39 lines
1.4 KiB
C++
39 lines
1.4 KiB
C++
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//
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// Created by Иван Ильин on 10.03.2021.
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//
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#include "Solver.h"
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#include "utils/Log.h"
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void Solver::solveCollision(const std::shared_ptr<RigidBody>& obj1, const std::shared_ptr<RigidBody>& obj2, const CollisionPoint& collision) {
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if(!collision.hasCollision)
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return;
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Point4D obj1_velocity_parallel = collision.normal * obj1->velocity().dot(collision.normal);
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obj1_velocity_parallel = Point4D{obj1_velocity_parallel.x(), obj1_velocity_parallel.y(), obj1_velocity_parallel.z(), 0};
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Point4D obj1_velocity_perpendicular = obj1->velocity() - obj1_velocity_parallel;
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Point4D obj2_velocity_parallel = collision.normal * obj2->velocity().dot(collision.normal);
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Point4D obj2_velocity_perpendicular = obj2->velocity() - obj2_velocity_parallel;
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if(obj1->isCollision()) {
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if(obj1->velocity().dot(collision.normal) > 0) {
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obj1->setVelocity(obj1_velocity_perpendicular);
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}
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}
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if(obj2->isCollision()) {
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obj2->setVelocity(obj2_velocity_perpendicular - obj2_velocity_parallel * 0.8);
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}
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if(obj1->isCollision() && obj2->isCollision()) {
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obj1->translate(-collision.normal * collision.depth/2.0);
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obj2->translate(collision.normal * collision.depth/2.0);
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} else if(obj1->isCollision())
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obj1->translate(-collision.normal * collision.depth);
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else
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obj2->translate(collision.normal * collision.depth);
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}
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