コード例 #1
0
 @Override
 public Vector3f supportPointLocalNegative(Vector3f direction) {
   if (direction.lengthSquared() != 0) direction.normalize();
   Vector3f v = QuatMath.transform(collisionshape.getInverseRotation(), direction);
   float vy = 0;
   float capstart =
       (float)
           (halfheight
               / Math.sqrt(
                   radius * radius
                       + halfheight
                           * halfheight)); // VecMath.normalize(new Vector2f(radius,
                                           // halfheight)).y;
   if (Math.abs(direction.y) > capstart) {
     float len = (float) new Vector2f(direction.x / capstart, direction.z / capstart).length();
     vy = (float) (Math.sqrt(radius * radius - len * len));
   }
   vy += halfheight;
   return new Vector3f(-v.x * radius, (v.y < 0 ? vy : -vy), -v.z * radius);
 }
コード例 #2
0
  @Override
  public void resolve(CollisionManifold<Vector3f> manifold) {
    RigidBody3 A = (RigidBody3) manifold.getObjects().getFirst();
    RigidBody3 B = (RigidBody3) manifold.getObjects().getSecond();
    Vector3f normal = manifold.getCollisionNormal();

    // velAlongNormal = (B - A) dot normal
    float velAlongNormal =
        (B.getLinearVelocity().x - A.getLinearVelocity().x) * normal.x
            + (B.getLinearVelocity().y - A.getLinearVelocity().y) * normal.y
            + (B.getLinearVelocity().z - A.getLinearVelocity().z) * normal.z;

    if (velAlongNormal > 0) return;

    float e = Math.min(A.getRestitution(), B.getRestitution());
    float j = (-(1 + e) * velAlongNormal) / (A.getInverseMass() + B.getInverseMass());

    Vector3f impulse = VecMath.scale(normal, j);
    B.applyCentralImpulse(impulse);
    impulse.negate();
    A.applyCentralImpulse(impulse);
  }