public bool CollidesWithCollider(ICollider collider, out ICollider colliderB, int layer)
{
if (!collider.Active)
{
colliderB = null;
return(false);
}
foreach (var otherCollider in _collidersInArea)
{
if (otherCollider.Layer == layer)
{
if (collider != otherCollider)
{
if (otherCollider.Active)
{
if (collider.Intersects(otherCollider))
{
colliderB = otherCollider;
return(true);
}
}
}
}
}
colliderB = null;
return(false);
}
public void CheckCollision(ICollider collider)
{
foreach (var otherCollider in _collidersInArea)
{
if (collider != otherCollider)
{
if (collider.Intersects(otherCollider))
{
float totalInverseMass = collider.Particle.InvertedMass + otherCollider.Particle.InvertedMass;;
// Generate Contact Data
// relative velocity
Vector2 relativeVelocity =
otherCollider.Particle.Velocity - collider.Particle.Velocity;
Vector2 direction =
otherCollider.Particle.Position - collider.Particle.Position;
Vector2 normal = new Vector2(-direction.X, -direction.Y);
normal.Normalize();
float velocityAlongNormal = Vector2.Dot(relativeVelocity, normal);
if (velocityAlongNormal > 0)
{
return;
}
float e = Math.Min(collider.Particle.Restitution,
otherCollider.Particle.Restitution);
float j = -(1 + e) * velocityAlongNormal;
j /= totalInverseMass;
// Apply Impulse
Vector2 impulse = j * normal;
if (!float.IsNaN(impulse.X) && !float.IsNaN(impulse.Y))
{
collider.Particle.Velocity -= (collider.Particle.InvertedMass * impulse);
collider.Particle.RevertPosition();
otherCollider.Particle.Velocity += (otherCollider.Particle.InvertedMass * impulse);
otherCollider.Particle.RevertPosition();
}
}
}
}
}
public void ResolveVelocity(ICollider collider)
{
foreach (var otherCollider in _collidersInArea)
{
if (!otherCollider.Active)
{
return;
}
if (collider != otherCollider)
{
if (collider.Intersects(otherCollider))
{
Vector2 direction =
otherCollider.Particle.Position - collider.Particle.Position;
Vector2 normal = new Vector2(-direction.X, -direction.Y);
normal.Normalize();
Vector2 seperatingVelocity =
CalculateSeperatingVelocity(collider.Particle, otherCollider.Particle, normal);
if (seperatingVelocity.Length() > 0)
{
return;
}
float e = Math.Min(collider.Particle.Restitution,
otherCollider.Particle.Restitution);
Vector2 newSepVelocity = -seperatingVelocity * e;
Vector2 deltaVelocity = newSepVelocity - seperatingVelocity;
float totalInverseMass = collider.Particle.InvertedMass + otherCollider.Particle.InvertedMass;;
if (totalInverseMass <= 0)
{
return;
}
Vector2 impulse = deltaVelocity / totalInverseMass;
Vector2 impulsePerIMass = normal * impulse;
collider.Particle.Velocity += impulsePerIMass * collider.Particle.InvertedMass;
collider.Particle.Velocity -= impulsePerIMass * collider.Particle.InvertedMass;
}
}
}
}
