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206 files changed, 333 insertions, 85 deletions

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diff --git a/cmake-build-release/Testing/Temporary/LastTest.log b/cmake-build-release/Testing/Temporary/LastTest.log
index cba285e..1e77404 100644
--- a/cmake-build-release/Testing/Temporary/LastTest.log
+++ b/cmake-build-release/Testing/Temporary/LastTest.log
@@ -1,3 +1,3 @@
-Start testing: Dec 13 06:11 EST
+Start testing: Dec 13 13:46 EST
 ----------------------------------------------------------
-End testing: Dec 13 06:11 EST
+End testing: Dec 13 13:46 EST
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+++ b/cmake-build-release/t/0180.png
diff --git a/cmake-build-release/t/good.mp4 b/cmake-build-release/t/good.mp4
deleted file mode 100644
index dba2fe6..0000000
--- a/cmake-build-release/t/good.mp4
+++ /dev/null
diff --git a/cmake-build-release/t/video.mp4 b/cmake-build-release/t/video.mp4
new file mode 100644
index 0000000..7ea9af5
--- /dev/null
+++ b/cmake-build-release/t/video.mp4
diff --git a/scenefiles-4d/cube_cube_collision.json b/scenefiles-4d/cube_cube_collision.json
new file mode 100644
index 0000000..14867fb
--- /dev/null
+++ b/scenefiles-4d/cube_cube_collision.json
@@ -0,0 +1,66 @@
+{
+  "name": "root",
+  "globalData": {
+    "ambientCoeff": 0.5,
+    "diffuseCoeff": 0.5,
+    "specularCoeff": 0.5,
+    "transparentCoeff": 0,
+    "gravity": [0.0, -0.0098, 0.0, 0.0]
+  },
+  "cameraData": {
+    "position": [3.0, 3.0, 3.0, 3.0],
+    "up": [0.0, 1.0, 0.0, 0.0],
+    "heightAngle": 30.0,
+    "depthAngle": 30.0,
+    "focus": [0.0, 0.0, 0.0, 0.0],
+    "over": [0.0, 0.0, 0.0, 1.0]
+  },
+  "groups": [
+    {
+      "lights": [
+        {
+          "type": "directional",
+          "color": [1.0, 1.0, 1.0],
+          "direction": [0.0, -1.0, 0.0, 0.0]
+        },
+        {
+          "type": "directional",
+          "color": [1.0, 1.0, 1.0],
+          "direction": [1.0, 1.0, 3.0, 3.0]
+        }
+      ]
+    },
+    {
+      "groups": [
+        {
+          "translate": [-1.0, 0.0, 0.0, 0.0],
+          "rotate": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+          "scale": [1.0, 1.0, 1.0, 1.0],
+          "primitives": [
+            {
+              "type": "cube",
+              "diffuse": [1.0, 0.0, 0.0],
+              "specular": [1.0, 1.0, 1.0],
+              "shininess": 25.0,
+              "velocity": [0.0, 0.0, 0.0, 0.0]
+            }
+          ]
+        },
+        {
+          "translate": [5.0, 0.0, 0.0, 5.0],
+          "rotate": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+          "scale": [1.0, 1.0, 1.0, 1.0],
+          "primitives": [
+            {
+              "type": "cube",
+              "diffuse": [0.0, 1.0, 0.0],
+              "specular": [1.0, 1.0, 1.0],
+              "shininess": 25.0,
+              "velocity": [-0.1, 0.0, 0.0, -0.1]
+            }
+          ]
+        }
+      ]
+    }
+  ]
+}
diff --git a/scenefiles-4d/cube_sphere_collision.json b/scenefiles-4d/cube_sphere_collision.json
new file mode 100644
index 0000000..dad0721
--- /dev/null
+++ b/scenefiles-4d/cube_sphere_collision.json
@@ -0,0 +1,66 @@
+{
+  "name": "root",
+  "globalData": {
+    "ambientCoeff": 0.5,
+    "diffuseCoeff": 0.5,
+    "specularCoeff": 0.5,
+    "transparentCoeff": 0,
+    "gravity": [0.0, -0.0098, 0.0, 0.0]
+  },
+  "cameraData": {
+    "position": [3.0, 3.0, 3.0, 3.0],
+    "up": [0.0, 1.0, 0.0, 0.0],
+    "heightAngle": 30.0,
+    "depthAngle": 30.0,
+    "focus": [0.0, 0.0, 0.0, 0.0],
+    "over": [0.0, 0.0, 0.0, 1.0]
+  },
+  "groups": [
+    {
+      "lights": [
+        {
+          "type": "directional",
+          "color": [1.0, 1.0, 1.0],
+          "direction": [0.0, -1.0, 0.0, 0.0]
+        },
+        {
+          "type": "directional",
+          "color": [1.0, 1.0, 1.0],
+          "direction": [1.0, 1.0, 3.0, 3.0]
+        }
+      ]
+    },
+    {
+      "groups": [
+        {
+          "translate": [-1.0, 0.0, 0.0, 0.0],
+          "rotate": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+          "scale": [1.0, 1.0, 1.0, 1.0],
+          "primitives": [
+            {
+              "type": "cube",
+              "diffuse": [1.0, 0.0, 0.0],
+              "specular": [1.0, 1.0, 1.0],
+              "shininess": 25.0,
+              "velocity": [0.0, 0.0, 0.0, 0.0]
+            }
+          ]
+        },
+        {
+          "translate": [5.0, 0.0, 0.0, 5.0],
+          "rotate": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+          "scale": [1.0, 1.0, 1.0, 1.0],
+          "primitives": [
+            {
+              "type": "sphere",
+              "diffuse": [0.0, 1.0, 0.0],
+              "specular": [1.0, 1.0, 1.0],
+              "shininess": 25.0,
+              "velocity": [-0.1, 0.0, 0.0, -0.1]
+            }
+          ]
+        }
+      ]
+    }
+  ]
+}
diff --git a/scenefiles-4d/five_shapes.json b/scenefiles-4d/five_shapes.json
index c6c6645..4a49ef2 100644
--- a/scenefiles-4d/five_shapes.json
+++ b/scenefiles-4d/five_shapes.json
@@ -20,7 +20,12 @@
         {
           "type": "directional",
           "color": [1.0, 1.0, 1.0],
-          "direction": [-3.0, -2.0, -1.0]
+          "direction": [-3.0, 2.0, -1.0, 1.0]
+        },
+        {
+          "type": "directional",
+          "color": [1.0, 1.0, 1.0],
+          "direction": [3.0, -2.0, -3.0, 1.0]
         }
       ]
     },
diff --git a/scenefiles-4d/unit_cube.json b/scenefiles-4d/unit_cube.json
index 6b1ee6f..b21615a 100644
--- a/scenefiles-4d/unit_cube.json
+++ b/scenefiles-4d/unit_cube.json
@@ -21,7 +21,17 @@
         {
           "type": "directional",
           "color": [1.0, 1.0, 1.0],
-          "direction": [-3.0, -2.0, -1.0, 0.0]
+          "direction": [3.0, 3.0, 3.0, 3.0]
+        },
+        {
+          "type": "directional",
+          "color": [1.0, 0.0, 0.0],
+          "direction": [3.0, -3.0, 3.0, -3.0]
+        },
+        {
+          "type": "directional",
+          "color": [0.0, 0.0, 1.0],
+          "direction": [-3.0, 3.0, 3.0, -3.0]
         }
       ]
     },
@@ -34,7 +44,7 @@
           "primitives": [
             {
               "type": "cube",
-              "diffuse": [1.0, 0.0, 0.0],
+              "diffuse": [1.0, 0.0, 1.0],
               "specular": [1.0, 1.0, 1.0],
               "shininess": 25.0,
               "velocity": [0.0, 0.0, 0.0, 0.0]
diff --git a/src/intersect/normals.cpp b/src/intersect/normals.cpp
index 84db534..f9b0ea1 100644
--- a/src/intersect/normals.cpp
+++ b/src/intersect/normals.cpp
@@ -2,6 +2,7 @@
 // Created by Michael Foiani on 11/4/23.
 //
 
+#include <iostream>
 #include "raytracer/raytracer.h"
 
 glm::vec4 getConeNormal(
@@ -11,7 +12,7 @@ glm::vec4 getConeNormal(
     {
         return {0.f, -1.f, 0.f, 0.f};
     }
-    if (RayTracer::floatEquals(intersectPointObject[3], -.5f)) // normal for w base
+    if (RayTracer::floatEquals(intersectPointObject.w, -.5f)) // normal for w base
     {
         return {0.f, 0.f, 0.f, -1.f};
     }
@@ -19,7 +20,7 @@ glm::vec4 getConeNormal(
     {
         return {0.f, 1.f, 0.f, 0.f};
     }
-    if (RayTracer::floatEquals(intersectPointObject[3], .5f)) // normal for w top
+    if (RayTracer::floatEquals(intersectPointObject.w, .5f)) // normal for w top
     {
         return {0.f, 0.f, 0.f, 1.f};
     }
@@ -81,11 +82,11 @@ glm::vec4 getCubeNormal(
     {
         return {0.f, 0.f, 1.f, 0.f};
     }
-    if (RayTracer::floatEquals(intersectPointObject[3], -.5f)) // neg w
+    if (RayTracer::floatEquals(intersectPointObject.w, -.5f)) // neg w
     {
         return {0.f, 0.f, 0.f, -1.f};
     }
-    if (RayTracer::floatEquals(intersectPointObject[3], .5f)) // pos w
+    if (RayTracer::floatEquals(intersectPointObject.w, .5f)) // pos w
     {
         return {0.f, 0.f, 0.f, 1.f};
     }
diff --git a/src/physics/physics.cpp b/src/physics/physics.cpp
index 6b95bbe..111c25a 100644
--- a/src/physics/physics.cpp
+++ b/src/physics/physics.cpp
@@ -4,10 +4,94 @@
 #include <iostream>
 #include "physics.h"
 
-bool Physics::checkForSphereCollision(RenderShapeData &currentShape, RenderShapeData &shape)
+bool sphereCube(RenderShapeData &sphere, RenderShapeData &cube)
 {
-    glm::vec4 currentCenter = currentShape.translation4d;
-    glm::vec4 shapeCenter = shape.translation4d;
+    // get center of cube
+    glm::vec4 cubeCenter = cube.translation4d;
+    // get the width, height, depth, & yawl of cube's box
+    glm::vec4 cubeScales = glm::vec4(cube.ctm[0][0], cube.ctm[1][1], cube.ctm[2][2], cube.ctm[3][3]);
+
+    // note: assumption that cube is axis aligned
+    glm::vec4 maxes = cubeCenter + cubeScales / 2.f;
+    glm::vec4 mins = cubeCenter - cubeScales / 2.f;
+
+    // get the center of sphere
+    glm::vec4 sphereCenter = sphere.translation4d;
+    // get radius of sphere
+    // note: assumption that sphere is not scaled (TODO: make radius adaptive)
+    float radius = .5f;
+
+    // hit detection algorithm
+    float distSquared = radius * radius;
+    if (sphereCenter.x < mins.x) distSquared -= (sphereCenter.x - mins.x)*(sphereCenter.x - mins.x);
+    else if (sphereCenter.x > maxes.x) distSquared -= (sphereCenter.x - maxes.x)*(sphereCenter.x - maxes.x);
+    if (sphereCenter.y < mins.y) distSquared -= (sphereCenter.y - mins.y)*(sphereCenter.y - mins.y);
+    else if (sphereCenter.y > maxes.y) distSquared -= (sphereCenter.y - maxes.y)*(sphereCenter.y - maxes.y);
+    if (sphereCenter.z < mins.z) distSquared -= (sphereCenter.z - mins.z)*(sphereCenter.z - mins.z);
+    else if (sphereCenter.z > maxes.z) distSquared -= (sphereCenter.z - maxes.z)*(sphereCenter.z - maxes.z);
+    if (sphereCenter.w < mins.w) distSquared -= (sphereCenter.w - mins.w)*(sphereCenter.w - mins.w);
+    else if (sphereCenter.w > maxes.w) distSquared -= (sphereCenter.w - maxes.w)*(sphereCenter.w - maxes.w);
+
+    if (distSquared > 0) {
+        std::cout << "distanceSquared: " << distSquared << std::endl;
+
+        // update velocity of the objects, based on math, assuming the objects are the same mass
+        sphere.velocity *= -1.f;
+        cube.velocity *= -1.f;
+
+        // move the objects in new dir so they don't collide again
+        sphere.translation4d += sphere.velocity;
+        cube.translation4d += cube.velocity;
+    }
+
+    return distSquared > 0;
+}
+
+bool cubeCube(RenderShapeData &c1, RenderShapeData &c2) {
+    // get the width, height, depth, & yawl of cubes boxes
+    glm::vec4 cube1Scales = glm::vec4(c1.ctm[0][0], c1.ctm[1][1], c1.ctm[2][2], c1.ctm[3][3]);
+    glm::vec4 cube2Scales = glm::vec4(c2.ctm[0][0], c2.ctm[1][1], c2.ctm[2][2], c2.ctm[3][3]);
+
+    // get the center of cubes
+    glm::vec4 cube1Center = c1.translation4d;
+    glm::vec4 cube2Center = c2.translation4d;
+
+    // note: assumption that cube is axis aligned
+    glm::vec4 cube1Maxes = cube1Center + cube1Scales / 2.f;
+    glm::vec4 cube1Mins = cube1Center - cube1Scales / 2.f;
+    glm::vec4 cube2Maxes = cube2Center + cube2Scales / 2.f;
+    glm::vec4 cube2Mins = cube2Center - cube2Scales / 2.f;
+
+    // hit detection algorithm
+    // see if x overlap
+    bool xOverlap = cube1Maxes.x >= cube2Mins.x && cube1Mins.x <= cube2Maxes.x;
+    // see if y overlap
+    bool yOverlap = cube1Maxes.y >= cube2Mins.y && cube1Mins.y <= cube2Maxes.y;
+    // see if z overlap
+    bool zOverlap = cube1Maxes.z >= cube2Mins.z && cube1Mins.z <= cube2Maxes.z;
+    // see if w overlap
+    bool wOverlap = cube1Maxes.w >= cube2Mins.w && cube1Mins.w <= cube2Maxes.w;
+
+    bool intersect = xOverlap && yOverlap && zOverlap && wOverlap;
+    if (intersect) {
+        std::cout << "intersect: " << intersect << std::endl;
+
+        // update velocity of the objects, based on math, assuming the objects are the same mass
+        c1.velocity *= -1.f;
+        c1.velocity *= -1.f;
+
+        // move the objects in new dir so they don't collide again
+        c1.translation4d += c2.velocity;
+        c1.translation4d += c2.velocity;
+    }
+
+    return intersect;
+}
+
+bool sphereSphere(RenderShapeData &s1, RenderShapeData &s2)
+{
+    glm::vec4 currentCenter = s1.translation4d;
+    glm::vec4 shapeCenter = s2.translation4d;
     // define a radius vector
     float radius = .5;
     float distance = glm::distance(currentCenter, shapeCenter);
@@ -17,14 +101,33 @@ bool Physics::checkForSphereCollision(RenderShapeData &currentShape, RenderShape
     // update velocity
     if (distance <= radius + radius)
     {
-        currentShape.velocity *= -1.f;
-        // move a little in other direction so it doesn't flip again
-        currentShape.translation4d += currentShape.velocity;
+        std::cout << "distance: " << distance << std::endl;
+        s1.velocity *= -1.f;
+        s2.velocity *= -1.f;
+
+        // move the objects in new dir so they don't collide again
+        s1.translation4d += s1.velocity;
+        s2.translation4d += s2.velocity;
     }
 
     return distance <= radius + radius;
 }
 
+bool Physics::checkForSphereCollision(RenderShapeData &currentShape, RenderShapeData &otherShape)
+{
+    switch (otherShape.primitive.type)
+    {
+        case PrimitiveType::PRIMITIVE_CUBE:
+            return sphereCube(currentShape, otherShape);
+        case PrimitiveType::PRIMITIVE_SPHERE:
+            return sphereSphere(currentShape, otherShape);
+        default:
+            break;
+    }
+
+    return false;
+}
+
 bool Physics::checkForConeCollision(RenderShapeData &currentShape, RenderShapeData &shape)
 {
     return false;
@@ -35,20 +138,27 @@ bool Physics::checkForCylinderCollision(RenderShapeData &currentShape, RenderSha
     return false;
 }
 
-bool Physics::checkForCubeCollision(RenderShapeData &currentShape, RenderShapeData &shape)
+bool Physics::checkForCubeCollision(RenderShapeData &currentShape, RenderShapeData &otherShape)
 {
-    return false;
+    switch (otherShape.primitive.type)
+    {
+        case PrimitiveType::PRIMITIVE_CUBE:
+            return cubeCube(currentShape, otherShape);
+        case PrimitiveType::PRIMITIVE_SPHERE:
+            return sphereCube(otherShape, currentShape);
+        default:
+            break;
+    }
 }
 
 void Physics::handleCollisions(std::vector<RenderShapeData> &shapes) {
-    for (auto &shape : shapes)
+    for (int i = 0; i < shapes.size(); i++)
     {
-        for (auto &otherShape : shapes)
+        auto shape = shapes[i];
+
+        for (int j = i + 1; j < shapes.size(); j++)
         {
-            if (shape.ctm == otherShape.ctm && shape.translation4d == otherShape.translation4d)
-            {
-                continue;
-            }
+            auto otherShape = shapes[j];
             switch (shape.primitive.type)
             {
                 case PrimitiveType::PRIMITIVE_CONE:
diff --git a/src/raytracer/raytracer.cpp b/src/raytracer/raytracer.cpp
index 3db0faa..71a1c7f 100644
--- a/src/raytracer/raytracer.cpp
+++ b/src/raytracer/raytracer.cpp
@@ -52,7 +52,7 @@ void RayTracer::render(RGBA *imageData, const RayTraceScene &scene) {
         if (settings.currentTime < settings.maxTime) { // still more to render
             // render the next frame
             settings.currentTime++;
-            settings.w++;
+//            settings.w++;
 
             // update physics
             Physics::updateShapePositions(m_metaData.shapes);