/// <summary>
/// Aplica la fuerza del amortiguador al objeto especificado
/// </summary>
/// <param name="obj">Objeto</param>
/// <param name="duration">Duración</param>
public override void UpdateForce(ref IPhysicObject obj, float duration)
{
// Obtener el cuerpo del objeto
CollisionPrimitive primitive = obj.Primitive;
if (primitive != null)
{
// Calculate the two ends in world space
Vector3 lws = primitive.GetPointInWorldSpace(m_ConnectionPoint);
Vector3 ows = m_Other.GetPointInWorldSpace(m_OtherConnectionPoint);
// Calculate the vector of the spring
Vector3 force = lws - ows;
// Calculate the magnitude of the force
float magnitude = force.Length();
magnitude = Math.Abs(magnitude - m_RestLength);
magnitude *= m_SpringConstant;
// Calculate the final force and apply it
force.Normalize();
force *= -magnitude;
primitive.AddForceAtPoint(force, lws);
}
}
/// <summary>
/// Genera los contactos requeridos para restaurar la unión si ha sido violada
/// </summary>
/// <param name="contactData">Información de contactos</param>
/// <param name="limit">Límite de contactos a generar</param>
/// <returns>Devuelve el número de contactos generados</returns>
/// <remarks>Tan solo generará un contacto o ninguno</remarks>
public override int AddContact(ref CollisionData contactData, int limit)
{
if (contactData.HasFreeContacts())
{
CollisionPrimitive objectOne = null;
if (this.m_BodyOne != null)
{
objectOne = this.m_BodyOne.Primitive;
}
CollisionPrimitive objectTwo = null;
if (this.m_BodyTwo != null)
{
objectTwo = this.m_BodyTwo.Primitive;
}
Vector3 positionOne = this.m_RelativePointOne;
Vector3 positionOneWorld = this.m_RelativePointOne;
if (objectOne != null)
{
positionOne = objectOne.Position;
positionOneWorld = objectOne.GetPointInWorldSpace(this.m_RelativePointOne);
}
Vector3 positionTwo = this.m_RelativePointTwo;
Vector3 positionTwoWorld = this.m_RelativePointTwo;
if (objectTwo != null)
{
positionTwo = objectTwo.Position;
positionTwoWorld = objectTwo.GetPointInWorldSpace(this.m_RelativePointTwo);
}
float currentLen = Vector3.Distance(positionOneWorld, positionTwoWorld);
if (Math.Abs(currentLen) > this.m_Length)
{
Contact contact = contactData.CurrentContact;
contact.Bodies[0] = objectOne;
contact.Bodies[1] = objectTwo;
contact.ContactNormal = Vector3.Normalize(positionTwoWorld - positionOneWorld);
contact.ContactPoint = (positionOneWorld + positionTwoWorld) * 0.5f;
contact.Penetration = currentLen - this.m_Length;
contact.Friction = 1.0f;
contact.Restitution = 0;
contactData.AddContact();
return(1);
}
}
return(0);
}
/// <summary>
/// Añade los contactos necesarios para mantener unidos mediante la barra a los cuerpos
/// </summary>
/// <param name="contactData">Datos de colisión</param>
/// <param name="limit">Límite de contactos a añadir</param>
/// <returns>Devuelve el número de contacos añadidos</returns>
/// <remarks>Sólo añade un contacto o ninguno</remarks>
public override int AddContact(ref CollisionData contactData, int limit)
{
if (contactData.HasFreeContacts())
{
CollisionPrimitive objectOne = null;
if (this.m_BodyOne != null)
{
objectOne = this.m_BodyOne.Primitive;
}
CollisionPrimitive objectTwo = null;
if (this.m_BodyTwo != null)
{
objectTwo = this.m_BodyTwo.Primitive;
}
// Encontrar la longitud actual
Vector3 positionOne = this.m_RelativePointOne;
Vector3 positionOneWorld = this.m_RelativePointOne;
if (objectOne != null)
{
positionOne = objectOne.Position;
positionOneWorld = objectOne.GetPointInWorldSpace(this.m_RelativePointOne);
}
Vector3 positionTwo = this.m_RelativePointTwo;
Vector3 positionTwoWorld = this.m_RelativePointTwo;
if (objectTwo != null)
{
positionTwo = objectTwo.Position;
positionTwoWorld = objectTwo.GetPointInWorldSpace(this.m_RelativePointTwo);
}
float currentLen = Vector3.Distance(positionOneWorld, positionTwoWorld);
// Comprobar si estamos en extensión correcta
if (currentLen != m_Length)
{
// Rellenar el contacto
Contact contact = contactData.CurrentContact;
contact.Bodies[0] = objectOne;
contact.Bodies[1] = objectTwo;
contact.ContactPoint = (positionOneWorld + positionTwoWorld) * 0.5f;
// Calcular la normal
Vector3 normal = Vector3.Normalize(positionTwo - positionOne);
// La normal de contacto depende de si hay que extender o contraer para conservar la longitud
if (currentLen > m_Length)
{
contact.ContactNormal = normal;
contact.Penetration = currentLen - m_Length;
}
else
{
contact.ContactNormal = Vector3.Negate(normal);
contact.Penetration = this.m_Length - currentLen;
}
// Siempre restitución 0
contact.Restitution = 0f;
contactData.AddContact();
return(1);
}
}
return(0);
}