publish a2

38 files changed, 1693 insertions, 42 deletions

diff --git a/dev/MinGfx/src/gfxmath.cc b/dev/MinGfx/src/gfxmath.cc
index 11180e6..28cfedf 100644
--- a/dev/MinGfx/src/gfxmath.cc
+++ b/dev/MinGfx/src/gfxmath.cc
@@ -19,6 +19,61 @@ const float GfxMath::PI = 3.14159265359f;
 const float GfxMath::TWO_PI = 6.28318530718f;
 const float GfxMath::HALF_PI = 1.57079632679f;
 
+float GfxMath::sin(float a) {
+#ifdef WIN32
+    return std::sinf(a);
+#else
+    return std::sin(a);
+#endif
+}
+
+float GfxMath::cos(float a) {
+#ifdef WIN32
+    return std::cosf(a);
+#else
+    return std::cos(a);
+#endif
+}
+
+float GfxMath::tan(float a) {
+#ifdef WIN32
+    return std::tanf(a);
+#else
+    return std::tan(a);
+#endif
+}
+
+float GfxMath::asin(float a) {
+#ifdef WIN32
+    return std::asinf(a);
+#else
+    return std::asin(a);
+#endif
+}
+
+float GfxMath::acos(float a) {
+#ifdef WIN32
+    return std::acosf(a);
+#else
+    return std::acos(a);
+#endif
+}
+
+float GfxMath::atan(float a) {
+#ifdef WIN32
+    return std::atanf(a);
+#else
+    return std::atan(a);
+#endif
+}
+
+float GfxMath::atan2(float a, float b) {
+#ifdef WIN32
+    return std::atan2f(a, b);
+#else
+    return std::atan2(a, b);
+#endif
+}
 
 float GfxMath::Clamp(float x, float a, float b) {
     return std::min(std::max(x, a), b);
diff --git a/dev/MinGfx/src/gfxmath.h b/dev/MinGfx/src/gfxmath.h
index 09a3a1d..86c1061 100644
--- a/dev/MinGfx/src/gfxmath.h
+++ b/dev/MinGfx/src/gfxmath.h
@@ -28,6 +28,22 @@ namespace mingfx {
 class GfxMath {
 public:
 
+    /// MinGfx specific implementations of trigonometric functions included to
+    /// solve compilation issues between different platforms.
+    static float sin(float a);
+
+    static float cos(float a);
+
+    static float tan(float a);
+
+    static float asin(float a);
+
+    static float acos(float a);
+
+    static float atan(float a);
+
+    static float atan2(float a, float b);
+
     /// Returns a if x is less than a and b if x is greater than b.
     static float Clamp(float x, float a, float b);
         
diff --git a/dev/MinGfx/src/quaternion.cc b/dev/MinGfx/src/quaternion.cc
index 4f2998f..24830c8 100644
--- a/dev/MinGfx/src/quaternion.cc
+++ b/dev/MinGfx/src/quaternion.cc
@@ -116,12 +116,13 @@ Quaternion Quaternion::Slerp(const Quaternion &other, float alpha) const {
         return result;
     }
     
-    GfxMath::Clamp(dot, -1, 1);        // Robustness: Stay within domain of acos()
-    float theta_0 = acos(dot);        // theta_0 = angle between input vectors
-    float theta = theta_0 * alpha;    // theta = angle between v0 and result
+    GfxMath::Clamp(dot, -1, 1);         // Robustness: Stay within domain of acos()
+    float theta_0 = GfxMath::acos(dot); // theta_0 = angle between input vectors
+    float theta = theta_0 * alpha;      // theta = angle between v0 and result
     
-    float s0 = cos(theta) - dot * sin(theta) / sin(theta_0);  // == sin(theta_0 - theta) / sin(theta_0)
-    float s1 = sin(theta) / sin(theta_0);
+    float s0 = GfxMath::cos(theta) - dot
+             * GfxMath::sin(theta) / GfxMath::sin(theta_0);  // == sin(theta_0 - theta) / sin(theta_0)
+    float s1 = GfxMath::sin(theta) / GfxMath::sin(theta_0);
     
     return (s0 * v0) + (s1 * v1);
 }
@@ -177,10 +178,10 @@ Quaternion Quaternion::Conjugate() const {
 
 Quaternion Quaternion::FromAxisAngle(const Vector3 &axis, float angle) {
     // [qx, qy, qz, qw] = [sin(a/2) * vx, sin(a/2)* vy, sin(a/2) * vz, cos(a/2)]
-    float x = sin(angle/2.0f) * axis[0];
-    float y = sin(angle/2.0f) * axis[1];
-    float z = sin(angle/2.0f) * axis[2];
-    float w = cos(angle/2.0f);
+    float x = GfxMath::sin(angle/2.0) * axis[0];
+    float y = GfxMath::sin(angle/2.0) * axis[1];
+    float z = GfxMath::sin(angle/2.0) * axis[2];
+    float w = GfxMath::cos(angle/2.0);
     return Quaternion(x,y,z,w);
 }
 
diff --git a/dev/MinGfx/src/quick_shapes.cc b/dev/MinGfx/src/quick_shapes.cc
index 388aa3d..01f187a 100644
--- a/dev/MinGfx/src/quick_shapes.cc
+++ b/dev/MinGfx/src/quick_shapes.cc
@@ -11,6 +11,7 @@
 #include <iostream>
 #include <string>
 
+#include "gfxmath.h"
 
 namespace mingfx {
     
@@ -180,11 +181,10 @@ void QuickShapes::initCyl() {
     
     const int nslices = 20;
     for (int s=1; s<nslices+1; s++) {
-        int slast = s - 1;
-        GLfloat xlast = std::cosf(-TWOPI * (float)slast / (float)nslices);
-        GLfloat zlast = std::sinf(-TWOPI * (float)slast/(float)nslices);
-        GLfloat xnew = std::cosf(-TWOPI * (float)(s)/(float)nslices);
-        GLfloat znew = std::sinf(-TWOPI * (float)(s)/(float)nslices);
+        GLfloat xlast = GfxMath::cos(-TWOPI * (float)(s-1)/(float)nslices);
+        GLfloat zlast = GfxMath::sin(-TWOPI * (float)(s-1)/(float)nslices);
+        GLfloat xnew = GfxMath::cos(-TWOPI * (float)(s)/(float)nslices);
+        GLfloat znew = GfxMath::sin(-TWOPI * (float)(s)/(float)nslices);
         
         // one triangle on the top
         verts.push_back(top);
@@ -245,11 +245,10 @@ void QuickShapes::initCone() {
     
     const int nslices = 20;
     for (int s=1; s<nslices+1; s++) {
-        int slast = s - 1;
-        GLfloat xlast = std::cosf(-TWOPI * (float)slast/(float)nslices);
-        GLfloat zlast = std::sinf(-TWOPI * (float)slast/(float)nslices);
-        GLfloat xnew = std::cosf(-TWOPI * (float)(s)/(float)nslices);
-        GLfloat znew = std::sinf(-TWOPI * (float)(s)/(float)nslices);
+        GLfloat xlast = GfxMath::cos(-TWOPI * (float)(s-1)/(float)nslices);
+        GLfloat zlast = GfxMath::sin(-TWOPI * (float)(s-1)/(float)nslices);
+        GLfloat xnew = GfxMath::cos(-TWOPI * (float)(s)/(float)nslices);
+        GLfloat znew = GfxMath::sin(-TWOPI * (float)(s)/(float)nslices);
         
         // one triangle on the side
         // normals are a bit more complex than for other shapes...
@@ -309,28 +308,30 @@ void QuickShapes::initSph() {
     const int nslices = 40;
     const int nstacks = 40;
     for (int s=1; s<nslices+1; s++) {
-        int slast = s - 1;
-        GLfloat xlast = std::cosf(-TWOPI * (float)slast/(float)nslices);
-        GLfloat zlast = std::sinf(-TWOPI * (float)slast/(float)nslices);
-        GLfloat xnew = std::cosf(-TWOPI * (float)(s)/(float)nslices);
-        GLfloat znew = std::sinf(-TWOPI * (float)(s)/(float)nslices);
+        GLfloat xlast = GfxMath::cos(-TWOPI * (float)(s-1)/(float)nslices);
+        GLfloat zlast = GfxMath::sin(-TWOPI * (float)(s-1)/(float)nslices);
+        GLfloat xnew = GfxMath::cos(-TWOPI * (float)(s)/(float)nslices);
+        GLfloat znew = GfxMath::sin(-TWOPI * (float)(s)/(float)nslices);
         
         float stackstep = PI/(float)nstacks;
         
         // one triangle on the top
         verts.push_back(top);
-        verts.push_back(Vertex(std::sinf(stackstep)*xlast,std::cosf(stackstep),std::sinf(stackstep)*zlast,
-                               std::sinf(stackstep)*xlast,std::cosf(stackstep),std::sinf(stackstep)*zlast));
-        verts.push_back(Vertex(std::sinf(stackstep)*xnew,std::cosf(stackstep),std::sinf(stackstep)*znew,
-                               std::sinf(stackstep)*xnew,std::cosf(stackstep),std::sinf(stackstep)*znew));
+        verts.push_back(Vertex(GfxMath::sin(stackstep)*xlast,GfxMath::cos(stackstep),
+                               GfxMath::sin(stackstep)*zlast,
+                               GfxMath::sin(stackstep)*xlast,GfxMath::cos(stackstep),
+                               GfxMath::sin(stackstep)*zlast));
+        verts.push_back(Vertex(GfxMath::sin(stackstep)*xnew,GfxMath::cos(stackstep),
+                               GfxMath::sin(stackstep)*znew,
+                               GfxMath::sin(stackstep)*xnew,GfxMath::cos(stackstep),
+                               GfxMath::sin(stackstep)*znew));
         
         for (int t=2; t<nstacks; t++) {
-            int tlast = t - 1;
-            GLfloat ylast = std::cosf(PI*(float)(tlast)/(float)nstacks);
-            GLfloat ynew = std::cosf(PI*(float)(t)/(float)nstacks);
+            GLfloat ylast = GfxMath::cos(PI*(float)(t-1)/(float)nstacks);
+            GLfloat ynew = GfxMath::cos(PI*(float)(t)/(float)nstacks);
             
-            GLfloat rlast = std::sinf(PI * (float)(tlast)/(float)nstacks);
-            GLfloat rnew = std::sinf(PI * (float)(t)/(float)nstacks);
+            GLfloat rlast = GfxMath::sin(PI * (float)(t-1)/(float)nstacks);
+            GLfloat rnew = GfxMath::sin(PI * (float)(t)/(float)nstacks);
             
             // two triangles to create a rect on the side
             verts.push_back(Vertex(rlast*xlast,ylast,rlast*zlast, rlast*xlast,ylast,rlast*zlast));
@@ -344,12 +345,17 @@ void QuickShapes::initSph() {
         
         // one triangle on the bottom
         verts.push_back(bot);
-        verts.push_back(Vertex(std::sinf(stackstep)*xnew,std::cosf(PI-stackstep),std::sinf(stackstep)*znew,
-                               std::sinf(stackstep)*xnew,std::cosf(PI-stackstep),std::sinf(stackstep)*znew));
-        verts.push_back(Vertex(std::sinf(stackstep)*xlast,std::cosf(PI-stackstep),std::sinf(stackstep)*zlast,
-                               std::sinf(stackstep)*xlast,std::cosf(PI-stackstep),std::sinf(stackstep)*zlast));
+        verts.push_back(Vertex(GfxMath::sin(stackstep)*xnew,GfxMath::cos(PI-stackstep),
+                               GfxMath::sin(stackstep)*znew,
+                               GfxMath::sin(stackstep)*xnew,GfxMath::cos(PI-stackstep),
+                               GfxMath::sin(stackstep)*znew));
+        verts.push_back(Vertex(GfxMath::sin(stackstep)*xlast,GfxMath::cos(PI-stackstep),
+                               GfxMath::sin(stackstep)*zlast,
+                               GfxMath::sin(stackstep)*xlast,GfxMath::cos(PI-stackstep),
+                               GfxMath::sin(stackstep)*zlast));
     }
     
+    
     std::vector<Point3> vertices;
     std::vector<Vector3> normals;
     for (int i = 0; i < verts.size(); i++) {
diff --git a/dev/MinGfx/src/ray.h b/dev/MinGfx/src/ray.h
index 8e84546..d1b41b6 100644
--- a/dev/MinGfx/src/ray.h
+++ b/dev/MinGfx/src/ray.h
@@ -33,14 +33,13 @@ namespace mingfx {
  Example:
  ~~~
  // Create a pick ray from the mouse position
- void MyGraphicsApp::OnLeftMouseDown(const Point2 &pos) {
-    Point2 mouse_xy = PixelsToNormalizedDeviceCoords(pos);
-    float mouse_z = ReadZValueAtPixel(pos);
-    Point3 mouse_3d = GfxMath::ScreenToNearPlane(view_matrix, proj_matrix, mouse_xy, mouse_z);
+ void MyGraphicsApp::OnLeftMouseDown(const Point2 &mouse_in_2d_pixels) {
+    Point2 mouse_in_2d_ndc = PixelsToNormalizedDeviceCoords(mouse_in_2d_pixels);
+    Point3 mouse_in_3d = GfxMath::ScreenToNearPlane(view_matrix, proj_matrix, mouse_in_2d_ndc);
     Matrix4 camera_matrix = view_matrix.Inverse();
     Point3 eye = camera_matrix.ColumnToPoint3(3);
  
-    Ray pick_ray(eye, mouse_3d - eye);
+    Ray pick_ray(eye, mouse_in_3d - eye);
  
     // check to see if the ray intersects a sphere
     float t;
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..0d67553
--- /dev/null
+++ b/dev/a2-carsoccer/CMakeLists.txt
@@ -0,0 +1,176 @@
+# 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
+    ${CMAKE_CURRENT_SOURCE_DIR}/config.h
+)
+
+#### SOURCE FOR THIS PROJECT ####
+h2("Configuring source files")
+
+set(SOURCEFILES
+    ball.cc
+    car.cc
+    car_soccer.cc
+    main.cc
+)
+
+set(HEADERFILES
+    ball.h
+    car_soccer.h
+    car.h
+    config.h
+)
+
+set(EXTRAFILES
+    config.h.in
+    README.md
+)
+
+set_source_files_properties(${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.cc b/dev/a2-carsoccer/ball.cc
new file mode 100644
index 0000000..8289905
--- /dev/null
+++ b/dev/a2-carsoccer/ball.cc
@@ -0,0 +1,58 @@
+#include "ball.h"
+
+/// The constructor sets the radius and calls Reset() to start the ball at
+/// the center of the field
+Ball::Ball() : radius_(2.6f) {
+    Reset();
+}
+    
+Ball::~Ball() {
+    
+}
+
+
+float Ball::radius() {
+    return radius_;
+}
+    
+Point3 Ball::position() {
+    return position_;
+}
+
+void Ball::set_position(const Point3 &p) {
+    position_ = p;
+}
+
+Vector3 Ball::velocity() {
+    return velocity_;
+}
+
+void Ball::set_velocity(const Vector3 &v) {
+    velocity_ = v;
+}
+
+void Ball::Reset() {
+    position_ = Point3(0, radius_, 0);
+    
+    float a = GfxMath::PI * rand()/RAND_MAX;
+    velocity_ = Vector3(25*cos(a), 10, 25*sin(a));
+}
+
+void Ball::Draw(QuickShapes quickShapes, Matrix4 modelMatrix, Matrix4 viewMatrix, Matrix4 projMatrix) {
+    Color ballcol(1,1,1);
+    Matrix4 Mball =
+        Matrix4::Translation(position_- Point3(0,0,0)) *
+        Matrix4::Scale(Vector3(radius_, radius_, 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(position_[0], -0.1f, position_[2])) *
+        Matrix4::Scale(Vector3(radius_, 0, radius_)) *
+        Matrix4::RotationX(90);
+    quickShapes.DrawSphere(modelMatrix * Mshadow, viewMatrix, projMatrix, shadowcol);
+}
+
diff --git a/dev/a2-carsoccer/ball.h b/dev/a2-carsoccer/ball.h
new file mode 100644
index 0000000..0fa107e
--- /dev/null
+++ b/dev/a2-carsoccer/ball.h
@@ -0,0 +1,39 @@
+/** CSci-4611 Assignment 2:  Car Soccer
+ */
+
+#ifndef BALL_H_
+#define BALL_H_
+
+#include <mingfx.h>
+using namespace mingfx;
+
+/// Small class representing the ball.  Feel free to add additional member variables and functions if you wish.
+class Ball {
+public:
+    
+    Ball();
+    virtual ~Ball();
+    
+    // The same radius is used to draw the ball and to calculate physics for the ball
+    float radius();
+
+    // Current 3D position
+    Point3 position();
+    void set_position(const Point3 &p);
+
+    // Current 3D velocity
+    Vector3 velocity();
+    void set_velocity(const Vector3 &v);
+    
+    // Resets the ball's position and velocity to initial values.
+    void Reset();
+    
+    void Draw(QuickShapes quickShapes, Matrix4 modelMatrix, Matrix4 viewMatrix, Matrix4 projMatrix);
+    
+private:
+    Point3 position_;
+    Vector3 velocity_;
+    float radius_;
+};
+
+#endif
diff --git a/dev/a2-carsoccer/car.cc b/dev/a2-carsoccer/car.cc
new file mode 100644
index 0000000..3b9bb5c
--- /dev/null
+++ b/dev/a2-carsoccer/car.cc
@@ -0,0 +1,66 @@
+#include "car.h"
+
+/// 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::Car() : size_(3,2,4), collision_radius_(2.5) {
+    Reset();
+}
+
+Car::~Car() {
+}
+
+
+float Car::collision_radius() {
+    return collision_radius_;
+    
+}
+
+Vector3 Car::size() {
+    return size_;
+}
+
+Point3 Car::position() {
+    return position_;
+}
+
+void Car::set_position(const Point3 &p) {
+    position_ = p;
+}
+
+Vector3 Car::forward() {
+    return forward_;
+}
+
+void Car::set_forward(const Vector3 &v) {
+    forward_ = v;
+}
+
+float Car::speed() {
+    return speed_;
+}
+
+void Car::set_speed(float s) {
+    speed_ = s;
+}
+
+Vector3 Car::velocity() {
+    return speed_ * forward_;
+}
+
+
+void Car::Reset() {
+    position_ = Point3(0, size_[1]/2, 45);
+    forward_ = Vector3(0, 0, -1);
+    speed_ = 0.0f;
+}
+
+void Car::Draw(QuickShapes quickShapes, Matrix4 modelMatrix, Matrix4 viewMatrix, Matrix4 projMatrix) {
+    Color carcol(0.8f, 0.2f, 0.2f);
+    Matrix4 Mcar =
+        Matrix4::Translation(position_ - Point3(0,0,0)) *
+        Matrix4::LookAt(Point3(0,0,0), Point3(0,0,0) + forward_, Vector3(0,1,0)).Inverse() *
+        Matrix4::Scale(size_) *
+        Matrix4::Scale(Vector3(0.5f, 0.5f, 0.5f));
+    quickShapes.DrawCube(modelMatrix * Mcar, viewMatrix, projMatrix, carcol);
+}
diff --git a/dev/a2-carsoccer/car.h b/dev/a2-carsoccer/car.h
new file mode 100644
index 0000000..6746a56
--- /dev/null
+++ b/dev/a2-carsoccer/car.h
@@ -0,0 +1,52 @@
+/** CSci-4611 Assignment 2:  Car Soccer
+ */
+
+#ifndef CAR_H_
+#define CAR_H_
+
+#include <mingfx.h>
+using namespace mingfx;
+
+/// Small class representing the car.  Feel free to add additional member variables and functions if you wish.
+class Car {
+public:
+    Car();
+    virtual ~Car();
+        
+    // Size is the size of the box drawn to represent the car in the X, Y, and Z dimensions
+    Vector3 size();
+
+    // Radius of the bounding sphere used to calculate approximate physics
+    float collision_radius();
+
+    // 3D position of the car
+    Point3 position();
+    void set_position(const Point3 &p);
+
+    // The unit vector direction the car is pointing.  Since the car drives around on the
+    // Y=0 plane, this vector will always have a y coordinate = 0
+    Vector3 forward();
+    void set_forward(const Vector3 &v);
+
+    // The speed of the car can be positive (moving forward) or negative (moving in reverse)
+    float speed();
+    void set_speed(float s);
+    
+    // Current 3D velocity, computed as speed_ * forward_
+    Vector3 velocity();
+    
+    // Resets the position, speed, and forward direction to the car's starting point
+    void Reset();
+    
+    // Draws a simple box shape for the car at the proper position and rotated to face forward
+    void Draw(QuickShapes quickShapes, Matrix4 modelMatrix, Matrix4 viewMatrix, Matrix4 projMatrix);
+    
+private:
+    Vector3 size_;
+    float collision_radius_;
+    Point3 position_;
+    Vector3 forward_;
+    float speed_;
+};
+
+#endif
diff --git a/dev/a2-carsoccer/car_soccer.cc b/dev/a2-carsoccer/car_soccer.cc
new file mode 100644
index 0000000..c5619a8
--- /dev/null
+++ b/dev/a2-carsoccer/car_soccer.cc
@@ -0,0 +1,134 @@
+/** CSci-4611 Assignment 2:  Car Soccer
+ */
+
+#include "car_soccer.h"
+#include "config.h"
+
+
+// Remember in C++, the .h file list all the functions and member variables that are part of the class!
+// Look there first to understand what is part of the CarSoccer class, then look below to see how each
+// function is implemented.
+
+
+CarSoccer::CarSoccer() : GraphicsApp(1024,768, "Car Soccer") {
+    // If you are having trouble driving the car with the keybaord, you can set this to true to use
+    // the mouse instead.  The mouse controls are based on the postion of the mouse cursor on the window.
+    // There is a "dead zone" in the middle of the window, and if you move the mouse up/down or left/right
+    // outside of that zone, it is like pushing the up/down and/or left/right keys on the keyboard
+    use_mouse_ = false;
+        
+    // 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() {
+}
+
+
+void CarSoccer::OnMouseMove(const Point2& pos, const Vector2& delta)
+{
+    mouse_pos_ = PixelsToNormalizedDeviceCoords(pos);
+}
+
+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();
+        ball_.Reset();
+    }
+}
+
+/// This is a little utility function that is helpful.  It treats the arrow keys like a joystick or D-pad on a game controller
+/// 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 CarSoccer::joystick_direction() {
+    Vector2 dir;
+
+    if (use_mouse_) {
+        // threshold defines the size of the "dead zone" in the middle of the screen
+        // if the mouse's x,y position falls outside of this, then it is like pushing
+        // the corresponding key on the keyboard
+        const float threshold = 0.2f;
+        dir[0] = 0;
+        if (mouse_pos_[0] < -threshold) {
+            dir[0] = -1;
+        }
+        else if (mouse_pos_[0] > threshold) {
+            dir[0] = 1;
+        }
+        dir[1] = 0;
+        if (mouse_pos_[1] < -threshold) {
+            dir[1] = -1;
+        }
+        else if (mouse_pos_[1] > threshold) {
+            dir[1] = 1;
+        }
+    }
+    else {
+        // the default user interface is to use the arrow keys on the keyboard.
+        // like a D-pad on a game controller, you can hold more than one key down at a time if you want.
+        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;
+}
+
+// dt is for "Delta Time", the elapsed time in seconds since the last frame
+void CarSoccer::UpdateSimulation(double dt) {
+    Vector2 dpad_dir = joystick_direction();
+    std::cout << "D-Pad Direction: " << dpad_dir << std::endl;
+
+    // Here's where you shound do your "simulation", updating the positions of the
+    // car and ball based on the elapsed time and checking for collisions.  Filling
+    // in this routine is the main part of the assignment.
+
+    // Example: This is not the "correct way" to drive the car, but this code
+    // will at least move the car around for testing
+    float metersPerSec = 10.0f;
+    car_.set_position(car_.position() + metersPerSec * Vector3(dpad_dir[0], 0, -dpad_dir[1]) * dt);
+    
+}
+
+
+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 (don't worry if you get a depricated warning on this line in OSX)
+    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 car and the ball
+    car_.Draw(quickShapes_, modelMatrix_, viewMatrix_, projMatrix_);
+    ball_.Draw(quickShapes_, modelMatrix_, viewMatrix_, projMatrix_);
+    
+    // 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_);
+    
+    // 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..9982238
--- /dev/null
+++ b/dev/a2-carsoccer/car_soccer.h
@@ -0,0 +1,84 @@
+/** 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();
+
+    /// Called whenever the mouse moves
+    void OnMouseMove(const Point2& pos, const Vector2& delta);
+
+    /// 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_;
+    
+    // Set this to true if you want to use the mouse to control the car rather than the keyboard
+    bool use_mouse_;
+
+    // Mouse position in Normalized Device Coordinates, 
+    // meaning -1 to +1 in both X and Y.  (0,0) is the
+    // center of the screen
+    Point2 mouse_pos_;
+};
+
+
+#endif
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/dev/texture-demo/.gitignore b/dev/texture-demo/.gitignore
new file mode 100644
index 0000000..dd1a9a8
--- /dev/null
+++ b/dev/texture-demo/.gitignore
@@ -0,0 +1,2 @@
+config.h
+build
diff --git a/dev/texture-demo/CMakeLists.txt b/dev/texture-demo/CMakeLists.txt
new file mode 100644
index 0000000..0c7fce9
--- /dev/null
+++ b/dev/texture-demo/CMakeLists.txt
@@ -0,0 +1,193 @@
+# 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 ${CMAKE_CURRENT_SOURCE_DIR}/../build/install ../..)
+
+
+#### BASIC PROJECT SETUP ####
+
+project(example)
+
+# Using 3.9 to get a modern version of FindOpenGL.cmake
+cmake_minimum_required (VERSION 3.9) 
+
+# Dependencies that are auto-downloaded, built, and installed for you will go in the 
+# directory pointed to by the CMAKE_INSTALL_PREFIX.  It defaults to a location inside
+# the build directory.
+if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT OR "${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}")
+
+set(SHADERS_DIR_BUILD ${CMAKE_CURRENT_SOURCE_DIR}/shaders)
+set(SHADERS_DIR_INSTALL ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/shaders)
+
+message(STATUS "Shaders dir (in build tree): ${SHADERS_DIR_BUILD}")
+message(STATUS "Shaders dir (in install tree): ${SHADERS_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
+    ${CMAKE_CURRENT_SOURCE_DIR}/config.h
+)
+
+
+#### SOURCE FOR THIS PROJECT ####
+h2("Configuring source files")
+
+set(SOURCEFILES
+    example.cc
+    main.cc
+)
+
+set(HEADERFILES
+    config.h
+    example.h
+)
+
+set(EXTRAFILES
+    README.md
+)
+
+set(SHADERFILES
+)
+
+set_source_files_properties(${EXTRAFILES} PROPERTIES HEADER_FILE_ONLY TRUE)
+set_source_files_properties(${SHADERFILES} PROPERTIES HEADER_FILE_ONLY TRUE)
+
+source_group("Shaders" FILES ${SHADERFILES})
+
+
+#### 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 "${CMAKE_CXX_FLAGS} -std=c++14")
+endif()
+
+
+# Windows specific
+if (WIN32)
+  add_definitions(-DWIN32)
+
+  if(NOT CMAKE_SIZEOF_VOID_P EQUAL 8)
+    message(FATAL_ERROR
+        "You must use the 64 bit version of the compiler. Be sure to set the correct generator when configuring through CMake.")
+  endif()
+endif()
+
+
+
+
+
+#### DEFINE TARGET(S) ####
+
+h2("Defining Target(s)")
+
+add_executable(${PROJECT_NAME} ${SOURCEFILES} ${HEADERFILES} ${EXTRAFILES} ${SHADERFILES})
+
+
+
+#### FIND AND ADD DEPENDENCIES ####
+
+h2("Adding Dependencies")
+set(EXTERNAL_DIR external)
+
+
+# MinGfx (linked with an imported cmake target so no need to specify include dirs)
+# This will try to find MinGfxConfig.cmake, which should have been installed under
+# CMAKE_INSTALL_PREFIX/lib/cmake/MinGfx when you installed the MinGfx Toolkit.
+find_package(MinGfx REQUIRED)
+target_link_libraries(${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
+)
+
+install(
+    DIRECTORY shaders/
+    DESTINATION ${SHADERS_DIR_INSTALL}
+    OPTIONAL
+)
diff --git a/dev/texture-demo/README.md b/dev/texture-demo/README.md
new file mode 100644
index 0000000..ee42984
--- /dev/null
+++ b/dev/texture-demo/README.md
@@ -0,0 +1 @@
+# Angry Vectors CSci-4611 In-Class Example of Visual Debugging
diff --git a/dev/texture-demo/cmake/DownloadHelper.txt.in b/dev/texture-demo/cmake/DownloadHelper.txt.in
new file mode 100644
index 0000000..fb29bff
--- /dev/null
+++ b/dev/texture-demo/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/texture-demo/cmake/ExternalProjectDownloadBuildInstall.cmake b/dev/texture-demo/cmake/ExternalProjectDownloadBuildInstall.cmake
new file mode 100644
index 0000000..ce12d1d
--- /dev/null
+++ b/dev/texture-demo/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/texture-demo/cmake/MessageMacros.cmake b/dev/texture-demo/cmake/MessageMacros.cmake
new file mode 100644
index 0000000..4628e5c
--- /dev/null
+++ b/dev/texture-demo/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 "- ${TITLE}")
+endmacro()
+
diff --git a/dev/texture-demo/cmake/UseOpenGL.cmake b/dev/texture-demo/cmake/UseOpenGL.cmake
new file mode 100644
index 0000000..2ec5ffb
--- /dev/null
+++ b/dev/texture-demo/cmake/UseOpenGL.cmake
@@ -0,0 +1,52 @@
+# This file is part of the MinGfx cmake build system.  
+# See the main MinGfx/CMakeLists.txt file for authors, copyright, and license info.
+
+# Either finds a pre-installed version or complains.
+
+# Usage: In your CMakeLists.txt, somewhere after you define the target that depends
+# on the OpenGL library (typical with something like add_executable(${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/texture-demo/config.h.in b/dev/texture-demo/config.h.in
new file mode 100644
index 0000000..16d824b
--- /dev/null
+++ b/dev/texture-demo/config.h.in
@@ -0,0 +1,13 @@
+/** CSci-4611 In-Class Example
+*/
+
+
+// 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/texture-demo/data/campbells.png b/dev/texture-demo/data/campbells.png
new file mode 100644
index 0000000..ed4b245
--- /dev/null
+++ b/dev/texture-demo/data/campbells.png
diff --git a/dev/texture-demo/data/monalisa.png b/dev/texture-demo/data/monalisa.png
new file mode 100644
index 0000000..91e5498
--- /dev/null
+++ b/dev/texture-demo/data/monalisa.png
diff --git a/dev/texture-demo/example.cc b/dev/texture-demo/example.cc
new file mode 100644
index 0000000..b114da5
--- /dev/null
+++ b/dev/texture-demo/example.cc
@@ -0,0 +1,113 @@
+/** CSci-4611 In-Class Example */
+
+#include "example.h"
+
+#include "config.h"
+
+#include <iostream>
+#include <sstream>
+
+
+
+Example::Example() : GraphicsApp(1024,768, "MinGfx Example") {
+    // Define a search path for finding data files (images and shaders)
+    search_path_.push_back(".");
+    search_path_.push_back("./data");
+    search_path_.push_back(DATA_DIR_INSTALL);
+    search_path_.push_back(DATA_DIR_BUILD);
+}
+
+
+Example::~Example() {
+}
+
+
+void Example::UpdateSimulation(double dt)  {
+}
+
+
+void Example::InitOpenGL() {
+    // Set up the camera in a good position to see the entire scene
+    proj_matrix_ = Matrix4::Perspective(60.0f, aspect_ratio(), 0.01f, 100.0f);
+    view_matrix_ = Matrix4::LookAt(Point3(2,1,4), Point3(2,1,0), Vector3(0,1,0));
+    glClearColor(1,1,1,1);
+    
+    
+    // Load the texture we will use
+    texture_.InitFromFile(Platform::FindFile("monalisa.png", search_path_));
+    
+     
+    // Create the mesh by setting the vertex and index arrays directly
+    std::vector<unsigned int> indices;
+    std::vector<Point3> vertices;
+    std::vector<Vector3> normals;
+    std::vector<Point2> tex_coords;
+    
+    // four vertices, each requires 3 floats: (x,y,z)
+    vertices.push_back(Point3(0,0,0));
+    vertices.push_back(Point3(1,0,0));
+    vertices.push_back(Point3(1,1,-1));
+    vertices.push_back(Point3(0,1,-1));
+    
+    // four normals, each requires 3 floats: (x,y,z)
+    normals.push_back(Vector3(0,1,1).ToUnit());
+    normals.push_back(Vector3(0,1,1).ToUnit());
+    normals.push_back(Vector3(0,1,1).ToUnit());
+    normals.push_back(Vector3(0,1,1).ToUnit());
+    
+    // TODO: YOU ADD TEXTURE COORDINATES TO THE MESH
+
+    
+    
+    // indices into the arrays above for the first triangle
+    indices.push_back(0);
+    indices.push_back(1);
+    indices.push_back(2);
+    
+    // indices for the second triangle, note some are reused
+    indices.push_back(0);
+    indices.push_back(2);
+    indices.push_back(3);
+    
+    mesh_.SetVertices(vertices);
+    mesh_.SetNormals(normals);
+    mesh_.SetIndices(indices);
+    
+    // TODO: ALSO REMEMBER TO CALL mesh_.SetTexCoords(..) HERE ONCE YOU HAVE THEM DEFINED.
+    // USE TEXTURE UNIT = 0 SINCE WE HAVE ONLY ONE TEXTURE APPLIED TO THE MESH.
+    
+    mesh_.UpdateGPUMemory();
+    
+}
+
+
+void Example::DrawUsingOpenGL() {
+    // draws a set of axes at the world origin, since we are passing the identity
+    // matrix for the "model" matrix.
+    Matrix4 identity;
+    quick_shapes_.DrawAxes(identity, view_matrix_, proj_matrix_);
+    
+    
+    // We're already learned about how to use transformation matrices to move
+    // an individual model around within the scene.
+    Matrix4 model_matrix = Matrix4::Scale(Vector3(4,4,4));
+
+    
+    // Since we want to texture the mesh we will define a custom material for the
+    // mesh.  The material property we are interested in is called "surface_texture".
+    // We'll set that to point to the Texture2D that we loaded earlier.  You can
+    // also set other properties of the material to define how it reflects light.
+    DefaultShader::MaterialProperties mesh_material;
+    mesh_material.surface_texture = texture_;
+    mesh_material.ambient_reflectance = Color(0.8f, 0.8f, 0.8f);
+    mesh_material.diffuse_reflectance = Color(0.8f, 0.8f, 0.8f);
+    
+    
+    // Use a shader program to draw the mesh with the given model, view, and projection
+    // matrices and with the material properties defined in mesh_material.
+    shader_.Draw(model_matrix, view_matrix_, proj_matrix_, &mesh_, mesh_material);
+}
+
+
+
+
diff --git a/dev/texture-demo/example.h b/dev/texture-demo/example.h
new file mode 100644
index 0000000..afecff6
--- /dev/null
+++ b/dev/texture-demo/example.h
@@ -0,0 +1,65 @@
+/** CSci-4611 In-Class Example */
+
+#ifndef SNOWMAN_H_
+#define SNOWMAN_H_
+
+#include <mingfx.h>
+using namespace mingfx;
+
+#include <string>
+#include <vector>
+
+class Example : public GraphicsApp {
+public:
+  
+    // Creates the App
+    Example();
+    
+    // Cleans up when the App shuts down
+    virtual ~Example();
+    
+    // Note a Run() function is inherited from GraphicsApp, that's what
+    // actually starts up the App.
+    
+    // This is a callback, a function that gets called when the user presses
+    // the Pause button in the GUI.
+    void OnPauseBtnPressed();
+    
+    // This gets called once each frame.  Note that dt (a.k.a., "delta time") is
+    // the amount of time (in seconds) that has passed since the last frame.
+    void UpdateSimulation(double dt);
+    
+    // This is where we initialize any OpenGL data, like textures or meshes that
+    // need to be loaded from files and setup in OpenGL.  It gets called once
+    // when the program starts up.
+    void InitOpenGL();
+    
+    // This gets called once each frame, and this is where you draw the latest
+    // version of your 3D graphics scene.
+    void DrawUsingOpenGL();
+    
+    
+private:
+
+    // Texture loaded from a file
+    Texture2D texture_;
+    
+    // Triangle mesh data structure
+    Mesh mesh_;
+
+    // A shader is required to draw meshes, MinGfx provides a default shader
+    // that does some simple lighting.
+    DefaultShader shader_;
+    
+    // Sets up the computer graphics camera
+    Matrix4 view_matrix_;
+    Matrix4 proj_matrix_;
+    
+    // A helper class for drawing some simple shapes (cubes, spheres, 3D arrows)
+    QuickShapes quick_shapes_;
+    
+    // Paths to search for data files, like images
+    std::vector<std::string> search_path_;
+};
+
+#endif
\ No newline at end of file
diff --git a/dev/texture-demo/main.cc b/dev/texture-demo/main.cc
new file mode 100644
index 0000000..3bbc8b8
--- /dev/null
+++ b/dev/texture-demo/main.cc
@@ -0,0 +1,9 @@
+/** CSci-4611 In-Class Example */
+
+#include "example.h"
+
+int main(int argc, const char *argv[]) {
+    Example 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) --- */
+```