private Projection projectOnAxis(ConvexShape shape, Vector2 axis)
{
float min = Vector2Utils.DotProduct(axis, shape.Points[0]);
float max = min;
for (int i = 1; i < shape.Points.Count; i++)
{
float p = Vector2Utils.DotProduct(axis, shape.Points[i]);
if (p < min)
{
min = p;
}
else if (p > max)
{
max = p;
}
}
return(new Projection(min, max));
}
public void resolve(GameTime gameTime)
{
if (this.Callback != null)
{
this.Callback(Node1, Node2);
}
//System.Console.WriteLine (_penetration);
/*
* if(entity1Collision->trigger && entity2Collision->trigger)
* return;
*
* if(entity2Collision->solid && entity1Collision->solid)
* return;
*/
// TODO add triggers, check if both nodes are triggers, if not, do code here
Vector2 delta = Node1.Position - Node2.Position;
if (Vector2Utils.DotProduct(_normal, delta) > 0)
{
_normal *= -1.0f;
}
if (!Node1.Immovable && Node2.Immovable)
{
Node1.Position += _normal * (Penetration);
}
if (!Node2.Immovable && Node1.Immovable)
{
Node2.Position += _normal * (Penetration);
}
if (!Node1.Immovable && !Node2.Immovable)
{
Node1.Position -= _normal * (Penetration / 2);
Node2.Position += _normal * (Penetration / 2);
}
float x1 = Vector2Utils.DotProduct(_normal, Node1.Velocity);
Vector2 v1x = _normal * x1;
Vector2 v1y = Node1.Velocity - v1x;
float x2 = Vector2Utils.DotProduct(_normal, Node2.Velocity);
Vector2 v2x = _normal * x2;
Vector2 v2y = Node2.Velocity - v2x;
// 1 is mass
float node1mass = 1;
float node2mass = 1;
float massFormula1 = (node1mass - node2mass) / (node1mass + node2mass);
float massFormula2 = (node2mass - node1mass) / (node2mass + node1mass);
if (!Node1.Immovable)
{
Node1.Velocity = v1x * massFormula1 + v2x * massFormula2 + v1y;
}
if (!Node2.Immovable)
{
Node2.Velocity = v1x * massFormula2 + v2x * massFormula1 + v2y;
}
}