public void TestResolveContacts()
{
var resolver = new ParticleContactResolver(100);
var p = new List <Particle>
{
new Particle
{
Position = new Vector2D(0, 0),
Velocity = new Vector2D(1, 0),
Mass = 1
},
new Particle
{
Position = new Vector2D(2, 0),
Velocity = new Vector2D(0, 0),
Mass = 1
}
};
var contact = new ParticleContact(p[0], p[1], 1, 1, new Vector2D(-1, 0));
var contactList = new List <ParticleContact>();
resolver.ResolveContacts(contactList, 1 / 60.0);
contactList.Add(contact);
resolver.ResolveContacts(contactList, 1 / 60.0);
Assert.AreEqual(new Vector2D(-1, 0), p[0].Position, "物体0依据速度分量分离");
Assert.AreEqual(new Vector2D(0, 0), p[0].Velocity, "物体0碰撞后速度相反");
Assert.AreEqual(new Vector2D(1, 0), p[1].Velocity, "物体1碰撞后速度相反");
p = new List <Particle>
{
new Particle
{
Position = new Vector2D(0, 0),
Velocity = new Vector2D(1, 0),
Mass = 1
},
new Particle
{
Position = new Vector2D(2, 0),
Velocity = new Vector2D(0, 0),
Mass = 1
}
};
contactList = new List <ParticleContact>
{
new ParticleContact(p[1], p[0], 1, 1, new Vector2D(1, 0))
};
resolver.ResolveContacts(contactList, 1 / 60.0);
Assert.AreEqual(new Vector2D(-1, 0), p[0].Position, "函数满足对称性");
Assert.AreEqual(new Vector2D(0, 0), p[0].Velocity, "函数满足对称性");
Assert.AreEqual(new Vector2D(1, 0), p[1].Velocity, "函数满足对称性");
}
public void TestResovleMultiContacts()
{
var resolver = new ParticleContactResolver(100);
var p = new List <Particle>
{
new Particle
{
Position = new Vector2D(0, 0),
Velocity = new Vector2D(0, 0),
Mass = 1
},
new Particle
{
Position = new Vector2D(2, 0),
Velocity = new Vector2D(0, 0),
Mass = 1
},
new Particle
{
Position = new Vector2D(4, 0),
Velocity = new Vector2D(0, 0),
Mass = 1
}
};
var contactList = new List <ParticleContact>
{
new ParticleContact(p[0], p[1], 1, 1, new Vector2D(-1, 0)),
new ParticleContact(p[2], p[1], 1, 1, new Vector2D(1, 0))
};
resolver.ResolveContacts(contactList, 1 / 60.0);
Assert.AreEqual(new Vector2D(-1, 0), p[0].Position, "物体0向左分离");
Assert.AreEqual(new Vector2D(2, 0), p[1].Position, "物体1位置不变");
Assert.AreEqual(new Vector2D(5, 0), p[2].Position, "物体2向右分离");
}
/// <summary>
/// Processes all the physics for the particle world.
/// </summary>
/// <param name="dt"></param>
public void RunPhysics(double dt)
{
// First apply the forces
ApplyForces(dt);
// Then integrate the objects
Integrate(dt);
// Generate contacts
int usedContacts = GenerateContacts();
// And process them
if (usedContacts > 0)
{
Resolver.ResolveContacts(m_contacts, usedContacts, dt);
}
}
/// <summary>
/// 进行碰撞检测并解决碰撞
/// </summary>
/// <param name="duration"></param>
public void ResolveContacts(double duration)
{
_contactCounter = 0;
// 产生碰撞表
for (int i = 0; i < Settings.ContactIteration; i++)
{
_contactList.Clear();
List <Shape> shapes = CollectAllShapes(_objects, _edges);
// 执行质体碰撞检测器
foreach (var contact in ExcuteParticleCollisionDetector(shapes))
{
AddToContactList(contact);
}
// 执行碰撞发生器
foreach (var contactGenerator in _generators)
{
foreach (var contact in contactGenerator)
{
if (!AddToContactList(contact))
{
goto CONTACT_RESOLVE;
}
}
}
// 当不再产生新的碰撞时退出
if (_contactList.Count == 0)
{
break;
}
CONTACT_RESOLVE:
// 解决质体碰撞
OnContact(new ContactEventArgs(_contactList));
_particleContactResolver.Iterations = _contactList.Count * 2;
_particleContactResolver.ResolveContacts(_contactList, duration);
}
}
private void FixedUpdate()
{
if (!simulating)
{
return;
}
// Integrate particles.
Integrate(Time.fixedDeltaTime);
// Generate contacts.
if (GenerateContacts() > 0)
{
// Go with a dynamic iteration count instead of fixed.
if (calculateIterations)
{
resolver.iterations = contacts.Count * 2;
}
resolver.ResolveContacts(contacts, Time.fixedDeltaTime);
}
}
/// <summary>
/// Processes all the physics for the particle world.
/// </summary>
/// <param name="duration">Secondi</param>
public void RunPhysics(float duration)
{
//Applica tutti i force generator
forceRegistry.Update(duration);
//Integra le forze per aggiornarne la posizione
Integrate(duration);
//Genera i contacts tra le particles
uint usedContacts = GenerateContacts();
//Processa i contacts
//if (calculateIterations) resolver.SetIterations(usedContacts * 2);
if (usedContacts > 0)
{
resolver.ResolveContacts(contacts, usedContacts, duration);
}
// Svuota gli accumularori di forze all'interno delle particelle
//for (int i = 0; i < Particles.Count; i++)
// Particles[i].ClearAccumulator();
}