/// <inheritdoc/>
protected override bool OnApplyImpulse()
{
if (!_limitIsActive)
{
return(false);
}
var relativeVelocity = _constraint.GetRelativeVelocity(BodyA, BodyB);
var impulse = _constraint.SatisfyConstraint(BodyA, BodyB, relativeVelocity, 0, MaxForce);
return(Math.Abs(impulse) > Simulation.Settings.Constraints.MinConstraintImpulse);
}
private float ApplyImpulse(int index)
{
if (_minImpulseLimits[index] != 0)
{
Constraint1D constraint = _constraints[index];
float relativeVelocity = constraint.GetRelativeVelocity(BodyA, BodyB);
float impulse = constraint.SatisfyConstraint(
BodyA,
BodyB,
relativeVelocity,
_minImpulseLimits[index],
_maxImpulseLimits[index]);
return(impulse);
}
return(0);
}
/// <inheritdoc/>
protected override bool OnApplyImpulse()
{
// Nothing to do if no limit is active.
if (!_minLimitIsActive && !_maxLimitIsActive)
{
return(false);
}
// Relative velocity is positive if bodies are separating.
float relativeVelocity = _constraint.GetRelativeVelocity(BodyA, BodyB);
// If the max limit is reached, we must apply a negative impulse to bring bodies closer together.
// If the min limit is reached, we must apply a positive impulse to get more separation.
float impulseLimit = MaxForce * _deltaTime;
float minImpulseLimit = (_maxLimitIsActive) ? -impulseLimit : 0;
float maxImpulseLimit = (_minLimitIsActive) ? impulseLimit : 0;
// Apply constraint impulse.
float impulse = _constraint.SatisfyConstraint(BodyA, BodyB, relativeVelocity, minImpulseLimit, maxImpulseLimit);
return(Math.Abs(impulse) > Simulation.Settings.Constraints.MinConstraintImpulse);
}
