//-----------------------------------Impulse Calculation------------------------------------
public static ImpulseResult CalculateImpulse(PSI_RigidBody rb1, PSI_RigidBody rb2, Vector3 minTranslation)
{
ImpulseResult impulseResult;
impulseResult.Impulse1 = Vector3.zero;
impulseResult.Impulse2 = Vector3.zero;
var impactVelocity = rb1.Velocity - rb2.Velocity;
var inverseMass1 = 1.0f / rb1.pMass;
var inverseMass2 = 1.0f / rb2.pMass;
var vn = Vector3.Dot(impactVelocity, minTranslation.normalized);
if (vn > 0.0f)
{
return(impulseResult);
}
var finalCoeffOfRest = rb1.pCoeffOfRest * rb2.pCoeffOfRest;
var i = (-(1.0f + finalCoeffOfRest) * vn) / (inverseMass1 + inverseMass2);
var impulse = minTranslation.normalized * i;
impulseResult.Impulse1 = impulse * inverseMass1;
impulseResult.Impulse2 = -impulse * inverseMass2;
return(impulseResult);
}
public static Vector3 CalculateImpulseAgainstStaticCollider(PSI_RigidBody rb, Vector3 minTranslation)
{
var impactVelocity = rb.Velocity;
var inverseMass = 1.0f / rb.pMass;
var vn = Vector3.Dot(impactVelocity, minTranslation.normalized);
if (vn > 0.0f)
{
return(Vector3.zero);
}
var i = (-(1.0f + rb.pCoeffOfRest) * vn) / inverseMass;
var impulse = minTranslation.normalized * i;
return(impulse * inverseMass);
}
