public static bool Collide_vectors(ref Vec a, ref Vec b)
{
Vec deltap = b.Sub(a);
double dist = deltap.Len();
double penet = a.r + b.r - dist;
if (penet <= 0)
{
return(false);
}
a.m = a.r == rules.BALL_RADIUS ? rules.BALL_MASS : rules.ROBOT_MASS;
b.m = b.r == rules.BALL_RADIUS ? rules.BALL_MASS : rules.ROBOT_MASS;
double ccc = ((1 / a.m) + (1 / b.m));
double k_a = (1 / a.m) / ccc;
double k_b = (1 / b.m) / ccc;
Vec norm = deltap.Normalize();
a = a.Sub(norm.Mul(penet * k_a));
b = b.Sub(norm.Mul(penet * k_b));
double deltav = b.VelocityVec().Sub(a.VelocityVec()).Dot(norm) +
b.rcs - a.rcs;
if (deltav < 0)
{
Vec impulse = norm.Mul(1 + averagehit * (-deltav));
a.AddVelocity(impulse.Mul(k_a));
b.RemVelocity(impulse.Mul(k_b));
}
return(true);
}
public static bool CollideWithArena(ref Vec a, bool verb)
{
double rimbalzo;
if (a.r == 1)
{
rimbalzo = rules.ROBOT_ARENA_E;
}
else
{
rimbalzo = rules.BALL_ARENA_E;
}
Dan dta = a.DanToArena();
double penet = a.r - dta.distance;
if (penet <= 0)
{
return(false);
}
if (verb)
{
De("penet=" + penet);
}
a.DoAdd(dta.normal.Mul(penet));
double vel = a.VelocityVec().Dot(dta.normal) - a.rcs;
if (vel < 0)
{
Vec zs = dta.normal.Mul(-vel * (1 + rimbalzo));
if (verb)
{
De("vel added " + zs.x + " " + zs.y + " " + zs.z);
}
a.AddVelocity(zs);
return(true);
}
return(false);
}