Added worksheet and support code for assignment 2

18 files changed, 814 insertions, 0 deletions

diff --git a/dev/a2-carsoccer/.gitignore b/dev/a2-carsoccer/.gitignore
new file mode 100644
index 0000000..dd1a9a8
--- /dev/null
+++ b/dev/a2-carsoccer/.gitignore
@@ -0,0 +1,2 @@
+config.h
+build
diff --git a/dev/a2-carsoccer/CMakeLists.txt b/dev/a2-carsoccer/CMakeLists.txt
new file mode 100644
index 0000000..8b7f340
--- /dev/null
+++ b/dev/a2-carsoccer/CMakeLists.txt
@@ -0,0 +1,174 @@
+# Original Author(s) of this File: 
+#   Daniel Keefe, 2017, University of Minnesota
+#  
+# Author(s) of Significant Updates/Modifications to the File:
+#   ... 
+
+
+
+# You are encouraged to copy this example, move it outside of the MinGfx directory, and use
+# it as a starting point for your project.  When you do this, you'll have to edit the
+# following line as needed to point to the MinGfx install prefix used on your system.
+
+# !!!!!!!!!!!!! EDIT THE FOLLOWING LINE AS NEEDED !!!!!!!!!!!!! 
+list(APPEND CMAKE_PREFIX_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../build/install ../..)
+
+
+
+
+
+#### BASIC PROJECT SETUP ####
+
+project(a2-carsoccer)
+
+# Using 3.9 to get a modern version of FindOpenGL.cmake
+cmake_minimum_required (VERSION 3.9) 
+
+# Dependencies that are auto-downloaded, built, and installed for you will go in the 
+# directory pointed to by the CMAKE_INSTALL_PREFIX.  It defaults to a location inside
+# the build directory.
+if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT OR "${CMAKE_INSTALL_PREFIX}" STREQUAL "")
+    set (CMAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/install" CACHE PATH "default install path" FORCE )
+endif()
+
+# Add to paths cmake uses to search for scripts, modules, and config packages
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake ${CMAKE_INSTALL_PREFIX})
+list(INSERT CMAKE_PREFIX_PATH 0 ${CMAKE_INSTALL_PREFIX})
+
+include(MessageMacros)
+h1("Building ${PROJECT_NAME}")
+h2("Configuring paths")
+
+message(STATUS "Module path: ${CMAKE_MODULE_PATH}")
+message(STATUS "Prefix path: ${CMAKE_PREFIX_PATH}")
+message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
+
+set(DATA_DIR_BUILD ${CMAKE_CURRENT_SOURCE_DIR}/data)
+set(DATA_DIR_INSTALL ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/data)
+
+message(STATUS "Data dir (in build tree): ${DATA_DIR_BUILD}")
+message(STATUS "Data dir (in install tree): ${DATA_DIR_INSTALL}")
+
+# Configure a header file to pass some of the CMake settings to the source code
+configure_file(
+    ${CMAKE_CURRENT_SOURCE_DIR}/config.h.in
+    ${CMAKE_CURRENT_SOURCE_DIR}/config.h
+)
+
+#### SOURCE FOR THIS PROJECT ####
+h2("Configuring source files")
+
+set(SOURCEFILES
+    car_soccer.cc
+    main.cc
+)
+
+set(HEADERFILES
+    ball.h
+    car_soccer.h
+    car.h
+    config.h
+)
+
+set(EXTRAFILES
+    config.h.in
+    README.md
+)
+
+set_source_files_properties(${EXTRAFILES} PROPERTIES HEADER_FILE_ONLY TRUE)
+
+
+
+#### COMPILE OPTIONS ####
+
+h2("Configuring Compiler Options")
+
+
+
+message(STATUS "Building for " ${CMAKE_SYSTEM_NAME} ".")
+
+# Linux specific
+if (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+  add_definitions(-DLINUX)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
+endif()
+
+
+# Apple specific
+if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+  add_definitions(-DOSX)
+
+  # RPATH settings, see https://cmake.org/Wiki/CMake_RPATH_handling
+  set(CMAKE_MACOSX_RPATH ON)
+
+  # use, i.e. don't skip the full RPATH for the build tree
+  SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
+
+  # when building, don't use the install RPATH already
+  # (but later on when installing)
+  SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) 
+
+  SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+
+  # add the automatically determined parts of the RPATH
+  # which point to directories outside the build tree to the install RPATH
+  SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+  # the RPATH to be used when installing, but only if it's not a system directory
+  LIST(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
+  IF("${isSystemDir}" STREQUAL "-1")
+     SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+  ENDIF("${isSystemDir}" STREQUAL "-1")
+
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
+endif()
+
+
+# Windows specific
+if (WIN32)
+  add_definitions(-DWIN32)
+endif()
+
+
+
+
+#### DEFINE TARGET(S) ####
+
+h2("Defining Target(s)")
+
+add_executable(${PROJECT_NAME} ${SOURCEFILES} ${HEADERFILES} ${EXTRAFILES})
+
+
+
+#### FIND AND ADD DEPENDENCIES ####
+
+h2("Adding Dependencies")
+set(EXTERNAL_DIR external)
+
+
+# MinGfx (linked with an imported cmake target so no need to specify include dirs)
+# This will try to find MinGfxConfig.cmake, which should have been installed under
+# CMAKE_INSTALL_PREFIX/lib/cmake/MinGfx when you installed the MinGfx Toolkit.
+find_package(MinGfx REQUIRED)
+target_link_libraries(${PROJECT_NAME} PUBLIC MinGfx::MinGfx)
+
+
+# Add dependency on OpenGL
+include(UseOpenGL)
+UseOpenGL(${PROJECT_NAME} PUBLIC ${EXTERNAL_DIR})
+
+
+
+#### INSTALL TARGET(S) ####
+
+h2("Configuring Install Target")
+
+# The install locations are relative to the CMAKE_INSTALL_PREFIX variable
+install(TARGETS ${PROJECT_NAME} RUNTIME DESTINATION bin)
+
+install(
+    DIRECTORY data/
+    DESTINATION ${DATA_DIR_INSTALL}
+    OPTIONAL
+)
diff --git a/dev/a2-carsoccer/README.md b/dev/a2-carsoccer/README.md
new file mode 100644
index 0000000..9c30158
--- /dev/null
+++ b/dev/a2-carsoccer/README.md
@@ -0,0 +1 @@
+# My solution to Assignment 2
diff --git a/dev/a2-carsoccer/ball.h b/dev/a2-carsoccer/ball.h
new file mode 100644
index 0000000..65a96a4
--- /dev/null
+++ b/dev/a2-carsoccer/ball.h
@@ -0,0 +1,40 @@
+/** CSci-4611 Assignment 2:  Car Soccer
+ */
+
+#ifndef BALL_H_
+#define BALL_H_
+
+#include <mingfx.h>
+
+/// Small data structure for a ball
+class Ball {
+public:
+    
+    /// The constructor sets the radius and calls Reset() to start the ball at
+    /// the center of the field
+    Ball() : radius_(2.6f) {
+        Reset();
+    }
+    
+    /// Nothing special needed in the constructor
+    virtual ~Ball() {}
+
+    
+    void Reset() {
+        position_ = Point3(0, radius_, 0);
+    }
+
+    float radius() { return radius_; }
+    
+    Point3 position() { return position_; }
+    void set_position(const Point3 &p) { position_ = p; }
+    
+    
+private:
+    // You will probably need to store some additional data here, e.g., velocity
+    
+    Point3 position_;
+    float radius_;
+};
+
+#endif
diff --git a/dev/a2-carsoccer/car.h b/dev/a2-carsoccer/car.h
new file mode 100644
index 0000000..871f3bc
--- /dev/null
+++ b/dev/a2-carsoccer/car.h
@@ -0,0 +1,44 @@
+/** CSci-4611 Assignment 2:  Car Soccer
+ */
+
+#ifndef CAR_H_
+#define CAR_H_
+
+#include <mingfx.h>
+
+/// Small data structure for a car
+class Car {
+public:
+    
+    /// The constructor sets the static properties of the car, like its size,
+    /// and then calls Reset() to reset the position, velocity, and any other
+    /// dynamic variables that change during game play.
+    Car() : size_(3,2,4), collision_radius_(2.5) {
+        Reset();
+    }
+
+    /// Nothing special needed in the constructor
+    virtual ~Car() {}
+
+    /// Resets all the dynamic variables, so if you call this after a goal, the
+    /// car will go back to its starting position.
+    void Reset() {
+        position_ = Point3(0, size_[1]/2, 45);
+    }
+    
+    float collision_radius() { return collision_radius_; }
+    
+    Vector3 size() { return size_; }
+    
+    Point3 position() { return position_; }
+    void set_position(const Point3 &p) { position_ = p; }
+    
+private:
+    // You will probably need to store some additional data here, e.g., speed.
+    
+    Vector3 size_;
+    float collision_radius_;
+    Point3 position_;
+};
+
+#endif
diff --git a/dev/a2-carsoccer/car_soccer.cc b/dev/a2-carsoccer/car_soccer.cc
new file mode 100644
index 0000000..a9cea69
--- /dev/null
+++ b/dev/a2-carsoccer/car_soccer.cc
@@ -0,0 +1,104 @@
+/** CSci-4611 Assignment 2:  Car Soccer
+ */
+
+#include "car_soccer.h"
+#include "config.h"
+
+
+CarSoccer::CarSoccer() : GraphicsApp(1024,768, "Car Soccer") {
+    // Define a search path for finding data files (images and shaders)
+    searchPath_.push_back(".");
+    searchPath_.push_back("./data");
+    searchPath_.push_back(DATA_DIR_INSTALL);
+    searchPath_.push_back(DATA_DIR_BUILD);
+}
+
+CarSoccer::~CarSoccer() {
+}
+
+
+Vector2 CarSoccer::joystick_direction() {
+    Vector2 dir;
+    if (IsKeyDown(GLFW_KEY_LEFT))
+        dir[0]--;
+    if (IsKeyDown(GLFW_KEY_RIGHT))
+        dir[0]++;
+    if (IsKeyDown(GLFW_KEY_UP))
+        dir[1]++;
+    if (IsKeyDown(GLFW_KEY_DOWN))
+        dir[1]--;
+    return dir;
+}
+
+
+void CarSoccer::OnSpecialKeyDown(int key, int scancode, int modifiers) {
+    if (key == GLFW_KEY_SPACE) {
+        // Here's where you could call some form of launch_ball();
+    }
+}
+
+
+void CarSoccer::UpdateSimulation(double timeStep) {
+    // Here's where you shound do your "simulation", updating the positions of the
+    // car and ball as needed and checking for collisions.  Filling this routine
+    // in is the main part of the assignment.
+    
+}
+
+
+void CarSoccer::InitOpenGL() {
+    // Set up the camera in a good position to see the entire field
+    projMatrix_ = Matrix4::Perspective(60, aspect_ratio(), 1, 1000);
+    modelMatrix_ = Matrix4::LookAt(Point3(0,60,70), Point3(0,0,10), Vector3(0,1,0));
+ 
+    // Set a background color for the screen
+    glClearColor(0.8f, 0.8f, 0.8f, 1.0f);
+    
+    // Load some image files we'll use
+    fieldTex_.InitFromFile(Platform::FindFile("pitch.png", searchPath_));
+    crowdTex_.InitFromFile(Platform::FindFile("crowd.png", searchPath_));
+}
+
+
+void CarSoccer::DrawUsingOpenGL() {
+    // Draw the crowd as a fullscreen background image
+    quickShapes_.DrawFullscreenTexture(Color(1,1,1), crowdTex_);
+    
+    // Draw the field with the field texture on it.
+    Color col(16.0f/255.0f, 46.0f/255.0f, 9.0f/255.0f);
+    Matrix4 M = Matrix4::Translation(Vector3(0.0f, -0.201f, 0.0f)) * Matrix4::Scale(Vector3(50.0f, 1.0f, 60.0f));
+    quickShapes_.DrawSquare(modelMatrix_ * M, viewMatrix_, projMatrix_, col);
+    M = Matrix4::Translation(Vector3(0.0f, -0.2f, 0.0f)) * Matrix4::Scale(Vector3(40.0f, 1.0f, 50.0f));
+    quickShapes_.DrawSquare(modelMatrix_ * M, viewMatrix_, projMatrix_, Color(1,1,1), fieldTex_);
+    
+    // Draw the car
+    Color carcol(0.8f, 0.2f, 0.2f);
+    Matrix4 Mcar =
+        Matrix4::Translation(car_.position() - Point3(0,0,0)) *
+        Matrix4::Scale(car_.size()) *
+        Matrix4::Scale(Vector3(0.5f, 0.5f, 0.5f));
+    quickShapes_.DrawCube(modelMatrix_ * Mcar, viewMatrix_, projMatrix_, carcol);
+    
+    
+    // Draw the ball
+    Color ballcol(1,1,1);
+    Matrix4 Mball =
+        Matrix4::Translation(ball_.position() - Point3(0,0,0)) *
+        Matrix4::Scale(Vector3(ball_.radius(), ball_.radius(), ball_.radius()));
+    quickShapes_.DrawSphere(modelMatrix_ * Mball, viewMatrix_, projMatrix_, ballcol);
+    
+    
+    // Draw the ball's shadow -- this is a bit of a hack, scaling Y by zero
+    // flattens the sphere into a pancake, which we then draw just a bit
+    // above the ground plane.
+    Color shadowcol(0.2f, 0.4f, 0.15f);
+    Matrix4 Mshadow =
+        Matrix4::Translation(Vector3(ball_.position()[0], -0.1f, ball_.position()[2])) *
+        Matrix4::Scale(Vector3(ball_.radius(), 0, ball_.radius())) *
+        Matrix4::RotationX(90);
+    quickShapes_.DrawSphere(modelMatrix_ * Mshadow, viewMatrix_, projMatrix_, shadowcol);
+    
+    
+    // You should add drawing the goals and the boundary of the playing area
+    // using quickShapes_.DrawLines()
+}
diff --git a/dev/a2-carsoccer/car_soccer.h b/dev/a2-carsoccer/car_soccer.h
new file mode 100644
index 0000000..8cd144f
--- /dev/null
+++ b/dev/a2-carsoccer/car_soccer.h
@@ -0,0 +1,76 @@
+/** CSci-4611 Assignment 2:  Car Soccer
+ */
+
+#ifndef CAR_SOCCER_H_
+#define CAR_SOCCER_H_
+
+#include <mingfx.h>
+using namespace mingfx;
+
+#include "ball.h"
+#include "car.h"
+
+
+// The main class for the Car Soccer application
+class CarSoccer : public GraphicsApp {
+public:
+    CarSoccer();
+    virtual ~CarSoccer();
+    
+    /// This is called when special keys like SPACEBAR are pressed
+    void OnSpecialKeyDown(int key, int scancode, int modifiers);
+
+    /// This is called once each frame.  dt is "delta time", the time elapsed
+    /// since the last call.
+    void UpdateSimulation(double dt);
+    
+    /// This is called when it is time to initialize graphics objects, like
+    /// texture files.
+    void InitOpenGL();
+    
+    /// This is called once each frame, and you should draw the scene inside
+    /// this function.
+    void DrawUsingOpenGL();
+    
+    /// This is a little utility function that is helpful.  It treats the
+    /// arrow keys like a joystick and returns the direction you are pressing
+    /// as a 2D vector, taking into account the fact that you might be holding
+    /// down more than one key at a time.
+    Vector2 joystick_direction();
+    
+    // Feel free to add more functions here as needed.
+
+    
+    
+private:
+
+    // Simulation objects/parameters:
+    
+    // We suggest you start with the Car and Ball objects provided, adding new
+    // member variables to those classes if you need to.  You'll probably want
+    // to store some other data for the simulation here too, like some value
+    // for gravity.
+    Car car_;
+    Ball ball_;
+    
+
+    
+    
+    // Support for drawing some simple shapes:
+    QuickShapes quickShapes_;
+    
+    // Images to use as textures:
+    Texture2D fieldTex_;
+    Texture2D crowdTex_;
+
+    // Control the computer graphics camera (we'll learn about this in a few weeks):
+    Matrix4 modelMatrix_;
+    Matrix4 viewMatrix_;
+    Matrix4 projMatrix_;
+    
+    // A list of paths to search for data files (images):
+    std::vector<std::string> searchPath_;
+};
+
+
+#endif
\ No newline at end of file
diff --git a/dev/a2-carsoccer/cmake/DownloadHelper.txt.in b/dev/a2-carsoccer/cmake/DownloadHelper.txt.in
new file mode 100644
index 0000000..fb29bff
--- /dev/null
+++ b/dev/a2-carsoccer/cmake/DownloadHelper.txt.in
@@ -0,0 +1,26 @@
+# This file is part of the MinGfx cmake build system.  
+# See the main MinGfx/CMakeLists.txt file for authors, copyright, and license info.
+
+# This is a "helper" cmake project -- the only thing this project does is download
+# the external project.  So, the configure, build, install, and test commands for 
+# ExternalProject_Add() are intentionally set as NOPs.  
+
+cmake_minimum_required (VERSION 3.9) 
+
+project(@EXT_PROJECT_NAME@-download)
+
+include(ExternalProject)
+ExternalProject_Add(
+  @EXT_PROJECT_NAME@
+  SOURCE_DIR "@DOWNLOAD_DIR@/@EXT_PROJECT_NAME@/src"
+  BINARY_DIR "@DOWNLOAD_DIR@/@EXT_PROJECT_NAME@/download-helper"
+  @DOWNLOAD_OPTIONS@
+  CONFIGURE_COMMAND ""
+  BUILD_COMMAND ""
+  INSTALL_COMMAND ""
+  TEST_COMMAND ""
+  LOG_DOWNLOAD ON
+  GIT_PROGRESS 1
+)
+
+
diff --git a/dev/a2-carsoccer/cmake/ExternalProjectDownloadBuildInstall.cmake b/dev/a2-carsoccer/cmake/ExternalProjectDownloadBuildInstall.cmake
new file mode 100644
index 0000000..ce12d1d
--- /dev/null
+++ b/dev/a2-carsoccer/cmake/ExternalProjectDownloadBuildInstall.cmake
@@ -0,0 +1,98 @@
+# This file is part of the MinGfx cmake build system.  
+# See the main MinGfx/CMakeLists.txt file for authors, copyright, and license info.
+
+
+# Calling CMAKE_CURRENT_LIST_DIR inside a function returns the list dir of the calling script
+# but we want the list dir of this file in order to find the DownloadHelper.txt.in file, which
+# should be stored right next to this one.  So, defining this variable outside the scope of the
+# functions below.
+set(DIR_OF_THIS_FILE ${CMAKE_CURRENT_LIST_DIR})  
+
+
+
+# Usage:  
+# ExternalProject_Download(
+#     # This first argument is the name of the project to download.  It is required:
+#     glm
+#
+#     # Additional arguments specify how to download the project using GIT, SVN, CVS, or URL.
+#     # These can be any of the arguments used for the downloading step of the cmake builtin
+#     # ExternalProject_Add command. 
+#     GIT_REPOSITORY "https://github.com/g-truc/glm.git"
+#     GIT_TAG master
+#     etc..
+# )
+function(ExternalProject_Download EXT_PROJECT_NAME DOWNLOAD_DIR)
+
+    include(MessageMacros)
+    h1("BEGIN EXTERNAL PROJECT DOWNLOAD (${EXT_PROJECT_NAME}).")
+
+    h2("Creating a download helper project for ${EXT_PROJECT_NAME}.")
+
+    set(DOWNLOAD_OPTIONS ${ARGN})
+    string (REGEX REPLACE "(^|[^\\\\]);" "\\1 " DOWNLOAD_OPTIONS "${DOWNLOAD_OPTIONS}")
+
+
+    file(MAKE_DIRECTORY ${DOWNLOAD_DIR}/${EXT_PROJECT_NAME})
+    configure_file(
+        ${DIR_OF_THIS_FILE}/DownloadHelper.txt.in 
+        ${DOWNLOAD_DIR}/${EXT_PROJECT_NAME}/download-helper/CMakeLists.txt
+    )
+
+    h2("Generating build files for the ${EXT_PROJECT_NAME} download helper project.")
+    execute_process(COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" . WORKING_DIRECTORY "${DOWNLOAD_DIR}/${EXT_PROJECT_NAME}/download-helper")
+
+    h2("Building the ${EXT_PROJECT_NAME} download helper project.  (This actually performs the download and may take some time...)")
+    execute_process(COMMAND "${CMAKE_COMMAND}" --build . WORKING_DIRECTORY "${DOWNLOAD_DIR}/${EXT_PROJECT_NAME}/download-helper")
+
+    h2("Completed download of external project ${EXT_PROJECT_NAME}.")
+
+endfunction()
+
+
+# Usage:  
+# ExternalProject_BuildAndInstallNow(
+#     # This first argument is the name of the external project to download.  It is required:
+#     VRPN
+#     # This second argument is the relative path from ${EXTERNAL_DIR_NAME}/projectname/ to the project's
+#     # main CMakeLists.txt file:
+#     src
+#
+#     # Additional arguments are passed on as options to the cmake build file generator
+#     -DVRPN_BUILD_DIRECTSHOW_VIDEO_SERVER=OFF
+#     -DVRPN_BUILD_HID_GUI=OFF
+#     etc..
+# )
+function(ExternalProject_BuildAndInstallNow EXT_PROJECT_NAME DOWNLOAD_DIR RELPATH_TO_CMAKELISTS)
+
+    include(MessageMacros)
+    h1("BEGIN EXTERNAL PROJECT BUILD AND INSTALL (${EXT_PROJECT_NAME}).")
+
+    # any extra args to the function are interpreted as arguments for the cmake config process
+    set(CMAKE_CONFIG_OPTIONS ${ARGN})
+
+    # always set the install prefix to be the same as for the main project
+    list(APPEND CMAKE_CONFIG_OPTIONS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
+
+    #string (REGEX REPLACE "(^|[^\\\\]);" "\\1 " CMAKE_CONFIG_OPTIONS "${CMAKE_CONFIG_OPTIONS}")
+
+
+    set(SRC_DIR "${DOWNLOAD_DIR}/${EXT_PROJECT_NAME}/${RELPATH_TO_CMAKELISTS}")
+    set(BUILD_DIR "${CMAKE_BINARY_DIR}/external/${EXT_PROJECT_NAME}")
+
+    file(MAKE_DIRECTORY ${BUILD_DIR})
+
+    h2("Generating build files for external project ${EXT_PROJECT_NAME}.")
+    message(STATUS "Using source dir: ${SRC_DIR}")
+    message(STATUS "Using build dir: ${BUILD_DIR}")
+    message(STATUS "Config options: ${CMAKE_CONFIG_OPTIONS}")
+
+    execute_process(COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" ${SRC_DIR} ${CMAKE_CONFIG_OPTIONS} WORKING_DIRECTORY ${BUILD_DIR})
+
+    h2("Building external project ${EXT_PROJECT_NAME}.  (This may take some time...)")
+    execute_process(COMMAND "${CMAKE_COMMAND}" --build ${BUILD_DIR} --target install)
+
+    h2("Completed external build of ${EXT_PROJECT_NAME}.")
+
+endfunction()
+
diff --git a/dev/a2-carsoccer/cmake/MessageMacros.cmake b/dev/a2-carsoccer/cmake/MessageMacros.cmake
new file mode 100644
index 0000000..4628e5c
--- /dev/null
+++ b/dev/a2-carsoccer/cmake/MessageMacros.cmake
@@ -0,0 +1,17 @@
+# This file is part of the MinVR cmake build system.  
+# See the main MinVR/CMakeLists.txt file for authors, copyright, and license info.
+
+
+macro(h1 TITLE)
+  string(TOUPPER ${TITLE} TITLE)
+  message(STATUS "\n\n==== ${TITLE} ====")
+endmacro()
+
+macro(h2 TITLE)
+  message(STATUS "\n* ${TITLE}")
+endmacro()
+
+macro(h3 TITLE)
+  message(STATUS "- ${TITLE}")
+endmacro()
+
diff --git a/dev/a2-carsoccer/cmake/UseOpenGL.cmake b/dev/a2-carsoccer/cmake/UseOpenGL.cmake
new file mode 100644
index 0000000..2ec5ffb
--- /dev/null
+++ b/dev/a2-carsoccer/cmake/UseOpenGL.cmake
@@ -0,0 +1,52 @@
+# This file is part of the MinGfx cmake build system.  
+# See the main MinGfx/CMakeLists.txt file for authors, copyright, and license info.
+
+# Either finds a pre-installed version or complains.
+
+# Usage: In your CMakeLists.txt, somewhere after you define the target that depends
+# on the OpenGL library (typical with something like add_executable(${PROJECT_NAME} ...) 
+# or add_library(${PROJECT_NAME} ...)), add the following two lines:
+
+#    include(UseOpenGL)
+#    UseOpenGL(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/external)
+
+# The second argument can be either PUBLIC, PRIVATE, or INTERFACE, following the keyword
+# usage described here: 
+# https://cmake.org/cmake/help/latest/command/target_include_directories.html
+
+# The third argument is the directory to use for downloading the external project if
+# autobuild is used.
+
+
+
+macro(UseOpenGL YOUR_TARGET INTERFACE_PUBLIC_OR_PRIVATE DOWNLOAD_DIR)
+
+    message(STATUS "Searching for OpenGL...")
+
+	# Check to see if the library is already installed on the system    
+    # CMake ships with FindOpenGL.cmake and in CMake 3.9+ it defines
+    # the imported targets OpenGL::GL and OpenGL::GLU.  Using these is
+    # now the preferred way to link with OpenGL and all of its dependencies.
+	# See https://cmake.org/cmake/help/v3.9/module/FindOpenGL.html
+	find_package(OpenGL)
+
+	if (NOT ${OPENGL_FOUND})
+	    message(FATAL_ERROR "OpenGL was not found on the system.  MinGfx can auto-download and build many dependencies for you, but not OpenGL. It should come pre-installed on your system.")
+	endif()
+
+    message(STATUS "Ok: OpenGL Found.")
+    message(STATUS "OpenGL headers: ${OPENGL_INCLUDE_DIR}")
+    message(STATUS "OpenGL libs: ${OPENGL_LIBRARIES}")
+
+
+    message(STATUS "Linking target ${YOUR_TARGET} with ${INTERFACE_PUBLIC_OR_PRIVATE} dependency OpenGL::GL.")
+    target_link_libraries(${YOUR_TARGET} ${INTERFACE_PUBLIC_OR_PRIVATE} OpenGL::GL)
+
+    if (${OPENGL_GLU_FOUND})
+        message(STATUS "Linking target ${YOUR_TARGET} with ${INTERFACE_PUBLIC_OR_PRIVATE} dependency OpenGL::GLU.")
+        target_link_libraries(${YOUR_TARGET} ${INTERFACE_PUBLIC_OR_PRIVATE} OpenGL::GLU)
+    endif()
+
+	target_compile_definitions(${YOUR_TARGET} ${INTERFACE_PUBLIC_OR_PRIVATE} -DUSE_OPENGL)
+
+endmacro()
diff --git a/dev/a2-carsoccer/config.h.in b/dev/a2-carsoccer/config.h.in
new file mode 100644
index 0000000..bf66666
--- /dev/null
+++ b/dev/a2-carsoccer/config.h.in
@@ -0,0 +1,13 @@
+/** CSci-4611 Assignment 2:  Car Soccer
+*/
+
+
+// The file config.h.in is processed by cmake to produce config.h.  This
+// replaces strings of the form "at"CMAKE_VARIABLE_NAME"at" with the value
+// of the corresponding cmake variable, allowing us to pass directory paths
+// and other information configured with cmake into our C++ code.
+
+
+#define DATA_DIR_BUILD "@DATA_DIR_BUILD@"
+#define DATA_DIR_INSTALL "@DATA_DIR_INSTALL@"
+
diff --git a/dev/a2-carsoccer/data/crowd.png b/dev/a2-carsoccer/data/crowd.png
new file mode 100644
index 0000000..e6f14f3
--- /dev/null
+++ b/dev/a2-carsoccer/data/crowd.png
diff --git a/dev/a2-carsoccer/data/crowd.psd b/dev/a2-carsoccer/data/crowd.psd
new file mode 100644
index 0000000..f16a761
--- /dev/null
+++ b/dev/a2-carsoccer/data/crowd.psd
diff --git a/dev/a2-carsoccer/data/pitch.png b/dev/a2-carsoccer/data/pitch.png
new file mode 100644
index 0000000..bf36a3f
--- /dev/null
+++ b/dev/a2-carsoccer/data/pitch.png
diff --git a/dev/a2-carsoccer/data/pitch.psd b/dev/a2-carsoccer/data/pitch.psd
new file mode 100644
index 0000000..04970c8
--- /dev/null
+++ b/dev/a2-carsoccer/data/pitch.psd
diff --git a/dev/a2-carsoccer/main.cc b/dev/a2-carsoccer/main.cc
new file mode 100644
index 0000000..cc6c086
--- /dev/null
+++ b/dev/a2-carsoccer/main.cc
@@ -0,0 +1,11 @@
+/** CSci-4611 Assignment 2:  Car Soccer
+ */
+
+
+#include "car_soccer.h"
+
+int main(int argc, const char *argv[]) {
+    CarSoccer app;
+    app.Run();
+    return 0;
+}
diff --git a/worksheets/a2_carsoccer.md b/worksheets/a2_carsoccer.md
new file mode 100644
index 0000000..95170c4
--- /dev/null
+++ b/worksheets/a2_carsoccer.md
@@ -0,0 +1,156 @@
+# Assignment 2 (Car Soccer) Worksheet
+
+## Definitions
+
+Use the following C++ style pseudocode definitions for Q1 and Q2:
+
+```
+/* Use this Point3 class to store x,y,z values that define a mathematical
+ * point (i.e., a position) in 3-space.
+ */
+class Point3 {
+    float x;
+    float y;
+    float z;
+};
+
+/* Use this Vector3 class to store x,y,z values that define a vector in
+ * 3-space.  Remember, mathematically, a vector is quite different than
+ * a point.  It has a direction and a magnitude but no position!
+ * For vectors it is often useful to be able to compute the length,
+ * also known as the magnitude, of the vector.
+ */
+class Vector3  {
+    float x;
+    float y;
+    float z;
+    
+    // returns the length (i.e., magnitude) of the vector
+    float Length() {
+        return sqrt(x*x + y*y + z*z);
+    }
+};
+
+
+/* In C++ and other languages we can define operators so we can use
+ * the +, -, =, *, / operations on custom classes.  Like many graphics
+ * libraries, this is what MinGfx does to make it easy to work with
+ * points and vectors in code.  For example, recall from class that
+ * if we have a point A (Coffman Union) and we add a vector (direction
+ * and magnitude) to this, we arrive at a new point B (e.g., Murphy Hall).
+ * Conceptually, a point + a vector = a new point.  Mathematically, it
+ * does not make sense to add two points, but it does make sense to 
+ * subtract two points.  The "difference" between the Murphy and Coffman 
+ * points is a vector that tells us the direction and magnitude we would
+ * need to walk from Coffman to get to Murphy.  Here's how we can write
+ * that in code using Point3, Vector3, and operators like + and -.
+ *
+ *   Point3 murphy = Point3(5, 8, 0);
+ *   Point3 coffman = Point3(4, 6, 0);
+ *   Vector3 toMurphy = murphy - coffman; 
+ *
+ *   // or, if we were given coffman and toMurphy we could find
+ *   // the point "murphy" by starting at point "coffman" and adding
+ *   // the vector "toMurphy".
+ *   Point3 murphy2 = coffman + toMurhpy; 
+ *
+ * The code that defines these opertors looks something like this:
+*/
+
+// a point + a vector = a new point
+Point3 operator+(Point3 p, Vector3 v) { 
+   return Point3(p.x + v.x, p.y + v.y, p.z + v.z); 
+}
+
+// a point - a point = a vector 
+// the dir and magnitude needed to go from point point B to point A
+Vector3 operator-(Point3 A, Point3 B) {
+    return Vector3(A.x - B.x, A.y - B.y, A.z - B.z);
+}
+
+// a vector * a scalar = a new vector with scaled magnitude
+Vector3 operator*(Vector3 v, float s) {
+    return Vector3(v.x * s, v.y * s, v.z * s);
+}
+
+
+
+/* Given all these tools, we can define additional classes for geometries
+ * that are useful in graphics.  For example, we can represent a sphere
+ * using a Point3 for the position of the center point of the sphere and
+ * a float for the sphere's radius.
+ */
+class Sphere {
+    Point3 position;
+    float radius;
+};
+```
+
+## Q1: Eulerian Integration
+
+In computer graphics and animation, there are many forms of integration that
+are used. For simple physics models like we have in Car Soccer, Eulerian
+Integration is good enough. Eulerian Integration uses velocity and position
+information from the current frame, and the elapsed time to produce a position
+for the next frame. Write pseudocode for determining the position of the sphere in the
+next frame:
+
+*Hint: think back to the motion equations from introductory physics. Or, look
+around in the assignment handout.*
+
+```
+Vector3 velocity = Vector3(1.0, 1.0, 1.0);
+float dt = 20; // milliseconds
+
+Sphere s = Sphere {
+    position: Point3(0.0, 0.0, 0.0),
+    radius: 5.0,
+};
+
+s.position = /* --- Fill in the next frame position computation here --- */
+```
+
+
+
+## Q2: Sphere Intersection
+
+In this assignment, you will need to test intersections between spheres and
+other objects. Using the information contained within each sphere class,
+write pseudocode to determine whether or not two spheres are intersecting
+(which you can use for car/ball intersections):
+
+```
+bool sphereIntersection(Sphere s1, Sphere s2) {
+    /* --- Fill in your sphere intersection code here --- */
+    
+
+}
+```
+
+To check that your intersections work, try working through the math by hand for the
+following two cases.  You can write out the math on a scrap piece of paper.   You do
+not need to include that detail in this worksheet.  But, do change the lines below where
+it says "Fill in expected output" to indicate whether True or False would be returned:
+
+```
+Sphere s1 = Sphere {
+    position: Point3(0.0, 1.0, 0.0),
+    radius: 1.0,
+};
+
+Sphere s2 = Sphere {
+    position: Point3(3.0, 0.0, 0.0),
+    radius: 1.0,
+};
+
+Sphere s3 = Sphere {
+    position: Point3(1.0, 1.0, 0.0),
+    radius: 2.0,
+};
+
+print(sphereIntersection(s1, s2));
+/* --- Fill in expected output (True or False) --- */
+
+print(sphereIntersection(s1, s3));
+/* --- Fill in expected output (True or False) --- */
+```