//-------------------------------------
// Collision Methods - Single Particle Colliders
//-------------------------------------
/// <summary>
/// Separate 2 objects where at least one is a SingleParticle object (SphereCollider).
/// </summary>
private void SeparateParticleObjectWithSingleParticles(BaseCollider bc, SphereCollider sp, Vector3 currPoint, Vector3 projPoint, ColliderTypes collTypes)
{
if (collTypes == ColliderTypes.FirstRigidBody_SecondSingleParticle)
{
//ParticleObject po = bc.GetParticleObject();
//float[] c1 = this.ComputeParticlesCoefficients(po, currPoint);
//float lambda1 = this.ComputeLambda(c1);
Logger.Instance.DebugInfo("Updating FirstRigidBody_SecondSingleParticle object", "COLLISION");
// Update the dynamic object
//for (int i = 0; i < 4; i++)
//{
// po.particles[i].position = po.particles[i].position + (lambda1 * c1[i] * (projPoint - currPoint) * 0.5f) * po.particles[i].invMass;
//}
// Update also the single particle
Vector3 newPos = sp.GetSingleParticlePosition() - ((projPoint - currPoint)) * 0.5f * sp.GetSingleParticleInvMass();
sp.ChangeSingleParticlePosition(newPos);
}
// if both are single particle objects
else if (collTypes == ColliderTypes.BothSingleParticles)
{
// TODO: test
SphereCollider sp1 = (SphereCollider)bc;
Vector3 newPosSp1 = sp1.GetSingleParticlePosition() + ((projPoint - currPoint)) * sp1.GetSingleParticleInvMass();
sp1.ChangeSingleParticlePosition(newPosSp1);
Vector3 newPosSp2 = sp.GetSingleParticlePosition() - ((projPoint - currPoint)) * sp.GetSingleParticleInvMass();
sp.ChangeSingleParticlePosition(newPosSp2);
}
}
