public BankStepInfo ComputeStep(IBallInternal ball)
{
BankStepInfo res = new BankStepInfo(double.PositiveInfinity, Coordinates.Zero, Coordinates.Zero);
foreach (var bank in c_Banks)
{
var tmp = ComponentManager.Cache.Get(bank, ball.Position, ball.Velocity, ball.Friction);
if (tmp != null)
{
res = new BankStepInfo(tmp.Step, tmp.Normal, tmp.Tangent);
}
else
{
UpdateStep(ref res, bank, ball);
ComponentManager.Cache.Add(res.Step, res.NormalVersor, res.TangentVersor, bank, ball.Position, ball.Velocity, ball.Friction);
}
}
foreach (var corner in c_BankCorners.Where((c, i) => IsCornerValidForCollision(i)))
{
var tmp = ComponentManager.Cache.Get(corner, ball.Position, ball.Velocity, ball.Friction);
if (tmp != null)
{
res = new BankStepInfo(tmp.Step, tmp.Normal, tmp.Tangent);
}
else
{
UpdateStep(ref res, corner, ball);
ComponentManager.Cache.Add(res.Step, res.NormalVersor, res.TangentVersor, corner, ball.Position, ball.Velocity, ball.Friction);
}
}
return(res);
}
private void SetVelocity(Coordinates newVelocity, bool calcStep)
{
if (newVelocity.Module < m_PhysicsData.FrictionCoefficient)
{
m_Velocity = Coordinates.Zero;
}
else
{
m_DirectionUpdated = !(m_Velocity.Phase % 360.0).ToleranceEqual(newVelocity.Phase % 360.0);
m_Velocity = newVelocity;
}
if (calcStep && m_Velocity.Module > 0)
{
m_BankStep = m_Table.ComputeStep(this);
}
}
private void UpdateStep(ref BankStepInfo info, ICoordinates corner, IBallInternal ball)
{
double distance = double.PositiveInfinity;
int N = -1;
while (distance > ball.Radius)
{
N++;
double newDistance = GeometryUtils.Distance(ball.ForeseenPosition(N), corner);
if (newDistance >= distance)
{
return;
}
else
{
distance = newDistance;
}
}
N--;
var p = ball.ForeseenPosition(N);
var v = ball.ForeseenVelocity(N);
double a = v.X * (corner.X - p.X) + v.Y * (corner.Y - p.Y);
double c = Math.Pow(v.X, 2) + Math.Pow(v.Y, 2);
double b = Math.Sqrt(Math.Pow(a, 2) - c * (Math.Pow(corner.X - p.X, 2) + Math.Pow(corner.Y - p.Y, 2) - Math.Pow(ball.Radius, 2)));
double t1 = (a + b) / c;
double t2 = (a - b) / c;
double t = (t1.Between(0, 1) ? (t2.Between(0, 1) ? Math.Min(t1, t2) : t1) : (t2.Between(0, 1) ? t2 : double.PositiveInfinity));
var ballCenter = Coordinates.Add(p, t * v);
var contactPoint = Coordinates.Add(ballCenter, Coordinates.Sub(corner, ballCenter));
if (!CheckCenterPoint(ballCenter, ball.Radius) || !CheckContactPoint(contactPoint))
{
return;
}
double step = N + t;
if (!step.ToleranceEqual(0) && step.ToleranceLessEqual(info.Step))
{
if (step < info.Step)
{
var normal = Coordinates.Normalize(Coordinates.Sub(p, corner));
var tangent = new Coordinates(module: 1, phase: normal.Phase + 90);
info = new BankStepInfo(step, normal, tangent);
}
}
}
private void UpdateStep(ref BankStepInfo info, Line2 bank, IBallInternal ball)
{
double distance = double.PositiveInfinity;
int N = -1;
while (distance > ball.Radius)
{
N++;
double newDistance = GeometryUtils.Distance(ball.ForeseenPosition(N), bank);
if (newDistance >= distance)
{
return;
}
else
{
distance = newDistance;
}
}
N--;
var p = ball.ForeseenPosition(N);
var v = ball.ForeseenVelocity(N);
double a = bank.A * p.X + bank.B * p.Y + bank.C;
double b = ball.Radius * Math.Sqrt(Math.Pow(bank.A, 2) + Math.Pow(bank.B, 2));
double c = bank.A * v.X + bank.B * v.Y;
double t1 = (-a + b) / c;
double t2 = (-a - b) / c;
double t = (t1.Between(0, 1) ? (t2.Between(0, 1) ? Math.Min(t1, t2) : t1) : (t2.Between(0, 1) ? t2 : double.PositiveInfinity));
var ballCenter = Coordinates.Add(p, t * v);
var contactPoint = Coordinates.Add(ballCenter, -ball.Radius * bank.NormalVersor);
if (!CheckCenterPoint(ballCenter, ball.Radius) || !CheckContactPoint(contactPoint))
{
return;
}
double step = N + t;
if (!step.ToleranceEqual(0) && step.ToleranceLessEqual(info.Step))
{
if (step < info.Step)
{
info = new BankStepInfo(step, bank.NormalVersor, bank.Versor);
}
}
}
