Ejemplo n.º 1
0
            private void CorrectLinearMotion(Rigidbody rigidbodyA, Rigidbody rigidbodyB,
                                             PhysicsMaterial.Result surfaceA, PhysicsMaterial.Result surfaceB, Vector3 normal)
            {
                // Cache the required movement data of each object.
                var massA     = rigidbodyA.mass;
                var massB     = rigidbodyB.mass;
                var momentumA = rigidbodyA.momentum;
                var momentumB = rigidbodyB.momentum;
                var velocityA = rigidbodyA.velocity;
                var velocityB = rigidbodyB.velocity;

                // Conservation of momentum formula:
                // V1 = e(I1 + 2 * I2 - m2 * u1) / (m1 + m2).
                // V2 = e(u1 - u2) + V1.
                var v1 = surfaceA.restitution * (momentumA + 2f * momentumB - massB * velocityA) / (massA + massB);
                var v2 = surfaceB.restitution * (velocityA - velocityB) + v1;

                // We need the direction that both objects were moving to reflect the velocity correctly.
                var v1Direction = Vector3.Reflect(velocityA, -normal).normalized;
                var v2Direction = Vector3.Reflect(velocityB, normal).normalized;

                // Finally set the velocity of each object.
                rigidbodyA.velocity = v1Direction * v1.magnitude;
                rigidbodyB.velocity = v2Direction * v2.magnitude;
            }
Ejemplo n.º 2
0
            private void CorrectAngularMotion(Rigidbody rigidbodyA, Rigidbody rigidbodyB,
                                              PhysicsMaterial.Result surfaceA, PhysicsMaterial.Result surfaceB, Vector3 normal)
            {
                // Now do the same for rotation.
                var inertiaA  = rigidbodyA.inertiaTensor;
                var inertiaB  = rigidbodyB.inertiaTensor;
                var momentumA = rigidbodyA.angularMomentum;
                var momentumB = rigidbodyB.angularMomentum;
                var velocityA = rigidbodyA.angularVelocity;
                var velocityB = rigidbodyB.angularVelocity;

                // Conservation of momentum formula:
                // V1 = e(I1 + 2 * I2 - m2 * u1) / (m1 + m2).
                // V2 = e(u1 - u2) + V1.
                var v1 = Maths.Divide(surfaceA.restitution * (momentumA + 2f * momentumB - Maths.Multiply(inertiaB, velocityA)), inertiaA + inertiaB);
                var v2 = surfaceB.restitution * (velocityA - velocityB) + v1;

                // We need the direction that both objects were moving to reflect the velocity correctly.
                var v1Direction = Vector3.Reflect(-momentumA, normal).normalized;
                var v2Direction = Vector3.Reflect(-momentumB, normal).normalized;

                // Finally set the velocity of each object.
                rigidbodyA.angularVelocity = v1Direction * v1.magnitude;
                rigidbodyB.angularVelocity = v2Direction * v2.magnitude;
            }
Ejemplo n.º 3
0
            private void ImpulseResponse(Collider a, Collider b,
                                         Vector3 direction, float intersection, Vector3 contactPoint, bool initialResponse)
            {
                // Cache the rigidbodies since we'll use them a lot.
                var rigidbodyA = a.attachedRigidbody;
                var rigidbodyB = b.attachedRigidbody;

                // Determine the surface properties that should be applied to both objects.
                var surfaceA = new PhysicsMaterial.Result();
                var surfaceB = new PhysicsMaterial.Result();

                PhysicsMaterial.Combine(a.material, b.material, out surfaceA, out surfaceB);

                // Correct the linear and rotational motion of the object.
                if (initialResponse)
                {
                    // Adjust the position.
                    //DynamicPositionCorrection (a.attachedRigidbody, b.attachedRigidbody, direction, intersection);

                    CorrectLinearMotion(a.attachedRigidbody, b.attachedRigidbody, surfaceA, surfaceB, direction);
                    CorrectAngularMotion(a.attachedRigidbody, b.attachedRigidbody, surfaceA, surfaceB, direction);
                }

                // Apply friction.
                ApplyFriction(rigidbodyA, surfaceA.staticFriction, surfaceA.kineticFriction, contactPoint);
                ApplyFriction(rigidbodyB, surfaceB.staticFriction, surfaceB.kineticFriction, contactPoint);
            }