public void CollisionStay(PhysXCollision collision)
{
// float penCoefficientA = (penForMaxImpulseScale - penForUnitImpulseScale * maxImpulseScale) / (penForUnitImpulseScale * penForUnitImpulseScale * penForMaxImpulseScale - penForUnitImpulseScale * penForMaxImpulseScale * penForMaxImpulseScale);
// float penCoefficientB = maxImpulseScale / penForMaxImpulseScale - penCoefficientA * penForMaxImpulseScale;
if (collision.rigidBody != null)
{
velocity = (rigidBody.velocity - collision.rigidBody.velocity).magnitude;
}
else
{
velocity = rigidBody.velocity.magnitude;
}
velocity -= velocityOffset;
if (velocity < 0)
{
velocity = 0;
}
float penExp = velocityScale / velocity;
if (penExp > maxPenExp)
{
penExp = maxPenExp;
}
float penCoefficient = 1 / Mathf.Pow(penForUnitImpulseScale, penExp);
for (int i = 0; i < collision.contactCount; i++)
{
PhysXContactPoint contactPoint = collision.GetContact(i);
if (contactPoint.ownShape == collider.shape)
{
float penetration = -contactPoint.separation;
if (penetration < 0)
{
penetration = 0;
}
//Debug.Log("penetration: " + penetration);
Vector3 impulse = contactPoint.impulse;
// float impulseScale = penCoefficientA * penetration * penetration + penCoefficientB * penetration;
float impulseScale = penCoefficient * Mathf.Pow(penetration, penExp);
if (impulseScale > maxImpulseScale)
{
impulseScale = maxImpulseScale;
}
impulse *= impulseScale;
rigidBody.AddGhostImpulse(impulse, contactPoint.point);
}
}
}
public void CollisionStay(PhysXCollision collision)
{
if (collision.contactCount > 0 && collision.GetContact(0).separation < -minPenetration)
{
if ((collision.rigidBody == null || collision.rigidBody.mass >= minDeformationMass) &&
!collision.collider.gameObject.CompareTag("DustGround"))
{
meshDeformationMarker.Begin();
bool isInconvenient = collision.collider is PhysXMeshCollider && !((PhysXMeshCollider)collision.collider).convex;
Vector3 collisionSurfaceNormal = Vector3.zero;
Vector3 collisionSurfacePoint = Vector3.zero;
for (int i = 0; i < collision.contactCount; i++)
{
PhysXContactPoint contactPoint = collision.GetContact(i);
float impulseMagnitude = contactPoint.impulse.magnitude;
collisionSurfaceNormal += contactPoint.normal;
collisionSurfacePoint += contactPoint.point;
}
collisionSurfaceNormal /= collision.contactCount;
collisionSurfacePoint /= collision.contactCount;
collisionSurfaceNormal = transform.InverseTransformDirection(collisionSurfaceNormal);
collisionSurfacePoint = transform.InverseTransformPoint(collisionSurfacePoint);
gizmoSurfaceNormal = collisionSurfaceNormal;
gizmoSurfacePoint = collisionSurfacePoint;
Vector3 oldPosition = collision.body.position;
Quaternion oldRotation = collision.body.rotation;
collision.body.position = transform.InverseTransformPoint(collision.body.position);
collision.body.rotation = Quaternion.Inverse(transform.rotation) * collision.body.rotation;
VertexGroup[] groups = meshGraph.groups;
for (int i = 0; i < groups.Length; i++)
{
VertexGroup current = groups[i];
Vector3 vertex = current.pos;
if (IsBeyondCollisionSurface(collisionSurfaceNormal, collisionSurfacePoint, vertex))
{
if (isInconvenient || collision.collider.ClosestPoint(vertex) == vertex)
{
Vector3 deformation = DeformationFromCollisionSurface(collisionSurfaceNormal, collisionSurfacePoint, vertex);
// if (addNoise) deformation *= Random.value * multiplier + addition;
current.MoveBy(vertices, deformation, false);
current.SetWasMoved(teamId, true);
if (!current.GetEnqueued(teamId))
{
vertexQueue.Enqueue(current);
current.SetEnqueued(teamId, true);
// Debug.Log("Vertex group " + current.vertexIndices[0] + " enqueued due to collision");
}
}
}
}
collision.body.position = oldPosition;
collision.body.rotation = oldRotation;
dissipationNeeded = true;
meshDeformationMarker.End();
}
}
}
