refactor: Basic Collision Resolver

2024-01-27 20:08:16 +03:00
parent 4d9121118d
commit a3c4afb223
3 changed files with 47 additions and 31 deletions
--- a/Engine.Physics2D/CollisionResolver2D.cs
+++ b/Engine.Physics2D/CollisionResolver2D.cs
@@ -0,0 +1,44 @@
+using Syntriax.Engine.Core;
+using Syntriax.Engine.Physics2D.Abstract;
+
+namespace Syntriax.Engine.Physics2D;
+
+public class CollisionResolver2D : ICollisionResolver2D
+{
+    public void Resolve(CollisionDetectionInformation collisionInformation)
+    {
+        Vector2D displacementVector = collisionInformation.Normal * collisionInformation.Penetration;
+
+        ICollider2D left = collisionInformation.Left;
+        ICollider2D right = collisionInformation.Right;
+
+        bool isLeftStatic = left.RigidBody2D?.IsStatic ?? true;
+        bool isRightStatic = right.RigidBody2D?.IsStatic ?? true;
+
+        if (isLeftStatic && isRightStatic)
+            return;
+
+        if (isLeftStatic)
+            right.Transform.Position += displacementVector;
+        else if (isRightStatic)
+            left.Transform.Position -= displacementVector;
+        else
+        {
+            float leftMass = left.RigidBody2D?.Mass ?? float.Epsilon;
+            float rightMass = right.RigidBody2D?.Mass ?? float.Epsilon;
+            float sumMass = leftMass + rightMass;
+
+            float leftMomentumPercentage = leftMass / sumMass;
+            float rightMomentumPercentage = rightMass / sumMass;
+
+            right.Transform.Position += leftMomentumPercentage * displacementVector;
+            left.Transform.Position -= rightMomentumPercentage * displacementVector;
+        }
+
+        left.Recalculate();
+        right.Recalculate();
+
+        left.OnCollisionResolved?.Invoke(collisionInformation.Left, collisionInformation);
+        right.OnCollisionResolved?.Invoke(right, collisionInformation);
+    }
+}