protected override void RunLogic(TimeStep step)
{
Vector2D linear = -viewer.Body.State.Position.Linear;
Vector2D velocity = -viewer.Body.State.Velocity.Linear;
if (linear.X < 0)
{
linear.X = 0;
velocity.X = 0;
}
else if (viewer.ScrollableWidth > 0 && linear.X > viewer.ScrollableWidth)
{
linear.X = viewer.ScrollableWidth;
velocity.X = 0;
}
if (linear.Y < 0)
{
linear.Y = 0;
velocity.Y = 0;
}
else if (viewer.ScrollableHeight > 0 && linear.Y > viewer.ScrollableHeight)
{
linear.Y = viewer.ScrollableHeight;
velocity.Y = 0;
}
viewer.Body.State.Position.Linear = -linear;
viewer.Body.State.Velocity.Linear = -velocity;
}
public CollisionEventArgs(TimeStep step,Body other, object customIntersectionInfo)
: this(step, other)
{
this.customIntersectionInfo = customIntersectionInfo;
}
public CollisionEventArgs(TimeStep step, Body other, IContact contact)
:this(step,other)
{
this.contact = contact;
}
private CollisionEventArgs(TimeStep step, Body other)
{
this.step = step;
this.other = other;
}
public UpdatedEventArgs(TimeStep step) { this.step = step; }
public void UpdatePosition(TimeStep step, ALVector2D extraVelocity)
{
UpdatePosition(step, ref extraVelocity);
}
public void UpdatePosition(TimeStep step, ref ALVector2D extraVelocity)
{
state.Position.Linear.X += (state.Velocity.Linear.X + extraVelocity.Linear.X) * step.Dt;
state.Position.Linear.Y += (state.Velocity.Linear.Y + extraVelocity.Linear.Y) * step.Dt;
state.Position.Angular += (state.Velocity.Angular + extraVelocity.Angular) * step.Dt;
}
public void UpdatePosition(TimeStep step)
{
state.Position.Linear.X += state.Velocity.Linear.X * step.Dt;
state.Position.Linear.Y += state.Velocity.Linear.Y * step.Dt;
state.Position.Angular += state.Velocity.Angular * step.Dt;
}
public CollisionEventArgs(TimeStep step, Body other, object customIntersectionInfo)
: this(step, other)
{
this.customIntersectionInfo = customIntersectionInfo;
}
public CollisionEventArgs(TimeStep step, Body other, IContact contact)
: this(step, other)
{
this.contact = contact;
}
private CollisionEventArgs(TimeStep step, Body other)
{
this.step = step;
this.other = other;
}
void ISequentialImpulsesJoint.PreStep(TimeStep step)
{
Scalar mass1Inv = body.Mass.MassInv;
Scalar inertia1Inv = body.Mass.MomentOfInertiaInv;
// Pre-compute anchors, mass matrix, and bias.
Vector2D.TransformNormal(ref body.Matrices.ToWorld, ref localAnchor1, out r1);
// deltaV = deltaV0 + K * impulse
// invM = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
// = [1/m1+1/m2 0 ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y]
// [ 0 1/m1+1/m2] [-r1.x*r1.y r1.x*r1.x] [-r1.x*r1.y r1.x*r1.x]
Matrix2x2 K;
K.m00 = mass1Inv;
K.m11 = mass1Inv;
K.m00 += inertia1Inv * r1.Y * r1.Y;
K.m01 = -inertia1Inv * r1.X * r1.Y;
K.m10 = -inertia1Inv * r1.X * r1.Y;
K.m11 += inertia1Inv * r1.X * r1.X;
K.m00 += softness;
K.m11 += softness;
Matrix2x2.Invert(ref K, out M);
Vector2D dp;
Vector2D.Add(ref body.State.Position.Linear, ref r1, out dp);
Vector2D.Subtract(ref anchor, ref dp, out dp);
if (!Scalar.IsPositiveInfinity(distanceTolerance) &&
dp.MagnitudeSq > distanceTolerance * distanceTolerance)
{
Lifetime.IsExpired = true;
}
if (solver.PositionCorrection)
{
//bias = -0.1f * dtInv * dp;
Scalar flt = -biasFactor * step.DtInv;
Vector2D.Multiply(ref dp, ref flt, out bias);
}
else
{
bias = Vector2D.Zero;
}
if (solver.WarmStarting)
{
PhysicsHelper.SubtractImpulse(
ref body.State.Velocity, ref accumulatedImpulse,
ref r1, ref mass1Inv, ref inertia1Inv);
}
else
{
accumulatedImpulse = Vector2D.Zero;
}
body.ApplyProxy();
}