void PenetratingResponse(CRigidBody body1, CRigidBody body2, float RelVel, Vector3 Normal)
{
var CoefResti = (body1.mRestitution + body2.mRestitution) / 2;
//set numerator
var Numer = -(1 + CoefResti) * RelVel;
float Denom;
if (body1.mMass == 0)
{
Denom = 1 / body2.mMass;
}
else if (body2.mMass == 0)
{
Denom = 1 / body1.mMass;
}
else
{
Denom = 1 / body1.mMass + 1 / body2.mMass;
}
var Impulse = Numer / Denom;
body1.ApplyImpulse(-Normal * Impulse);
body2.ApplyImpulse(Normal * Impulse);
// friction
/*var RV = body2.mVelocity - body1.mVelocity;
* var tangent = RV - Vector3.Dot (RV, Normal) * Normal;
* tangent.Normalize ();
* float mag = -Vector3.Dot (RV,tangent) / (1/body1.mMass + 1/body2.mMass);
*
* float staticcoef = Mathf.Sqrt ((body1.mStaticFriction * body1.mStaticFriction) + (body2.mStaticFriction * body2.mStaticFriction));
* if (Mathf.Abs (mag) < Impulse * staticcoef)
* {
* body1.ApplyForce( mag * tangent);
* body2.ApplyForce(mag* -tangent);
* }
* else
* {
* float dynamiccoef = Mathf.Sqrt ((body1.mDynamicFriction * body1.mDynamicFriction) + (body2.mDynamicFriction * body2.mDynamicFriction));
* body1.ApplyForce( -Impulse * tangent * dynamiccoef);
* body2.ApplyForce(Impulse * -tangent * dynamiccoef);
* }*/
}
void PenetratingResponse(CRigidBody body1, CRigidBody body2,float RelVel, Vector3 Normal)
{
var CoefResti = (body1.mRestitution+body2.mRestitution)/2;
//set numerator
var Numer = -(1+CoefResti)*RelVel;
float Denom;
if(body1.mMass == 0)
Denom = 1/body2.mMass;
else if(body2.mMass == 0)
Denom = 1/body1.mMass;
else
Denom = 1/body1.mMass + 1/body2.mMass;
var Impulse = Numer / Denom;
body1.ApplyImpulse (-Normal*Impulse);
body2.ApplyImpulse (Normal*Impulse);
// friction
/*var RV = body2.mVelocity - body1.mVelocity;
var tangent = RV - Vector3.Dot (RV, Normal) * Normal;
tangent.Normalize ();
float mag = -Vector3.Dot (RV,tangent) / (1/body1.mMass + 1/body2.mMass);
float staticcoef = Mathf.Sqrt ((body1.mStaticFriction * body1.mStaticFriction) + (body2.mStaticFriction * body2.mStaticFriction));
if (Mathf.Abs (mag) < Impulse * staticcoef)
{
body1.ApplyForce( mag * tangent);
body2.ApplyForce(mag* -tangent);
}
else
{
float dynamiccoef = Mathf.Sqrt ((body1.mDynamicFriction * body1.mDynamicFriction) + (body2.mDynamicFriction * body2.mDynamicFriction));
body1.ApplyForce( -Impulse * tangent * dynamiccoef);
body2.ApplyForce(Impulse * -tangent * dynamiccoef);
}*/
}
