/// <summary>
/// Vytvoří těleso s danou geometrií,hmotností a materiálem
/// </summary>
/// <param name="ObjectModel">Model tělesa</param>
/// <param name="ObjectMass">Hmotnost tělesa</param>
/// <param name="ObjectMaterial">Materiál tělesa</param>
public SimObject(Geometry ObjectModel, double ObjectMass, Material ObjectMaterial)
{
if (!ObjectModel.GetType().Attributes.HasFlag(System.Reflection.TypeAttributes.Serializable))
throw new ArgumentException();
model = ObjectModel;
Mass = ObjectMass;
ObjMaterial = ObjectMaterial;
totalForce = Vector.Zero;
totalTorque = Vector.Zero;
LinearVelocity = Vector.Zero;
AngularVelocity = Vector.Zero;
Enabled = true;
NoTranslations = false;
Static = false;
double denom = 0,num = 0,factor = 0;
for (int i = 0, j = 0; i < Model.ObjectGeometry.Length; i++)
{
j = (i + 1) % Model.ObjectGeometry.Length;
factor = Vector.Pow((Vector)Model.ObjectGeometry[j], 2) + Vector.Dot((Vector)Model.ObjectGeometry[j], (Vector)Model.ObjectGeometry[i]) + Vector.Pow((Vector)Model.ObjectGeometry[i], 2);
num += Vector.Cross(((Vector)Model.ObjectGeometry[j]), ((Vector)Model.ObjectGeometry[i])).Magnitude * factor;
denom += Vector.Cross(((Vector)Model.ObjectGeometry[j]), ((Vector)Model.ObjectGeometry[i])).Magnitude;
}
J = num / denom;
}
/// <summary>
/// Zjistí, zda je jedno těleso od druhého odděleno danou osou
/// </summary>
/// <param name="Axis">Osa oddělení</param>
/// <param name="ObjectA">Objekt A</param>
/// <param name="ObjectB">Objekt B</param>
/// <param name="MTD">Minimální vektor oddělení</param>
/// <returns>True pokud je odděleno, False pokud nikoliv</returns>
public static bool SeparatedByAxis(Vector Axis, Geometry ObjectA, Geometry ObjectB,ref Vector MTD)
{
double minA = 0, maxA = 0, minB = 0, maxB = 0;
ObjectA.ProjectToAxis(Axis, ref minA, ref maxA);
ObjectB.ProjectToAxis(Axis, ref minB, ref maxB);
double d0 = (maxB - minA);
double d1 = (minB - maxA);
if(d0 < 0.0f || d1 > 0.0f) return true;
double overlap = (d0 < -d1) ? d0 : d1;
Vector Sep = Axis * (overlap / Vector.Pow(Axis, 2));
if (MTD == null || MTD.IsNull || Sep.Magnitude < MTD.Magnitude)
MTD = Sep;
return false;
}
