// Based off of Randy Gaul's ImpulseEngine code
private bool FixClipping(List <Manifold> collisions, float divisions)
{
const float allowance = 1 / 128f;
var percent = MathHelper.Clamp(1f / divisions, 0.01f, 1f);
var done = true;
foreach (var collision in collisions)
{
if (!collision.Hard)
{
continue;
}
var penetration = _physicsManager.CalculatePenetration(collision.A, collision.B);
if (penetration <= allowance)
{
continue;
}
done = false;
var correction = collision.Normal * Math.Abs(penetration) * percent;
if (collision.A.CanMove())
{
collision.A.Owner.Transform.WorldPosition -= correction;
}
if (collision.B.CanMove())
{
collision.B.Owner.Transform.WorldPosition += correction;
}
}
return(done);
}
// Based off of Randy Gaul's ImpulseEngine code
// https://github.com/RandyGaul/ImpulseEngine/blob/5181fee1648acc4a889b9beec8e13cbe7dac9288/Manifold.cpp#L123a
private bool FixClipping(List <Manifold> collisions, float divisions)
{
const float allowance = 1 / 128.0f;
var percent = MathHelper.Clamp(0.4f / divisions, 0.01f, 1f);
var done = true;
foreach (var collision in collisions)
{
if (!collision.Hard)
{
continue;
}
var penetration = _physicsManager.CalculatePenetration(collision.A, collision.B);
if (penetration <= allowance)
{
continue;
}
done = false;
//var correction = collision.Normal * Math.Abs(penetration) * percent;
var correction = collision.Normal * Math.Max(penetration - allowance, 0.0f) / (collision.A.InvMass + collision.B.InvMass) * percent;
if (collision.A.CanMove())
{
collision.A.Owner.Transform.DeferUpdates = true;
_deferredUpdates.Add(collision.A);
collision.A.Owner.Transform.WorldPosition -= correction * collision.A.InvMass;
}
if (collision.B.CanMove())
{
collision.B.Owner.Transform.DeferUpdates = true;
_deferredUpdates.Add(collision.B);
collision.B.Owner.Transform.WorldPosition += correction * collision.B.InvMass;
}
}
return(done);
}
