public static void GetForceAndTorque(Rigidbody2D body, LineSegment target, out Vector2 force, out float torque)
{
Vector2 targetCenterOfMass = target.p1 + (target.p2 - target.p1).normalized * body.centerOfMass.magnitude;
force = PhysicsHelper.GetMoveToForce(body, body.worldCenterOfMass, targetCenterOfMass);
torque = PhysicsHelper.GetRotateToTorque(body, target.Angle());
}
void FixedUpdate()
{
LineSegment target = new LineSegment(p1, p2);
float centerOfMassDistance = rb.centerOfMass.magnitude;
Vector2 targetCenterOfMass = p1 + (p2 - p1).normalized * centerOfMassDistance;
Vector2 force = PhysicsHelper.GetMoveToForce(rb, rb.worldCenterOfMass, targetCenterOfMass);
float torque = PhysicsHelper.GetRotateToTorque(rb, target.Angle());
rb.AddForce(force);
rb.AddTorque(torque);
}
public bool Parallel(LineSegment L2)
{
if (this.Angle() == L2.Angle())
{
return(true);
}
else
{
return(false);
}
}
protected void AddSimpleForces()
{
if (DO_DEBUG)
{
Debug.Log("Break point");
}
if (target == LineSegment.zero)
{
return;
}
var targetAngle = target.Angle();
var deltaAngle = Mathf.DeltaAngle(rb.rotation, targetAngle);
// Notice that here we are treating torque like acceleration. This is
// because we want the spring to effect all objects' accereration
// identically, where it does not depend on their mass. This makes
// shadow edges reach their targets consistently.
var accel = PhysicsHelper.GetSpringTorque(0, deltaAngle, rb.angularVelocity, lightSource.GetAngularVelocity(), springConstant, dampingConstant);
accel = Mathf.Clamp(accel, -maxAccel, maxAccel);
rb.AddTorque(accel * rb.inertia);
}
private void btnAngle_Click(object sender, EventArgs e)
{
txtAngle.Text = ls1.Angle().ToString();
}
public static void GetForceAndTorque(Rigidbody2D body, LineSegment actual, LineSegment target, out Vector2 force, out float torque)
{
target = target.Rotate(body.rotation - actual.Angle());
target = target + (body.position + actual.p1);
GetForceAndTorque(body, target, out force, out torque);
}