public static bool CheckRigidResponse(ref gxtGeom geomA, ref gxtGeom geomB, ref gxtCollisionResult collisionResult, float dt)
{
if (!geomA.HasAttachedBody() && !geomB.HasAttachedBody())
return false;
if (geomA.RigidBody.MotionType == gxtRigidyBodyMotion.FIXED && geomB.RigidBody.MotionType == gxtRigidyBodyMotion.FIXED)
return true;
if (!geomA.CollisionResponseEnabled && !geomB.CollisionResponseEnabled)
return true;
/* Begin Pre Step */
Vector2 crA = collisionResult.ContactPointA - geomA.RigidBody.Position;
Vector2 crB = collisionResult.ContactPointB - geomB.RigidBody.Position;
float crnA = Vector2.Dot(crA, collisionResult.Normal);
float crnB = Vector2.Dot(crB, collisionResult.Normal);
float invMassSum = geomA.RigidBody.InverseMass + geomB.RigidBody.InverseMass;
float cra2 = crA.LengthSquared();
float crb2 = crB.LengthSquared();
float fNorm = invMassSum + geomA.RigidBody.InverseInertia * (cra2 - crnA * crnA) + geomB.RigidBody.InverseInertia * (crb2 - crnB * crnB);
float massNormal = 1.0f / fNorm;
float f1 = 1.0f;
Vector2 tangent = gxtMath.Cross2D(collisionResult.Normal, f1);
float rt1 = Vector2.Dot(crA, tangent);
float rt2 = Vector2.Dot(crB, tangent);
float ktangent = invMassSum;
ktangent += geomA.RigidBody.InverseInertia * (cra2 - rt1 * rt1) +
geomB.RigidBody.InverseInertia * (crb2 - rt2 * rt2);
float massTangent = 1.0f / ktangent;
Vector2 worldVelocityA = geomA.RigidBody.GetVelocityAtWorldOffset(collisionResult.ContactPointA);
Vector2 worldVelocityB = geomB.RigidBody.GetVelocityAtWorldOffset(collisionResult.ContactPointB);
Vector2 dv = worldVelocityB - worldVelocityA;
float dvn = Vector2.Dot(dv, collisionResult.Normal);
float bounceVelocity = dvn * combinedRestitutionCoefficient;
float normalImpulse = 0.0f;
float tangentImpulse = 0.0f;
Vector2 ja = collisionResult.Normal * normalImpulse;
Vector2 jb = tangent * tangentImpulse;
Vector2 impulse = ja + jb;
geomB.RigidBody.ApplyImpulse(impulse, crB);
impulse = -impulse;
geomA.RigidBody.ApplyImpulse(impulse, crA);
/* End Pre Step */
/* Begin Post Step */
// 1st update contact point position for both bodies
// cra - bodyA.pos
// crb - bodyB.pos
// get velocity from contact point
// get difference between velocities at contact point
// get difference along normals
float tmpNormalImpulse = massNormal * -(dvn + bounceVelocity);
normalImpulse = gxtMath.Max(tmpNormalImpulse + normalImpulse, 0.0f);
float dni = normalImpulse - tmpNormalImpulse;
Vector2 impulse2 = collisionResult.Normal * tmpNormalImpulse;
geomB.RigidBody.ApplyImpulse(impulse2, collisionResult.ContactPointB);
impulse2 = -impulse2;
geomA.RigidBody.ApplyImpulse(impulse2, collisionResult.ContactPointA);
// 0s are old normal impulse bias
float normalVelocityBias = Vector2.Dot(dv, collisionResult.Normal);
float normalImpulseBias = massNormal * (-normalVelocityBias + 0.0f);
normalImpulseBias = gxtMath.Max(normalImpulseBias + 0.0f, 0.0f);
Vector2 impulseBias = collisionResult.Normal * normalImpulseBias;
geomB.RigidBody.ApplyImpulse(impulseBias, collisionResult.ContactPointB);
impulseBias = -impulseBias;
geomA.RigidBody.ApplyImpulse(impulseBias, collisionResult.ContactPointA);
normalImpulseBias = massNormal * (-normalVelocityBias + 0.0f);
normalImpulseBias = gxtMath.Max(normalImpulseBias, 0.0f);
Vector2 biasedImpulse = collisionResult.Normal * normalImpulseBias;
geomB.RigidBody.ApplyImpulse(biasedImpulse, collisionResult.ContactPointB);
biasedImpulse = -biasedImpulse;
geomA.RigidBody.ApplyImpulse(biasedImpulse, collisionResult.ContactPointA);
float maxTangentImpulse = combinedFrictionCoefficient * normalImpulse;
f1 = 1.0f;
Vector2 normCrossF = gxtMath.Cross2D(collisionResult.Normal, f1);
float dvDotTangent = Vector2.Dot(dv, tangent);
tangentImpulse = massTangent * (-dvDotTangent);
tangentImpulse = gxtMath.Clamp(tangentImpulse, -maxTangentImpulse, maxTangentImpulse);
Vector2 frictionImpulse = tangent * tangentImpulse;
geomB.RigidBody.ApplyImpulse(frictionImpulse, collisionResult.ContactPointB);
frictionImpulse = -frictionImpulse;
geomA.RigidBody.ApplyImpulse(frictionImpulse, collisionResult.ContactPointA);
/* End Post Step */
/*
geomA.RigidBody.Update(dt);
geomB.RigidBody.Update(dt);
geomA.Update();
geomB.Update();
*/
//gxtLog.WriteLineV(VerbosityLevel.INFORMATIONAL, "in collide");
/*
Vector2 relativeVelocity = geomA.RigidBody.Velocity - geomB.RigidBody.Velocity;
// relative velocity along normal
if (!gxtMath.Equals(relativeVelocity, Vector2.Zero, float.Epsilon))
{
float rvn = Vector2.Dot(relativeVelocity, collisionResult.Normal);
if (!gxtMath.Equals(rvn, 0.0f, float.Epsilon))
{
float f = -(1.0f + combinedRestitutionCoefficient) * rvn;
//float nn = Vector2.Dot(collisionResult.Normal, collisionResult.Normal);
float invMassSum = geomA.RigidBody.InverseMass + geomB.RigidBody.InverseMass;
float denom = Vector2.Dot(collisionResult.Normal, collisionResult.Normal * invMassSum);
float invja = 1.0f / (geomA.RigidBody.AngularAcceleration * geomA.RigidBody.Mass);
float invjb = 1.0f / (geomB.RigidBody.AngularAcceleration * geomB.RigidBody.Mass);
float ja = invja * gxtMath.Cross2D(collisionResult.Normal, collisionResult.ContactPointA);
//ja *= gxtMath.Cross2D(collisionResult.ContactPointA, collisionResult.Normal);
//ja = gxtMath.Cross2D();
float jb = invjb * gxtMath.Cross2D(collisionResult.Normal, collisionResult.ContactPointB);
//jb *= gxtMath.Cross2D(collisionResult.ContactPointB, collisionResult.Normal);
//float impulseDotN = collisionResult.Normal * (ja + jb);
//denom *= (ja * jb);
float fcopy = f;
f /= denom;
float foma = f / geomA.RigidBody.Mass;
float fomb = f / geomB.RigidBody.Mass;
Vector2 rigidAFinalVelocity = geomA.RigidBody.Velocity + collisionResult.Normal * foma;
Vector2 rigidBFinalVelocity = geomB.RigidBody.Velocity - collisionResult.Normal * fomb;
geomA.RigidBody.SetVelocity(rigidAFinalVelocity);
geomB.RigidBody.SetVelocity(rigidBFinalVelocity);
float angularMomentumA = geomA.RigidBody.AngularVelocity * geomA.RigidBody.Mass;
float angularMomentumB = geomB.RigidBody.AngularVelocity * geomB.RigidBody.Mass;
Vector2 fn = f * collisionResult.Normal;
float finalAngularA = angularMomentumA + gxtMath.Cross2D(collisionResult.ContactPointA, fn);
geomA.RigidBody.SetAngularVelocity(finalAngularA * geomA.RigidBody.InverseMass);
float finalAngularB = angularMomentumB - gxtMath.Cross2D(collisionResult.ContactPointB, fn);
geomB.RigidBody.SetAngularVelocity(finalAngularB * geomB.RigidBody.InverseMass);
//geomA.RigidBody.Set
//geomA.RigidBody.ApplyImpulse(rigidAFinalVelocity, collisionResult.ContactPointA);
//geomB.RigidBody.ApplyImpulse(rigidBFinalVelocity, collisionResult.ContactPointB);
}
else
{
}
}
geomA.RigidBody.Translate(collisionResult.Normal * -collisionResult.Depth);
geomB.RigidBody.Translate(collisionResult.Normal * collisionResult.Depth);
// translate it out??
geomB.RigidBody.Update(dt);
geomA.RigidBody.Update(dt);
*/
return true;
}
/// <summary>
/// Geoms perform no response
/// </summary>
/// <param name="geomA"></param>
/// <param name="geomB"></param>
/// <param name="collisionResult"></param>
/// <returns></returns>
private static bool CheckGeomResponse(ref gxtGeom geomA, ref gxtGeom geomB, ref gxtCollisionResult collisionResult)
{
if (geomA.HasAttachedBody() || geomB.HasAttachedBody())
return false;
return true;
/*
if (!geomA.CollisionResponseEnabled)
{
if (!geomB.CollisionResponseEnabled)
{
return true;
}
else
{
geomB.Translate(collisionResult.Normal * -collisionResult.Depth);
return true;
}
}
else if (!geomB.CollisionResponseEnabled)
{
geomA.Translate(collisionResult.Normal * -collisionResult.Depth);
return true;
}
else
{
// either could be translated here, thinking of doing half for each
geomA.Translate(collisionResult.Normal * -collisionResult.Depth);
return true;
}
*/
}
public static void Solve(gxtGeom geomA, gxtGeom geomB, gxtCollisionResult collisionResult, float dt)
{
// no intersection means there's nothing to solve
gxtDebug.Assert(collisionResult.Intersection);
if (geomA.HasAttachedBody() && geomB.HasAttachedBody())
{
combinedFrictionCoefficient = GetCombinedFriction(geomA.RigidBody, geomB.RigidBody);
combinedRestitutionCoefficient = GetCombinedRestitution(geomA.RigidBody, geomB.RigidBody);
}
// early return for trigger geoms
if (CheckGeomResponse(ref geomA, ref geomB, ref collisionResult))
return;
// earlier exit for one fixed, one rigid
if (CheckOneRigidOneFixedResponse(ref geomA, ref geomB, ref collisionResult, dt))
return;
if (CheckRigidResponse(ref geomA, ref geomB, ref collisionResult, dt))
return;
}