/// Apply an impulse at a point. This immediately modifies the velocity.
/// It also modifies the angular velocity if the point of application
/// is not at the center of mass.
public void ApplyLinearImpluse(Fix64Vec2 impluse, Fix64Vec2 worldPoint)
{
Parallel2D.ApplyLinearImpulse(_body2D, worldPoint, impluse);
}
//Apply a force at a world point
public void ApplyForce(Fix64Vec2 force, Fix64Vec2 worldPoint)
{
Parallel2D.ApplyForce(_body2D, worldPoint, force);
}
//Apply an impulse to the center of mass. This immediately modifies the velocity.
public void ApplyLinearImpulse(Fix64Vec2 impluse)
{
Parallel2D.ApplyLinearImpulseToCenter(_body2D, impluse);
}
public void UpdateShape(Fix64Vec2 size)
{
_size = size;
UpdateShape(_root);
}
//============================== Force and Torque ==============================
//Apply a force to the center of mass
public void ApplyForce(Fix64Vec2 force)
{
Parallel2D.ApplyForceToCenter(_body2D, force);
}
public static Fix64Vec2 Intersection(Fix64Vec2 a1, Fix64Vec2 v, Fix64 range, Fix64Vec2 b1, Fix64Vec2 b2, out bool found)
{
Fix64Vec2 a2 = a1 + v.normalized * range;
return(Intersection(a1, a2, b1, b2, out found));
}
public static Fix64Vec2 Intersection(Fix64Vec2 a1, Fix64Vec2 a2, Fix64Vec2 b1, Fix64Vec2 b2, out bool found)
{
Fix64 tmp = (b2.x - b1.x) * (a2.y - a1.y) - (b2.y - b1.y) * (a2.x - a1.x);
if (tmp == Fix64.zero)
{
// No solution!
found = false;
return(Fix64Vec2.zero);
}
Fix64 mu = ((a1.x - b1.x) * (a2.y - a1.y) - (a1.y - b1.y) * (a2.x - a1.x)) / tmp;
found = true;
return(new Fix64Vec2(
b1.x + (b2.x - b1.x) * mu,
b1.y + (b2.y - b1.y) * mu
));
}
//Cross product of two vectors
public static Fix64 Cross(Fix64Vec2 a, Fix64Vec2 b)
{
return(a.x * b.y - a.y * b.x);
}
//Dot product of two vectors
public static Fix64 Dot(Fix64Vec2 a, Fix64Vec2 b)
{
return(a.x * b.x + a.y * b.y);
}
//Distance between two points
public static Fix64 Distance(Fix64Vec2 a, Fix64Vec2 b)
{
return((a - b).Length());
}