internal float ApplyImpulse()
{
//Compute relative velocity
float lambda = (RelativeVelocity
+ bias //Add in position correction
+ softness * accumulatedImpulse) //Add in squishiness
* velocityToImpulse; //convert to impulse
//Clamp accumulated impulse
float previousAccumulatedImpulse = accumulatedImpulse;
accumulatedImpulse = MathHelper.Clamp(accumulatedImpulse + lambda, -maximumSpringForce, 0);
lambda = accumulatedImpulse - previousAccumulatedImpulse;
//Apply the impulse
#if !WINDOWS
Vector3 linear = new Vector3();
Vector3 angular = new Vector3();
#else
Vector3 linear, angular;
#endif
linear.X = lambda * linearAX;
linear.Y = lambda * linearAY;
linear.Z = lambda * linearAZ;
if (vehicleEntity.isDynamic)
{
angular.X = lambda * angularAX;
angular.Y = lambda * angularAY;
angular.Z = lambda * angularAZ;
vehicleEntity.ApplyLinearImpulse(ref linear);
vehicleEntity.ApplyAngularImpulse(ref angular);
}
if (supportIsDynamic)
{
linear.X = -linear.X;
linear.Y = -linear.Y;
linear.Z = -linear.Z;
angular.X = lambda * angularBX;
angular.Y = lambda * angularBY;
angular.Z = lambda * angularBZ;
supportEntity.ApplyLinearImpulse(ref linear);
supportEntity.ApplyAngularImpulse(ref angular);
}
return lambda;
}
/// <summary>
/// Applies impulses and returns whether or not this wheel should be updated more.
/// </summary>
/// <returns>Whether not the wheel is done updating for the frame.</returns>
internal bool ApplyImpulse()
{
int numActiveConstraints = 0;
if (suspension.isActive)
{
if (++suspension.solverSettings.currentIterations <= suspension.solverSettings.maximumIterations)
{
if (Math.Abs(suspension.ApplyImpulse()) < suspension.solverSettings.minimumImpulse)
{
suspension.numIterationsAtZeroImpulse++;
if (suspension.numIterationsAtZeroImpulse > suspension.solverSettings.minimumIterations)
{
suspension.isActive = false;
}
else
{
numActiveConstraints++;
suspension.numIterationsAtZeroImpulse = 0;
}
}
else
{
numActiveConstraints++;
suspension.numIterationsAtZeroImpulse = 0;
}
}
else
{
suspension.isActive = false;
}
}
if (slidingFriction.isActive)
{
if (++slidingFriction.solverSettings.currentIterations <= suspension.solverSettings.maximumIterations)
{
if (Math.Abs(slidingFriction.ApplyImpulse()) < slidingFriction.solverSettings.minimumImpulse)
{
slidingFriction.numIterationsAtZeroImpulse++;
if (slidingFriction.numIterationsAtZeroImpulse > slidingFriction.solverSettings.minimumIterations)
{
slidingFriction.isActive = false;
}
else
{
numActiveConstraints++;
slidingFriction.numIterationsAtZeroImpulse = 0;
}
}
else
{
numActiveConstraints++;
slidingFriction.numIterationsAtZeroImpulse = 0;
}
}
else
{
slidingFriction.isActive = false;
}
}
if (drivingMotor.isActive)
{
if (++drivingMotor.solverSettings.currentIterations <= suspension.solverSettings.maximumIterations)
{
if (Math.Abs(drivingMotor.ApplyImpulse()) < drivingMotor.solverSettings.minimumImpulse)
{
drivingMotor.numIterationsAtZeroImpulse++;
if (drivingMotor.numIterationsAtZeroImpulse > drivingMotor.solverSettings.minimumIterations)
{
drivingMotor.isActive = false;
}
else
{
numActiveConstraints++;
drivingMotor.numIterationsAtZeroImpulse = 0;
}
}
else
{
numActiveConstraints++;
drivingMotor.numIterationsAtZeroImpulse = 0;
}
}
else
{
drivingMotor.isActive = false;
}
}
if (brake.isActive)
{
if (++brake.solverSettings.currentIterations <= suspension.solverSettings.maximumIterations)
{
if (Math.Abs(brake.ApplyImpulse()) < brake.solverSettings.minimumImpulse)
{
brake.numIterationsAtZeroImpulse++;
if (brake.numIterationsAtZeroImpulse > brake.solverSettings.minimumIterations)
{
brake.isActive = false;
}
else
{
numActiveConstraints++;
brake.numIterationsAtZeroImpulse = 0;
}
}
else
{
numActiveConstraints++;
brake.numIterationsAtZeroImpulse = 0;
}
}
else
{
brake.isActive = false;
}
}
return(numActiveConstraints > 0);
}
