static void applyForceToLinearAndAngularVelocity(PhysicsComponent physicsComponent, SpatialVectorDouble localForce, SpatialVectorDouble objectLocalPositionOfForce)
{
{ // linear part
// to calculate the linear component we use the dot product
double scaleOfLinearForce = 0.0;
if (localForce.length > double.Epsilon)
{
double dotOfForceAndLocalPosition = SpatialVectorDouble.dot(localForce.normalized(), objectLocalPositionOfForce.normalized());
scaleOfLinearForce = System.Math.Abs(dotOfForceAndLocalPosition);
}
// the linear force (and resulting acceleration) is the force scaled by the dot product
Matrix rotationMatrix = physicsComponent.calcLocalToGlobalRotationMatrix();
Matrix globalForceAsMatrix = rotationMatrix * SpatialVectorUtilities.toVector4(localForce).asMatrix;
SpatialVectorDouble globalForce = SpatialVectorUtilities.toVector3(new SpatialVectorDouble(globalForceAsMatrix));
physicsComponent.linearAcceleration += globalForce.scale(scaleOfLinearForce * physicsComponent.invMass);
}
{ // angular part
physicsComponent.eulerAngularAcceleration += physicsComponent.calcAngularAccelerationOfRigidBodyForAppliedForce(objectLocalPositionOfForce, localForce);
}
}
static bool checkParticleOverlap(ProximityDetector detector, PhysicsComponent particle)
{
return(detector.cachedKDop.checkIntersectPosition(particle.position));
}
static bool checkObjectOverlap(ProximityDetector detector, PhysicsComponent object_)
{
return(!KDop.checkIntersectAabb(object_.boundingVolume.kdop, detector.cachedKDop));
}
static bool checkParticleExitingExitOfObject(ProximityDetector detector, PhysicsComponent particle)
{
return(!detector.cachedKDop.checkIntersectPosition(particle.position));
}
public void removeParticle(PhysicsComponent particle)
{
// TODO< inform proximity detectors that particle was removed >
particles.Remove(particle);
}
public void addParticle(PhysicsComponent particle)
{
particles.Add(particle);
}
public PhysicsComponentAndCollidersPair(PhysicsComponent physicsComponent)
{
this.physicsComponent = physicsComponent;
}
public PhysicsComponentAndCollidersPair(PhysicsComponent physicsComponent, IList <ColliderComponent> colliders)
{
this.physicsComponent = physicsComponent;
this.colliders = colliders;
}