public void Transfer(float radians, Gear target)
{
var ratio = this.NumberOfTeeth / (float)target.NumberOfTeeth;
var targetRadians = radians * ratio;
target.Spin(targetRadians * target.Direction);
// Solve colisions due to small inaccuracies
// 1. Find tooth closest to target gear
var targetPosition2D = new Vector2(target.Position.X, target.Position.Z);
var myClosestTooth = GetToothClosestToPoint(targetPosition2D);
// 2. Find tooth from target gear to us
var myClosestToothCom = myClosestTooth.CenterOfMassTransformed();
var targetClosestTooth = target.GetToothClosestToPoint(myClosestToothCom);
// 3. Check if they overlap
if (Direction == 1)
{
if (LineMath.PenetrationOfAIntoB(myClosestTooth.CounterClockwiseLine.OutlineTransformed, targetClosestTooth.ClockwiseLine.OutlineTransformed, out var point))
{
var adjustment = (MathHelper.TwoPi / target.NumberOfTeeth) / 300.0f;
target.Spin(adjustment * target.Direction);
}
else if (LineMath.PenetrationOfAIntoB(myClosestTooth.ClockwiseLine.OutlineTransformed, targetClosestTooth.CounterClockwiseLine.OutlineTransformed, out var point2))
{
var adjustment = -(MathHelper.TwoPi / target.NumberOfTeeth) / 300.0f;
target.Spin(adjustment * target.Direction);
}
}
// TODO: code path for when we rotate in the other direction
}
public void Update(GameTime gameTime, KeyboardState keyboard)
{
if (keyboard.IsKeyDown(Keys.Space))
{
LineList[0].Spin(0.75);
//LineList[1].Spin(-0.75);
}
else
{
//LineList[0].Spin(0);
//LineList[1].Spin(0);
}
for (var i = 0; i < LineList.Count; i++)
{
LineList[i].Update(gameTime);
}
var shortest = LineMath.ShortestDistance(LineList[0].OutlineTransformed[0], LineList[0].OutlineTransformed[1], LineList[1].OutlineTransformed[0]);
var shortestLine = LineMath.ShortestDistance(LineList[0].OutlineTransformed.ToArray(), LineList[1].OutlineTransformed.ToArray());
Indicators.Clear();
//Indicators.Add(new Shape(Device, Color.Green, PointToCross(LineList[1].OutlineTransformed[0], 0.2f), false));
//Indicators.Add(new Shape(Device, Color.Pink, PointToCross(LineList[0].OutlineTransformed[0], 0.2f), false));
//Indicators.Add(new Shape(Device, Color.Purple, PointToCross(LineList[0].OutlineTransformed[1], 0.2f), false));
//Indicators.Add(new Shape(Device, Color.Orange, PointToCross(shortest, 0.4f), false));
//Indicators.Add(new Shape(Device, Color.Yellow, PointToCross(shortestLine[0], 0.04f), false));
//Indicators.Add(new Shape(Device, Color.Yellow, PointToCross(shortestLine[1], 0.04f), false));
if (LineMath.Intersection(LineList[0].OutlineTransformed.ToArray(), LineList[1].OutlineTransformed.ToArray(), out var intersectionPoint))
{
Indicators.Add(new Shape(Device, Color.Yellow, PointToCross(intersectionPoint, 0.1f), false));
// Proportional increase in angular velocity so that things get unstuck
var d = LineMath.PenetrationOfAIntoB(LineList[0].OutlineTransformed.ToArray(), intersectionPoint);
var dRatio = d / LineList[0].Length;
LineList[1].Spin(-LineList[0].AngularVelocity * (1.0 + dRatio));
Console.WriteLine($"Penetration {d:F4}, L0: {LineList[0].AngularVelocity:F4}, L1: {LineList[1].AngularVelocity:F4}");
// TODO: what if things intersect and the velocity of line 0 is 0, or quickly decreases?
}
}
private double?Gear(Line a, Line b, float amount)
{
// TODO leading on leading should add speed, while trailing on trailing should reduce speed
if (LineMath.Intersection(a.OutlineTransformed.ToArray(), b.OutlineTransformed.ToArray(), out var intersectionPoint))
{
Indicators.Add(new Shape(Device, Color.Yellow, PointToCross(intersectionPoint, 0.1f), false));
// Proportional increase in angular velocity so that things get unstuck
var d = LineMath.PenetrationOfAIntoB(a.OutlineTransformed.ToArray(), intersectionPoint);
var dRatio = d / a.Length;
var spin = -a.AngularVelocity * (1.0 + dRatio);
return(amount);
}
return(null);
}