public ProjectionToSurfaceExpression ProjectToSurface(ASurfaceExpression surface)
{
var surfaceNormal = surface.Normal;
return(new ProjectionToSurfaceExpression()
{
Position = (Position - surface.Position).ProjectToNormalVector(surfaceNormal),
Speed = (Speed - surface.Speed).ProjectToNormalVector(surfaceNormal)
});
}
public void ProcessHit(ASurfaceExpression surface, double horizontalHitCoeff, double verticalHitCoeff)
{
var surfaceNormal = surface.Normal;
var projection = ProjectToSurface(surface);
projection.Position.Vertical = 2 * Constants.BallRadius * surfaceNormal - projection.Position.Vertical;
projection.Speed.Vertical *= -verticalHitCoeff;
var ballPoint = -Constants.BallRadius * surfaceNormal;
var fullPerpendicularSpeed = projection.Speed.Horizontal + Point3DExpression.VectorMult(ballPoint, AngularSpeed);
var force = -horizontalHitCoeff * fullPerpendicularSpeed;
projection.Speed.Horizontal += force;
AngularSpeed += Point3DExpression.VectorMult(force, ballPoint.Normal) / Constants.BallRadius;
RestoreFromSurfaceProjection(surface, projection);
}
public void RestoreFromSurfaceProjection(ASurfaceExpression surface, ProjectionToSurfaceExpression projection)
{
Position = surface.Position + projection.Position.Full;
Speed = surface.Speed + projection.Speed.Full;
}