/// <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>
/// 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.HasMoreContacts())
{
// Encontrar la longitud actual
Vector3 positionOneWorld = m_BodyOne.GetPointInWorldSpace(m_PositionOne);
Vector3 positionTwoWorld = m_BodyTwo.GetPointInWorldSpace(m_PositionTwo);
float currentLen = Vector3.Distance(positionOneWorld, positionTwoWorld);
// Comprobar si estamos en extensión correcta
if (currentLen == m_Length)
{
return(0);
}
// Rellenar el contacto
Contact contact = contactData.CurrentContact;
contact.Bodies[0] = m_BodyOne;
contact.Bodies[1] = m_BodyTwo;
contact.ContactPoint = (positionOneWorld + positionTwoWorld) * 0.5f;
// Calcular la normal
Vector3 normal = Vector3.Normalize(m_BodyTwo.Position - m_BodyOne.Position);
// 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 = m_Length - currentLen;
}
// Siempre restitución 0
contact.Restitution = 0f;
contactData.AddContact();
return(1);
}
return(0);
}
/// <summary>
/// Aplica la fuerza del amortiguador al cuerpo especificado
/// </summary>
/// <param name="body">Cuerpo</param>
/// <param name="duration">Duración</param>
public override void UpdateForce(ref RigidBody body, float duration)
{
// Calculate the two ends in world space
Vector3 lws = body.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;
body.AddForceAtPoint(force, lws);
}
