public override void Update(FP dt)
{
foreach (Body body in _bodies)
{
if (!IsActiveOn(body))
{
continue;
}
if (LimitLinearVelocity)
{
//Translation
// Check for large velocities.
FP translationX = dt * body._linearVelocity.x;
FP translationY = dt * body._linearVelocity.y;
FP result = translationX * translationX + translationY * translationY;
if (result > dt * _maxLinearSqared)
{
FP sq = FP.Sqrt(result);
FP ratio = _maxLinearVelocity / sq;
body._linearVelocity.x *= ratio;
body._linearVelocity.y *= ratio;
}
}
if (LimitAngularVelocity)
{
//Rotation
FP rotation = dt * body._angularVelocity;
if (rotation * rotation > _maxAngularSqared)
{
FP ratio = _maxAngularVelocity / FP.Abs(rotation);
body._angularVelocity *= ratio;
}
}
}
}
/// <summary>
/// Friction mixing law. Feel free to customize this.
/// </summary>
/// <param name="friction1">The friction1.</param>
/// <param name="friction2">The friction2.</param>
/// <returns></returns>
public static FP MixFriction(FP friction1, FP friction2)
{
return(FP.Sqrt(friction1 * friction2));
}