public override float getSeperatingVelocity(CollisionHandler other)
{
float retVal;
Vector3 distanceNormal = normal;
Vector3 velocity = parent.Velocity - other.parent.Velocity;
retVal = Vector3.Dot(velocity, distanceNormal);
return(retVal);
}
public override float getSeperatingVelocity(CollisionHandler other)
{
float retVal;
//TODO:: don't recalculate
Vector3 distanceNormal = getContactNormal(other);
Vector3 velocity = parent.Velocity - other.parent.Velocity;
retVal = Vector3.Dot(velocity, distanceNormal);
return(retVal);
}
public override bool DetectCollsion(CollisionHandler other)
{
if (other is SphereCollisionHandler)
{
return(detectSphereCollision((SphereCollisionHandler)other));
}
else
{
return(false);
}
}
public override float getPenDepth(CollisionHandler other)
{
if (other is SphereCollisionHandler)
{
return(spherePenDepth((SphereCollisionHandler)other));
}
if (other is HalfSpaceCollisionHandler)
{
return(-other.getPenDepth(this));
}
else
{
throw new Exception("No collision pen depth calculation for this type exists");
}
}
/// <summary>
/// updates objA and objB post collision over some time
/// </summary>
/// <param name="collisionA"></param>
/// <param name="collisionB"></param>
/// <param name="timeStep"></param>
public static void ResolveContact(CollisionHandler collisionA, CollisionHandler collisionB, GameTime gameTime)
{
bool collisionVector = collisionA.DetectCollsion(collisionB);
if (collisionVector)
{
float seperatingVelocity = collisionA.getSeperatingVelocity(collisionB);
Vector3 contactNormal = collisionA.getContactNormal(collisionB);
float penetrationDepth = collisionA.getPenDepth(collisionB);
collisionA.updatePhysics(gameTime, contactNormal, -seperatingVelocity,
penetrationDepth, collisionB.parent.mass);
collisionB.updatePhysics(gameTime, -contactNormal, -seperatingVelocity,
penetrationDepth, collisionA.parent.mass);
}
}
public override float getPenDepth(CollisionHandler other)
{
if (other is SphereCollisionHandler)
{
float distance = Vector3.Dot(other.Position, normal) - Vector3.Dot(Position, normal);
SphereCollisionHandler pointerObject = (SphereCollisionHandler)other;
return(distance - pointerObject.Radius);
}
if (other is HalfSpaceCollisionHandler)
{
throw new NotImplementedException();
}
else
{
throw new Exception("no pen depth test of this type");
}
}
public override Vector3 getContactNormal(CollisionHandler other)
{
if (other is SphereCollisionHandler)
{
Vector3 cNorm;
cNorm = parent.Position - other.parent.Position;
cNorm.Normalize();
return(cNorm);
}
if (other is HalfSpaceCollisionHandler)
{
return(other.getContactNormal(this));
}
else
{
throw new Exception("No collision handler for this type exists");
}
}
public override bool DetectCollsion(CollisionHandler that)
{
if (that is SphereCollisionHandler)
{
if (checkSphereCollision((SphereCollisionHandler)that))
{
return(true);
}
else
{
return(false);
}
}
if (that is HalfSpaceCollisionHandler)
{
return(that.DetectCollsion(this));
}
throw new ArgumentException("Spheres are not able to detect collision with this handler");
}
public override Vector3 getContactNormal(CollisionHandler other)
{
return(normal);
}
public abstract float getSeperatingVelocity(CollisionHandler other);
public abstract float getPenDepth(CollisionHandler other);
public abstract Vector3 getContactNormal(CollisionHandler other);
//TODO:: implement this. remove from collision objects
//public virtual void destroy();
public abstract bool DetectCollsion(CollisionHandler other);