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refactor: Basic Collision Resolver

This commit is contained in:
Syntriax 2024-01-27 20:08:16 +03:00
parent 4d9121118d
commit a3c4afb223
3 changed files with 47 additions and 31 deletions
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2
Engine.Physics2D/Abstract/ICollisionResolver2D.cs
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@ -2,5 +2,5 @@ namespace Syntriax.Engine.Physics2D.Abstract;
public interface ICollisionResolver2D
{
void ResolveCollision(ICollider2D colliderA, ICollider2D colliderB);
void Resolve(CollisionDetectionInformation collisionInformation);
}

44
Engine.Physics2D/CollisionResolver2D.cs Normal file
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@ -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);
}
}

32
Engine.Physics2D/PhysicsEngine2D.cs
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@ -13,6 +13,7 @@ public class PhysicsEngine2D : IPhysicsEngine2D
private int _iterationCount = 1;
private ICollisionDetector2D collisionDetector = new CollisionDetector2D();
private ICollisionResolver2D collisionResolver = new CollisionResolver2D();
public int IterationCount { get => _iterationCount; set => _iterationCount = value < 1 ? 1 : value; }
@ -65,36 +66,7 @@ public class PhysicsEngine2D : IPhysicsEngine2D
colliderX.OnCollisionDetected?.Invoke(colliderX, information);
colliderY.OnCollisionDetected?.Invoke(colliderY, information);
Vector2D displacementVector = information.Normal * information.Penetration;
bool isStaticLeft = information.Left.RigidBody2D?.IsStatic ?? true;
bool isStaticRight = information.Right.RigidBody2D?.IsStatic ?? true;
if (isStaticLeft && isStaticRight)
continue;
else if (isStaticLeft)
information.Right.Transform.Position += displacementVector;
else if (isStaticRight)
information.Left.Transform.Position -= displacementVector;
else
{
float leftMass = information.Left.RigidBody2D?.Mass ?? float.Epsilon;
float rightMass = information.Right.RigidBody2D?.Mass ?? float.Epsilon;
float massSum = leftMass + rightMass;
float leftMomentumPercentage = leftMass / massSum;
float rightMomentumPercentage = rightMass / massSum;
information.Right.Transform.Position += leftMomentumPercentage * displacementVector;
information.Left.Transform.Position -= rightMomentumPercentage * displacementVector;
}
information.Left.Recalculate();
information.Right.Recalculate();
colliderX.OnCollisionResolved?.Invoke(colliderX, information);
colliderY.OnCollisionResolved?.Invoke(colliderY, information);
collisionResolver?.Resolve(information);
}
}
}