//how deep the objects intersect
private void ResolvePenetration(CollisionHull3D.CollisionInfo colInfo)
{
if (colInfo.contacts[0].penetration <= 0.0f)
{
return;
}
float totalInverseMass = colInfo.RigidBodyA.invMass + colInfo.RigidBodyB.invMass;
if (totalInverseMass <= 0.0f)
{
return;
}
Vector3 movePerMass = colInfo.contacts[0].normal * (colInfo.contacts[0].penetration / totalInverseMass);
colInfo.RigidBodyA.position -= colInfo.RigidBodyA.invMass * movePerMass;
colInfo.RigidBodyB.position += colInfo.RigidBodyB.invMass * movePerMass;
}
void ResolvePenetration(CollisionHull3D.CollisionInfo collisionInfo)
{
if (collisionInfo.contacts[0].penetration <= 0.0f)
{
return;
}
float totalInverseMass = collisionInfo.RigidBodyA.GetInverseMass() + collisionInfo.RigidBodyB.GetInverseMass();
if (totalInverseMass <= 0.0f)
{
return;
}
Vector3 movePerMass = collisionInfo.contacts[0].normal * (collisionInfo.contacts[0].penetration / totalInverseMass);
//collisionInfo.RigidBodyA.position -= collisionInfo.RigidBodyA.GetInverseMass() * movePerMass;
//collisionInfo.RigidBodyB.position += collisionInfo.RigidBodyB.GetInverseMass() * movePerMass;
Debug.Log(collisionInfo.contacts[0].point);
}
void ResolveVelocity(CollisionHull3D.CollisionInfo collisionInfo)
{
float separatingVelocity = Vector3.Dot(collisionInfo.RelativeVelocity, collisionInfo.contacts[0].normal);
if (separatingVelocity > 0.0f)
{
return;
}
const float velLimit = 1f;
float appliedRestitution = collisionInfo.RelativeVelocity.sqrMagnitude < velLimit * velLimit ? 0.0f : collisionInfo.contacts[0].restitution;
float newSeparatingVelocity = -separatingVelocity * appliedRestitution;
Vector3 accCausedVelocity = collisionInfo.RigidBodyA.acceleration - collisionInfo.RigidBodyB.acceleration;
float accCausedSepVelocity = Vector3.Dot(accCausedVelocity, collisionInfo.contacts[0].normal) * Time.fixedDeltaTime;
if (accCausedSepVelocity < 0)
{
newSeparatingVelocity += collisionInfo.contacts[0].restitution * accCausedSepVelocity;
if (newSeparatingVelocity < 0)
{
newSeparatingVelocity = 0;
}
}
float deltaVelocity = newSeparatingVelocity - separatingVelocity;
float totalInverseMass = collisionInfo.RigidBodyA.GetInverseMass() + collisionInfo.RigidBodyB.GetInverseMass();
if (totalInverseMass <= 0.0f)
{
return;
}
float impulse = deltaVelocity / totalInverseMass;
Vector3 impulsePerMass = collisionInfo.contacts[0].normal * impulse;
collisionInfo.RigidBodyA.velocity -= collisionInfo.RigidBodyA.GetInverseMass() * impulsePerMass;
collisionInfo.RigidBodyB.velocity += collisionInfo.RigidBodyB.GetInverseMass() * impulsePerMass;
}
//how the objects forces act upon each other
void ResolveVelocity(CollisionHull3D.CollisionInfo colInfo)
{
float separatingVelocity = Vector3.Dot(colInfo.RelativeVelocity, colInfo.contacts[0].normal);
if (separatingVelocity > 0.0f)
{
return;
}
float newSepVelocity = -separatingVelocity * colInfo.contacts[0].restitution;
//Resting
Vector3 accCausedVelocity = colInfo.RigidBodyB.acceleration - colInfo.RigidBodyA.acceleration;
float accCausedSepVelocity = Vector3.Dot(accCausedVelocity, colInfo.contacts[0].normal) * Time.fixedDeltaTime;
if (accCausedSepVelocity < 0)
{
newSepVelocity += colInfo.contacts[0].restitution * accCausedSepVelocity;
if (newSepVelocity < 0)
{
newSepVelocity = 0.0f;
}
}
float deltaVelocity = newSepVelocity - separatingVelocity;
float totalInverseMass = colInfo.RigidBodyA.invMass + colInfo.RigidBodyB.invMass;
if (totalInverseMass <= 0.0f)
{
//no fx
return;
}
float impulse = deltaVelocity / totalInverseMass;
Vector3 impulsePerMass = colInfo.contacts[0].normal * impulse;
colInfo.RigidBodyA.velocity -= colInfo.RigidBodyA.invMass * impulsePerMass;
colInfo.RigidBodyB.velocity += colInfo.RigidBodyB.invMass * impulsePerMass;
}
