public Arbiter(SequentialImpulsesSolver parent, Body body1, Body body2)
{
if (body1.ID < body2.ID)
{
this.body1 = body1;
this.body2 = body2;
}
else
{
this.body1 = body2;
this.body2 = body1;
}
this.tag1 = (SequentialImpulsesTag)this.body1.SolverTag;
this.tag2 = (SequentialImpulsesTag)this.body2.SolverTag;
this.circle1 = this.body1.Shape as CircleShape;
this.circle2 = this.body2.Shape as CircleShape;
this.friction = MathHelper.Sqrt(
this.body1.Coefficients.DynamicFriction *
this.body2.Coefficients.DynamicFriction);
this.restitution = Math.Min(body1.Coefficients.Restitution, body2.Coefficients.Restitution);
this.parent = parent;
this.contacts = new LinkedList <ContactPoint>();
this.lastUpdate = -1;
this.state = ContactState.New;
this.ignoresCollisionResponse = body1.IgnoresCollisionResponse || body2.IgnoresCollisionResponse;
}
/// <summary>
/// Creates the physics object used in the game.
/// </summary>
public Physics()
{
// Set up the basic engine
engine = new PhysicsEngine();
// Set up the collision detector
engine.BroadPhase = new SweepAndPruneDetector();
//engine.BroadPhase = new SelectiveSweepDetector();
//engine.BroadPhase = new BruteForceDetector();
// Set up the solver
SequentialImpulsesSolver solver = new SequentialImpulsesSolver();
engine.Solver = solver;
solver.Iterations = 12;
solver.SplitImpulse = true;
//solver.BiasFactor = 0.7f;
//solver.AllowedPenetration = 0f;
}
public Arbiter(SequentialImpulsesSolver parent, Body body1, Body body2)
{
if (body1.ID < body2.ID)
{
this.body1 = body1;
this.body2 = body2;
}
else
{
this.body1 = body2;
this.body2 = body1;
}
this.tag1 = (SequentialImpulsesTag)this.body1.SolverTag;
this.tag2 = (SequentialImpulsesTag)this.body2.SolverTag;
this.circle1 = this.body1.Shape as CircleShape;
this.circle2 = this.body2.Shape as CircleShape;
this.friction = MathHelper.Sqrt(
this.body1.Coefficients.DynamicFriction *
this.body2.Coefficients.DynamicFriction);
this.restitution = Math.Min(body1.Coefficients.Restitution, body2.Coefficients.Restitution);
this.parent = parent;
this.contacts = new LinkedList <Contact>();
}
public Arbiter(SequentialImpulsesSolver parent, Body body1, Body body2)
{
if (body1.ID < body2.ID)
{
this.body1 = body1;
this.body2 = body2;
}
else
{
this.body1 = body2;
this.body2 = body1;
}
this.tag1 = (SequentialImpulsesTag)this.body1.SolverTag;
this.tag2 = (SequentialImpulsesTag)this.body2.SolverTag;
this.circle1 = this.body1.Shape as CircleShape;
this.circle2 = this.body2.Shape as CircleShape;
this.friction = MathHelper.Sqrt(
this.body1.Coefficients.DynamicFriction *
this.body2.Coefficients.DynamicFriction);
this.restitution = Math.Min(body1.Coefficients.Restitution, body2.Coefficients.Restitution);
this.parent = parent;
this.contacts = new LinkedList<ContactPoint>();
this.lastUpdate = -1;
this.state = ContactState.New;
this.ignoresCollisionResponse = body1.IgnoresCollisionResponse || body2.IgnoresCollisionResponse;
}
/// <summary>
/// Raises the <see cref="E:Added"/> event.
/// </summary>
/// <param name="e">The <see cref="System.EventArgs"/> instance containing the event data.</param>
protected override void OnAdded(EventArgs e)
{
solver = (SequentialImpulsesSolver)Engine.Solver;
base.OnAdded(e);
}