Game Development Reference
In-Depth Information
// Apply impulse:
Bodies[b1].vVelocity +=
(j * Collisions[i].vCollisionNormal) /
Bodies[b1].fMass;
Bodies[b1].vAngularVelocityGlobal +=
(pt1 ^ (j * Collisions[i].vCollisionNormal)) *
Bodies[b1].mIeInverse;
Bodies[b1].vAngularVelocity =
QVRotate(~Bodies[b1].qOrientation,
Bodies[b1].vAngularVelocityGlobal);
}
}
}
}
}
The final function we need to show you is CheckGroundPlaneContacts . Recall that this
function is called from CalcObjectForces in order to determine if a ball is in resting
contact with the table. If the ball's vertical position is less than or equal to its radius plus
some small tolerance, and if the ball's vertical velocity is 0 (or nearly so within some
small tolerance), then we consider the ball in contact with the table. If there's a contact,
the relevant data gets stored in the Collisions array and used to resolve the contact,
not the collision, in CalcObjectForces :
int CheckGroundPlaneContacts(pCollision CollisionData, int body1)
{
Vector v1[8];
Vector tmp;
Vector u, v;
Vector f[4];
Vector vel1;
Vector pt1;
Vector Vr;
float Vrn;
Vector n;
int status = NOCOLLISION;
Vector Ar;
float Arn;
if(Bodies[body1].vPosition.z <= (Bodies[body1].fRadius + COLLISIONTOLERANCE))
{
pt1 = Bodies[body1].vPosition;
pt1.z = COLLISIONTOLERANCE;
tmp = pt1;
pt1 = pt1-Bodies[body1].vPosition;
vel1 = Bodies[body1].vVelocity/*Body*/ +
(Bodies[body1].vAngularVelocityGlobal^pt1);
n.x = 0;
n.y = 0;
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