/// <summary>
/// Get the velocity of this point on the polygon. A sum of the translational and tangential velocities at the point.
/// </summary>
/// <param name="pointOnPolygon">The point of the local velocity.</param>
/// <returns>Returns the velocity at this point.</returns>
public Vector2 GetLocalVelocity(Vector2 pointOnPolygon)
{
Vector2 radiusVector = pointOnPolygon - CollisionPolygon.CenterPoint;
Vector2 tangentialVelocity = IntersectionEvent.CrossProduct(_angularVelocity, radiusVector);
return(tangentialVelocity + _translationalVelocity);
}
/// <summary>
/// Applies a force at the given application point on the polygon. Will calculate torque.
/// </summary>
/// <param name="forceVector">The value of the force.</param>
/// <param name="applicationPoint">The point on the polygon at which to apply the force.</param>
public void ApplyForce(Vector2 forceVector, Vector2 applicationPoint)
{
AddTranslationalVelocity(forceVector * IntersectionEvent.GetLimitedRecip(Mass), isMomentum: false);
Vector2 radiusVector = applicationPoint - CollisionPolygon.CenterPoint;
radiusVector.Normalize();
AddAngularVelocity(IntersectionEvent.GetLimitedRecip(Inertia) * IntersectionEvent.CrossProduct(radiusVector, forceVector), isMomentum: false);
}
