public void ApplySurfaceImpulse(Vertex3D rotI, Vertex3D impulse)
{
Vel.Add(impulse.Clone().MultiplyScalar(InvMass));
AngularMomentum.Add(rotI);
var angularMomentum = AngularMomentum.Clone();
AngularVelocity.Set(angularMomentum.DivideScalar(Inertia));
}
public CollisionEvent Set(CollisionEvent coll)
{
Ball = coll.Ball;
Obj = coll.Obj;
IsContact = coll.IsContact;
HitTime = coll.HitTime;
HitDistance = coll.HitDistance;
HitNormal.Set(coll.HitNormal);
HitVel.Set(coll.HitVel.X, coll.HitVel.Y);
HitOrgNormalVelocity = coll.HitOrgNormalVelocity;
HitMomentBit = coll.HitMomentBit;
HitFlag = coll.HitFlag;
return(this);
}
private void GetRelativeVelocity(Vertex3D normal, Ball.Ball ball, Vertex3D vRel, Vertex3D rB, Vertex3D rF)
{
rB.Set(normal.Clone().MultiplyScalar(-ball.Data.Radius));
var hitPos = ball.State.Pos.Clone().Add(rB);
var cF = new Vertex3D(
_mover.HitCircleBase.Center.X,
_mover.HitCircleBase.Center.Y,
ball.State.Pos.Z // make sure collision happens in same z plane where ball is
);
rF.Set(hitPos.Clone().Sub(cF)); // displacement relative to flipper center
var vB = ball.Hit.SurfaceVelocity(rB);
var vF = _mover.SurfaceVelocity(rF);
vRel.Set(vB.Clone().Sub(vF));
}
public HitLine3D(Vertex3D v1, Vertex3D v2, ItemType itemType, IItem item) : base(new Vertex2D(), itemType, item)
{
var vLine = v2.Clone().Sub(v1);
vLine.Normalize();
// Axis of rotation to make 3D cylinder a cylinder along the z-axis
var transAxis = new Vertex3D(vLine.Y, -vLine.X, 0);
var l = transAxis.LengthSq();
if (l <= 1e-6)
{
// line already points in z axis?
transAxis.Set(1, 0, 0); // choose arbitrary rotation vector
}
else
{
transAxis.DivideScalar(MathF.Sqrt(l));
}
// Angle to rotate the line into the z-axis
var dot = vLine.Z; //vLine.Dot(&vup);
Matrix.RotationAroundAxis(transAxis, -MathF.Sqrt(1 - dot * dot), dot);
var vTrans1 = v1.Clone().ApplyMatrix2D(Matrix);
var vTrans2 = v2.Clone().ApplyMatrix2D(Matrix);
var vTrans2Z = vTrans2.Z;
// set up HitLineZ parameters
Xy.Set(vTrans1.X, vTrans1.Y);
ZLow = MathF.Min(vTrans1.Z, vTrans2Z);
ZHigh = MathF.Max(vTrans1.Z, vTrans2Z);
V1 = v1;
V2 = v2;
HitBBox.Left = MathF.Min(v1.X, v2.X);
HitBBox.Right = MathF.Max(v1.X, v2.X);
HitBBox.Top = MathF.Min(v1.Y, v2.Y);
HitBBox.Bottom = MathF.Max(v1.Y, v2.Y);
HitBBox.ZLow = MathF.Min(v1.Z, v2.Z);
HitBBox.ZHigh = MathF.Max(v1.Z, v2.Z);
}