private void TwoBodyJointConstraint(Func <KinematicsSystem, IConstraintSolver> solver)
{
var a = new PhysicalParticle();
var b = new PhysicalParticle();
var c = new JointConstraint(a, Vector2.UnitX, b, -Vector2.UnitX);
b.Position = 2 * Vector2.UnitX;
b.Velocity.X = 10;
system.AddParticles(a, b);
system.AddConstraints(c);
var constraintSolver = solver(system);
var integrator = new KinematicsIntegrator(system, constraintSolver)
{
MaximumTimeStep = 0.01f,
MaxStepsPerFrame = 500
};
integrator.Integrate(1);
a.Position.X.Should().BeApproximately(5, tolerance);
b.Position.X.Should().BeApproximately(7, tolerance);
a.Velocity.X.Should().BeApproximately(5, tolerance);
b.Velocity.X.Should().BeApproximately(5, tolerance);
}
private void Advance(double dt = TimeStep)
{
CurrentExample.ComputeExternalForces();
kinematics.Integrate(dt);
historyIndex++;
StoreHistory();
}
private void ThreeBodyJointConstraint(Func <KinematicsSystem, IConstraintSolver> solver)
{
var a1 = new PhysicalParticle();
var a2 = new PhysicalParticle();
var a3 = new PhysicalParticle();
var c1 = new JointConstraint(a1, Vector2.UnitX, a2, -Vector2.UnitX);
var c2 = new JointConstraint(a2, Vector2.UnitX, a3, -Vector2.UnitX);
a2.Position = 2 * Vector2.UnitX;
a3.Position = 4 * Vector2.UnitX;
a2.Velocity.X = 15;
c1.Value(new List <PhysicalParticle> {
a1, a2
}).Should().Be(0);
c2.Value(new List <PhysicalParticle> {
a2, a3
}).Should().Be(0);
system.AddParticles(a1, a2, a3);
system.AddConstraints(c1, c2);
var constraintSolver = solver(system);
var integrator = new KinematicsIntegrator(system, constraintSolver)
{
MaximumTimeStep = 0.005f,
MaxStepsPerFrame = 1000
};
integrator.Integrate(1);
a1.Position.X.Should().BeApproximately(5, tolerance);
a2.Position.X.Should().BeApproximately(7, tolerance);
a3.Position.X.Should().BeApproximately(9, tolerance);
a1.Velocity.X.Should().BeApproximately(5, tolerance);
a2.Velocity.X.Should().BeApproximately(5, tolerance);
a3.Velocity.X.Should().BeApproximately(5, tolerance);
}