public override void TimerTestPosition(double elapsedTime)
{
base.TimerTestPosition(elapsedTime);
// Either remember the orig rotation, or restore to that orig rotation (as of PrepareForNew)
if (_savedRotation == null)
{
_savedRotation = this.Rotation.Clone();
}
else
{
this.Rotation.StoreNewValues(_savedRotation);
}
// Remember the elapsed time that was passed in
_elapsedTime = elapsedTime;
// Figure out the new rotation (the body has been rotating at some velocity during the previous tick)
if (!_angularVelocity.IsZero)
{
// Figure out what the angle will be
double timedAngle = _angularVelocity.GetMagnitude();
timedAngle *= elapsedTime;
if (!_centerOfMass.IsZero)
{
#region Rotate around center of mass
// Remember where the center of mass is in world coords
MyVector cmRotated = this.Rotation.GetRotatedVector(_centerOfMass, true);
MyVector cmWorld = this.Position + cmRotated;
// Get the opposite of the cm
MyVector posRelativeToCM = cmRotated.Clone();
posRelativeToCM.Multiply(-1d);
// Rotate the center of position around the center of mass
posRelativeToCM.RotateAroundAxis(_angularVelocity, timedAngle);
// Now figure out the new center of position
this.Position.X = cmWorld.X + posRelativeToCM.X;
this.Position.Y = cmWorld.Y + posRelativeToCM.Y;
this.Position.Z = cmWorld.Z + posRelativeToCM.Z;
#endregion
}
// Rotate myself
this.RotateAroundAxis(_angularVelocity, timedAngle);
}
}
protected void GetCollisionNormalAndPointsOfContact_SphereSphere(out MyVector normal, out double normalMagnitude, out MyVector pointOfContact1, out MyVector pointOfContact2, BallBlip ball1, BallBlip ball2)
{
// Vector that is perpendicular to the tangent of the collision, and it points in the direction of object 1. Real
// easy when dealing with spheres :)
normal = ball2.Ball.Position - ball1.Ball.Position;
// Remember this length
normalMagnitude = normal.GetMagnitude();
// This needs to be returned as a unit vector
normal.Divide(normalMagnitude);
// Start them off as unit vectors
pointOfContact1 = normal.Clone();
pointOfContact2 = normal.Clone();
// Finish (use the ratio of their radii)
pointOfContact1.Multiply((ball1.Ball.Radius / (ball1.Ball.Radius + ball2.Ball.Radius)) * normalMagnitude);
pointOfContact2.Multiply((ball2.Ball.Radius / (ball1.Ball.Radius + ball2.Ball.Radius)) * normalMagnitude * -1); // I want this one pointing the other direction
// Now that I have the points of contact relative to the centers of position, I need to make them
// relative to the centers of mass
if (ball1.TorqueBall != null)
{
pointOfContact1.Subtract(ball1.TorqueBall.CenterOfMass);
}
if (ball2.TorqueBall != null)
{
pointOfContact2.Subtract(ball2.TorqueBall.CenterOfMass);
}
}