private void EnableCollisionConstraint(int index, ref ConcatInfo concatInfo, ref RigidbodyDesc rigidbody, int entityId)
{
constraintTypes[index] |= ConstraintType.Collision;
var collisionConstraintInfo = new CollisionConstraintInfo()
{
concatPosition = concatInfo.position + concatInfo.normal * 0.05f,
normal = concatInfo.normal
};
var m1 = rigidbody.mass;
if (m1 > 0)
{
var bounciness = rigidbody.bounciness;
var m0 = masses[index];
var v0 = (predictPositions[index] - positions[index]) / dt;
var v0Normal = math.dot(v0, concatInfo.normal) * concatInfo.normal;
var v1Normal = math.dot(rigidbody.velocity, concatInfo.normal) * concatInfo.normal;
var v0NormalNew = (bounciness + 1) * m1 * v1Normal + v0Normal * (m0 - bounciness * m1);
var v1NormalNew = (bounciness + 1) * m0 * v0Normal + v1Normal * (m1 - bounciness * m0);
v0NormalNew /= (m0 + m1);
v1NormalNew /= (m0 + m1);
rigidBodyForceApplies.AddNoResize(new RigidBodyForceApply()
{
entityId = entityId,
velocity = v1NormalNew - v1Normal
});
collisionConstraintInfo.velocity = (v0 - v0Normal + v0NormalNew);
}
collisionConstraints[index] = collisionConstraintInfo;
}
public void AddBox(BoxDesc box, RigidbodyDesc rigidbodyDesc, int entityId)
{
_boxes.Add(new RigidbodyColliderDesc <BoxDesc>()
{
entityId = entityId,
collider = box,
rigidbody = rigidbodyDesc,
});
}
public void AddCapsule(CapsuleDesc capsule, RigidbodyDesc rigidbodyDesc, int entityId)
{
_capsules.Add(new RigidbodyColliderDesc <CapsuleDesc>()
{
entityId = entityId,
collider = capsule,
rigidbody = rigidbodyDesc,
});
}
public void AddSphere(SphereDesc sphere, RigidbodyDesc rigidbodyDesc, int entityId)
{
_spheres.Add(new RigidbodyColliderDesc <SphereDesc>()
{
entityId = entityId,
collider = sphere,
rigidbody = rigidbodyDesc
});
}
public override void FillColliderDesc(CollidersGroup collidersGroup)
{
RigidbodyDesc rigidbodyDesc = default(RigidbodyDesc);
float mass = 0;
if (_rigidbody && !_rigidbody.isKinematic)
{
mass = _rigidbody.mass;
rigidbodyDesc.mass = _rigidbody.mass;
rigidbodyDesc.velocity = _rigidbody.velocity;
}
collidersGroup.AddCapsule(this.desc, rigidbodyDesc, this.entityId);
}
