void ParticleSystem::collide(ParticlePtr part, PlanePtr plane) {
//SimonState::exemplar()->messages << "Cloth: Kollision Kugel vs. Ebene gestartet" << SimonState::endm;
float distance = dot(part->getPosition() -
plane->getRigidBody()->getPosition(),
plane->getNormal());
Vector3<float> n = plane->getNormal();
Vector3<float> v = part->getVelocity();
float vDotN = dot (v, n);
//Vector3<float> f = getRigidBody()->getForce();
// no resting contact. check collision
if ( distance <= 3.0)
{
if (vDotN<=0.5f)
{
// normal colliding contact:
Vector3 <float> velPart = part->getVelocity();
Vector3 <float> normPlane = plane->getNormal();
normPlane.normalize();
float vDoN = dot(velPart, normPlane);
normPlane *= vDoN;
part->setVelocity(part->getVelocity() - normPlane);
//cout << "Vel aus col " << part->getVelocity()<< endl;
normPlane = plane->getNormal();
normPlane.normalize();
Vector3 <float> forcePart = part->getForce();
float fDotN = dot(forcePart, normPlane);
normPlane *= fDotN;
part->addForce((-1) * normPlane);
//cout << "Acc aus Col " << part->getAcceleration() << endl;
// factor in elasticity
// geschummelt (eigentlich getBounciness)
//vDotN *= 1 + 2.5f;
// reflect veloctiy along normal
//part->setVelocity( Vector3<float>(v[X] - vDotN*n[X], v[Y] - vDotN*n[Y], v[Z] - vDotN*n[Z]));
SimonState::exemplar()->messages << "Cloth: Kollision Particle vs. Ebene beendet" << SimonState::endm;
}
}
}
