private void CheckParticleEdge_F2D(
ref List <Particle.CCDDebugInfo> ccds,
Particle particle,
Particle origin, Particle neighbor,
ref List <CollisionSubframeBuffer> collisionBuffer, double timeCoefficientPrediction,
CollisionSubframeBuffer subframeToAdd
)
{
// swept collision for body
LineSegment edge = new LineSegment(origin.x, neighbor.x);
LineSegment edgeNext = new LineSegment(edge.start + origin.v * timeCoefficientPrediction, edge.end + neighbor.v * timeCoefficientPrediction);
EdgePointCCDSolver.SolverInput solverInput = new EdgePointCCDSolver.SolverInput(edge, edgeNext, particle.x, particle.x);
double?ccdCollisionTime = EdgePointCCDSolver.Solve(solverInput);
if (ccdCollisionTime != null)
{
Particle.CCDDebugInfo ccd = GenerateDebugInfo(solverInput, ccdCollisionTime.Value);
CollisionSubframeBuffer contact =
GenerateContact_ImpulseConservation_F2D(
particle, origin, neighbor, ccd, ccdCollisionTime.Value, timeCoefficientPrediction,
subframeToAdd
);
if (contact != null)
{
collisionBuffer.Add(contact);
}
ccds.Add(ccd);
if (LsmBody.pauseOnBodyBodyCollision)
{
Testbed.Paused = true;
}
}
}
private void CheckParticleEdge_F2D(
ref List<Particle.CCDDebugInfo> ccds,
Particle particle,
Particle origin, Particle neighbor,
ref List<CollisionSubframeBuffer> collisionBuffer, double timeCoefficientPrediction,
CollisionSubframeBuffer subframeToAdd
)
{
// swept collision for body
LineSegment edge = new LineSegment(origin.x, neighbor.x);
LineSegment edgeNext = new LineSegment(edge.start + origin.v * timeCoefficientPrediction, edge.end + neighbor.v * timeCoefficientPrediction);
EdgePointCCDSolver.SolverInput solverInput = new EdgePointCCDSolver.SolverInput(edge, edgeNext, particle.x, particle.x);
double? ccdCollisionTime = EdgePointCCDSolver.Solve(solverInput);
if (ccdCollisionTime != null)
{
Particle.CCDDebugInfo ccd = GenerateDebugInfo(solverInput, ccdCollisionTime.Value);
CollisionSubframeBuffer contact =
GenerateContact_ImpulseConservation_F2D(
particle, origin, neighbor, ccd, ccdCollisionTime.Value, timeCoefficientPrediction,
subframeToAdd
);
if (contact != null)
{
collisionBuffer.Add(contact);
}
ccds.Add(ccd);
if (LsmBody.pauseOnBodyBodyCollision)
Testbed.Paused = true;
}
}
private void CheckParticleEdge_D2D(
ref List<Particle.CCDDebugInfo> ccds,
Particle particle,
Particle origin, Particle neighbor,
ref List<CollisionSubframeBuffer> collisionBuffer, double timeCoefficientPrediction,
CollisionSubframeBuffer subframeToAdd
)
{
// TODO: avoid code coping (see below)
Vector2 pos = particle.x;
Vector2 velocity = particle.v;
Vector2 posNext = pos + velocity * timeCoefficientPrediction;
// swept collision for body
LineSegment edge = new LineSegment(origin.x, neighbor.x);
LineSegment edgeNext = new LineSegment(edge.start + origin.v * timeCoefficientPrediction, edge.end + neighbor.v * timeCoefficientPrediction);
EdgePointCCDSolver.SolverInput solverInput = new EdgePointCCDSolver.SolverInput(edge, edgeNext, pos, posNext);
double? ccdCollisionTime = EdgePointCCDSolver.Solve(solverInput);
if (ccdCollisionTime != null)
{
Particle.CCDDebugInfo ccd = GenerateDebugInfo(solverInput, ccdCollisionTime.Value);
CollisionSubframeBuffer contact = // TODO: use the Rule of conservative impulse to handle this case. Simple reflection rule is not effective here.
GenerateContact_ImpulseConservation(
// GenerateContact_Reflection(
particle, origin, neighbor, ccd, ccdCollisionTime.Value, timeCoefficientPrediction, subframeToAdd
);
if (contact != null)
{
collisionBuffer.Add(contact);
}
ccds.Add(ccd);
if (LsmBody.pauseOnBodyBodyCollision)
Testbed.Paused = true;
}
}
