| public Compute ( System.Vector2 x1, float a1, System.Vector2 x2, float a2 ) : float | ||
| x1 | System.Vector2 | |
| a1 | float | |
| x2 | System.Vector2 | |
| a2 | float | |
| Результат | float | |
public float Compute(Vector2 x1, float a1, Vector2 x2, float a2)
{
return Vector2.Dot(Linear1, x1) + Angular1 * a1 + Vector2.Dot(Linear2, x2) + Angular2 * a2;
}
} internal override void SolveVelocityConstraints(TimeStep step)
{
Body b1 = _body1;
Body b2 = _body2;
float Cdot = _J.Compute(b1._linearVelocity, b1._angularVelocity, b2._linearVelocity, b2._angularVelocity);
float impulse = _mass * (-Cdot);
_impulse += impulse;
b1._linearVelocity += b1._invMass * impulse * _J.Linear1;
b1._angularVelocity += b1._invI * impulse * _J.Angular1;
b2._linearVelocity += b2._invMass * impulse * _J.Linear2;
b2._angularVelocity += b2._invI * impulse * _J.Angular2;
}
