public override void OnLink(Entity Entity)
{
Entity.RegisterLinkHandler<PhysicsComponent>(delegate(PhysicsComponent Physics)
{
this._Physics = Physics;
});
}
/// <summary>
/// Responds (by correcting positions and velocities) to the collision of two driftoids.
/// </summary>
internal static void _CollisionResponse(PhysicsComponent A, PhysicsComponent B, Vector Difference, double Distance, double Factor)
{
double trad = A.Radius + B.Radius;
Vector ncol = Difference * (1.0 / Difference.Length);
double pen = trad - Distance;
double ima = 1.0 / A._Mass;
double imb = 1.0 / B._Mass;
Vector sep = ncol * (pen / (ima + imb)) * Factor;
A._MotionState.Position -= sep * ima;
B._MotionState.Position += sep * imb;
Vector vcol = B._MotionState.Velocity - A._MotionState.Velocity;
double impact = Vector.Dot(vcol, ncol);
if (impact < 0.0)
{
double cor = 0.5;
double j = -(1.0f + cor) * (impact) / (ima + imb);
Vector impulse = ncol * j;
A._MotionState.Velocity -= impulse * ima;
B._MotionState.Velocity += impulse * imb;
}
}
