serif;}
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table {background-color:#CCDDEE;text-align:left}
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</style>
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<link rel="stylesheet" href="https://interactivecomputergraphics.github.io/physics-simulation/examples/style.css">
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<script type="text/x-mathjax-config">
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MathJax.Hub.Config({
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extensions: ["tex2jax.js"],
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"HTML-CSS": { fonts: ["TeX"] }
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});
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</script>
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<script type="text/javascript" aync src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.4/MathJax.js"></script>
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<script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.4/MathJax.js"></script>
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<title>Rigid Body Collisions</title>
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</head>
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<body>
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<header class="page-header">
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<h1>Rigid Body Collisions</h1>
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</header>
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<main>
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<h1 style="text-align:center">Rigid Body Collisions</h1>
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<!-- Simulation panel: canvas + controls -->
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<table style="align_center;border-radius: 20px;padding: 20px;margin:auto">
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<col width="1100">
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<col width="400">
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<col width="75%">
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<col width="25%">
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<tr>
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<td>
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<canvas id="simCanvas" width="1024" height="768" style="border:2px solid #000000;border-radius: 20px;background-color:#EEEEEE">Your browser does not support the HTML5 canvas tag.</canvas>
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<div class="card sim-panel">
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<div class="sim-canvas-wrap">
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<canvas id="simCanvas" width="1024" height="960" style="border:2px solid #000000;border-radius: 20px;background-color:#EEEEEE">Your browser does not support the HTML5 canvas tag.</canvas>
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</div>
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</div>
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</td>
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<td>
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<table>
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<col width="180" style="padding-right:10px">
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<col width="100">
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<tr>
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<td><label>Current time</label></td>
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<td><span id="time">0.00</span> s</td>
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</tr>
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<tr>
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<td><label>Time per sim. step</label></td>
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<td><span id="timePerStep">0.00</span> ms</td>
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</tr>
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<tr>
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<td><label># rigid bodies</label></td>
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<td><span id="numRigidBodies">0</span></td>
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</tr>
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<tr>
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<td><label for="timeStepSizeInput">Time step size</label></td>
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<td><input onchange="gui.sim.timeStepSize=parseFloat(value)" id="timeStepSizeInput" type="number" value="0.005" step="0.001"></td>
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</tr>
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<tr>
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<td><label for="gravityInput">Gravity</label></td>
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<td><input onchange="gui.sim.gravity=parseFloat(value)" id="gravityInput" type="number" value="-9.81" step="0.01"></td>
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</tr>
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<tr>
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<td><label for="stiffnessInput">Penalty stiffness</label></td>
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<td><input onchange="gui.sim.stiffness=parseFloat(value)" id="stiffnessInput" type="number" value="100" step="1"></td>
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</tr>
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<tr>
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<td><label for="restitutionInput">Restitution coefficient</label></td>
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<td><input onchange="gui.sim.restitution=parseFloat(value)" id="restitutionInput" type="number" value="0.5" step="0.05"></td>
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</tr>
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<tr>
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<td><label for="frictionInput">Friction coefficient</label></td>
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<td><input onchange="gui.sim.friction=parseFloat(value)" id="frictionInput" type="number" value="0.02" step="0.01"></td>
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</tr>
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<tr>
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<td><label for="useImpulsesInput">Use impulses</label></td>
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<td><input onchange="gui.sim.useImpulses=this.checked" id="useImpulsesInput" type="checkbox" value="Impulse" checked></td>
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</tr>
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<tr>
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<td><label for="usePenaltyForceInput">Use penalty force</label></td>
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<td><input onchange="gui.sim.usePenaltyForce=this.checked" id="usePenaltyForceInput" type="checkbox" value="Penalty" checked></td>
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</tr>
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<tr>
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<td></td>
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<td><button onclick="gui.restart()" type="button" id="restart">Restart</button></td>
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</tr>
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<tr>
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<td></td>
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<td><button onclick="gui.doPause()" type="button" id="Pause">Pause</button></td>
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</tr>
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</table>
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<div class="controls-panel">
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<h3>Controls</h3>
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<div class="controls-grid">
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<label>Current time</label>
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<span class="stat-value"><span id="time">0.00</span> s</span>
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<label>Time per sim. step</label>
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<span class="stat-value"><span id="timePerStep">0.00</span> ms</span>
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<label># rigid bodies</label>
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<span id="numRigidBodies">0</span>
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<label for="timeStepSizeInput">Time step size</label>
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<input onchange="gui.sim.timeStepSize=parseFloat(value)" id="timeStepSizeInput" type="number" value="0.005" step="0.001">
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<label for="gravityInput">Gravity</label>
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<input onchange="gui.sim.gravity=parseFloat(value)" id="gravityInput" type="number" value="-9.81" step="0.01">
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<label for="stiffnessInput">Penalty stiffness</label>
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<input onchange="gui.sim.stiffness=parseFloat(value)" id="stiffnessInput" type="number" value="100" step="1">
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<label for="restitutionInput">Restitution coefficient</label>
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<input onchange="gui.sim.restitution=parseFloat(value)" id="restitutionInput" type="number" value="0.5" step="0.05">
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<label for="frictionInput">Friction coefficient</label>
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<input onchange="gui.sim.friction=parseFloat(value)" id="frictionInput" type="number" value="0.02" step="0.01">
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<label for="useImpulsesInput">Use impulses</label>
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<input onchange="gui.sim.useImpulses=this.checked" id="useImpulsesInput" type="checkbox" value="Impulse" checked>
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<label for="usePenaltyForceInput">Use penalty force</label>
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<input onchange="gui.sim.usePenaltyForce=this.checked" id="usePenaltyForceInput" type="checkbox" value="Penalty" checked>
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<div class="full-width">
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<button onclick="gui.restart()" id="restart">&#9654; Restart</button>
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</div>
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<div class="full-width">
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<button onclick="gui.doPause()" id="Pause" class="btn-secondary">&#9646;&#9646; Pause</button>
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</div>
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</div>
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</div>
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</td>
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</tr>
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<tr><td>
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</table>
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<!-- Theory section -->
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<div class="card theory">
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<h2>Collision handling for rigid bodies:</h2>
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This example shows a simple method handling collisions between rigid bodies and a floor:
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<ol>
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\end{align*}$$
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where $\mathbf f^{\text{ext}}$ are the external forces, $\omega$ is the angular velocity and $\alpha$ is the rotation angle.
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</td></tr>
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</table>
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</div>
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</main>
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getMousePos(canvas, event)
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{
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let rect = canvas.getBoundingClientRect();
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const rect = canvas.getBoundingClientRect();
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const scaleX = canvas.width / rect.width; // buffer / displayed size
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const scaleY = canvas.height / rect.height;
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return {
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x: event.clientX - rect.left,
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y: event.clientY - rect.top
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x: (event.clientX - rect.left) * scaleX,
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y: (event.clientY - rect.top) * scaleY
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};
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}
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