/// <summary>
/// updates objA and objB post collision over some time
/// </summary>
/// <param name="collisionA"></param>
/// <param name="collisionB"></param>
/// <param name="timeStep"></param>
public static void ResolveContact(CollisionHandler collisionA, CollisionHandler collisionB, GameTime gameTime)
{
bool collisionVector = collisionA.DetectCollsion(collisionB);
if (collisionVector)
{
float seperatingVelocity = collisionA.getSeperatingVelocity(collisionB);
Vector3 contactNormal = collisionA.getContactNormal(collisionB);
float penetrationDepth = collisionA.getPenDepth(collisionB);
collisionA.updatePhysics(gameTime, contactNormal, -seperatingVelocity,
penetrationDepth, collisionB.parent.mass);
collisionB.updatePhysics(gameTime, -contactNormal, -seperatingVelocity,
penetrationDepth, collisionA.parent.mass);
}
}
public override bool DetectCollsion(CollisionHandler that)
{
if (that is SphereCollisionHandler)
{
if (checkSphereCollision((SphereCollisionHandler)that))
{
return(true);
}
else
{
return(false);
}
}
if (that is HalfSpaceCollisionHandler)
{
return(that.DetectCollsion(this));
}
throw new ArgumentException("Spheres are not able to detect collision with this handler");
}