public static VoltAABB CreateMerged(VoltAABB aabb1, VoltAABB aabb2)
{
return(new VoltAABB(
TSMath.Max(aabb1.top, aabb2.top),
TSMath.Min(aabb1.bottom, aabb2.bottom),
TSMath.Min(aabb1.left, aabb2.left),
TSMath.Max(aabb1.right, aabb2.right)));
}
/// <summary>
/// Builds the AABB by combining all the shape AABBs.
/// </summary>
private void UpdateAABB()
{
FP top = FP.NegativeInfinity;
FP right = FP.NegativeInfinity;
FP bottom = FP.PositiveInfinity;
FP left = FP.PositiveInfinity;
for (int i = 0; i < this.shapeCount; i++)
{
VoltAABB aabb = this.shapes[i].AABB;
top = TSMath.Max(top, aabb.Top);
right = TSMath.Max(right, aabb.Right);
bottom = TSMath.Min(bottom, aabb.Bottom);
left = TSMath.Min(left, aabb.Left);
}
this.AABB = new VoltAABB(top, bottom, left, right);
}
internal void Solve(Manifold manifold)
{
VoltBody bodyA = manifold.ShapeA.Body;
VoltBody bodyB = manifold.ShapeB.Body;
FP elasticity = bodyA.World.Elasticity;
// Calculate relative bias velocity
TSVector2 vb1 = bodyA.BiasVelocity + (bodyA.BiasRotation * this.toALeft);
TSVector2 vb2 = bodyB.BiasVelocity + (bodyB.BiasRotation * this.toBLeft);
FP vbn = TSVector2.Dot((vb1 - vb2), this.normal);
// Calculate and clamp the bias impulse
FP jbn = this.nMass * (vbn - this.bias);
jbn = TSMath.Max(-this.jBias, jbn);
this.jBias += jbn;
// Apply the bias impulse
this.ApplyNormalBiasImpulse(bodyA, bodyB, jbn);
// Calculate relative velocity
TSVector2 vr = this.RelativeVelocity(bodyA, bodyB);
FP vrn = TSVector2.Dot(vr, this.normal);
// Calculate and clamp the normal impulse
FP jn = nMass * (vrn + (this.restitution * elasticity));
jn = TSMath.Max(-this.cachedNormalImpulse, jn);
this.cachedNormalImpulse += jn;
// Calculate the relative tangent velocity
FP vrt = TSVector2.Dot(vr, this.normal.Left());
// Calculate and clamp the friction impulse
FP jtMax = manifold.Friction * this.cachedNormalImpulse;
FP jt = vrt * tMass;
FP result = TSMath.Clamp(this.cachedTangentImpulse + jt, -jtMax, jtMax);
jt = result - this.cachedTangentImpulse;
this.cachedTangentImpulse = result;
// Apply the normal and tangent impulse
this.ApplyContactImpulse(bodyA, bodyB, jn, jt);
}
private static VoltAABB ComputeBounds(
TSVector2[] vertices,
int count)
{
FP top = vertices[0].y;
FP bottom = vertices[0].y;
FP left = vertices[0].x;
FP right = vertices[0].x;
for (int i = 1; i < count; i++)
{
top = TSMath.Max(top, vertices[i].y);
bottom = TSMath.Min(bottom, vertices[i].y);
left = TSMath.Min(left, vertices[i].x);
right = TSMath.Max(right, vertices[i].x);
}
return(new VoltAABB(top, bottom, left, right));
}
public static void Max(ref TSVector2 value1, ref TSVector2 value2, out TSVector2 result)
{
result.x = TSMath.Max(value1.x, value2.x);
result.y = TSMath.Max(value1.y, value2.y);
}
public static TSVector2 Max(TSVector2 value1, TSVector2 value2)
{
return(new TSVector2(
TSMath.Max(value1.x, value2.x),
TSMath.Max(value1.y, value2.y)));
}
