private void PositionalCorrection(PhysicsObject A, PhysicsObject B, float pDepth, Vector2 normal)
{
Vector2 correction = Vector2.Multiply(normal, (Math.Max(pDepth - posCorrSlop, 0.0f) / (A.InvMass + B.InvMass)) * posCorrPercent);
A.Position -= A.InvMass * correction;
B.Position += B.InvMass * correction;
}
private void ResolveCollision(PhysicsObject a, PhysicsObject b, Vector2 normal, float pDepth)
{
Vector2 rv = b.Velocity - a.Velocity;
float velocityAlongNormal = Vector2.Dot(rv, normal);
if (velocityAlongNormal > 0)
return;
float e = Math.Min(a.Restitution, b.Restitution);
float j = -(1 + e) * velocityAlongNormal;
j /= (1 / a.Mass + 1 / b.Mass);
Vector2 impulse = j * normal;
a.Velocity -= a.InvMass * impulse;
b.Velocity += b.InvMass * impulse;
}
public Manifold(PhysicsObject a, PhysicsObject b, float penetration, Vector2 normal)
{
A = a;
B = b;
Penetration = penetration;
Normal = normal;
}