public override float getPenDepth(CollisionHandler other)
{
if (other is SphereCollisionHandler)
{
return(spherePenDepth((SphereCollisionHandler)other));
}
if (other is HalfSpaceCollisionHandler)
{
return(-other.getPenDepth(this));
}
else
{
throw new Exception("No collision pen depth calculation for this type exists");
}
}
/// <summary>
/// updates objA and objB post collision over some time
/// </summary>
/// <param name="collisionA"></param>
/// <param name="collisionB"></param>
/// <param name="timeStep"></param>
public static void ResolveContact(CollisionHandler collisionA, CollisionHandler collisionB, GameTime gameTime)
{
bool collisionVector = collisionA.DetectCollsion(collisionB);
if (collisionVector)
{
float seperatingVelocity = collisionA.getSeperatingVelocity(collisionB);
Vector3 contactNormal = collisionA.getContactNormal(collisionB);
float penetrationDepth = collisionA.getPenDepth(collisionB);
collisionA.updatePhysics(gameTime, contactNormal, -seperatingVelocity,
penetrationDepth, collisionB.parent.mass);
collisionB.updatePhysics(gameTime, -contactNormal, -seperatingVelocity,
penetrationDepth, collisionA.parent.mass);
}
}