//----------------------------------------------------------------------------
void BouncingSpheres::DoCollisionResponse ()
{
if (mNumContacts > 0)
{
float* preRelVelocities = new1<float>(mNumContacts);
float* impulseMagnitudes = new1<float>(mNumContacts);
ComputePreimpulseVelocity(preRelVelocities);
ComputeImpulseMagnitude(preRelVelocities, impulseMagnitudes);
for (int i = 0; i < mNumContacts; ++i)
{
Contact& contact = mBoundaryContacts[i];
RigidBodyf& bodyA = *contact.A;
RigidBodyf& bodyB = *contact.B;
Vector3f impulse = impulseMagnitudes[i]*contact.N;
bodyA.SetLinearMomentum(bodyA.GetLinearMomentum() + impulse);
bodyB.SetLinearMomentum(bodyB.GetLinearMomentum() - impulse);
}
delete1(preRelVelocities);
delete1(impulseMagnitudes);
}
for (int i = 0; i < NUM_BALLS; ++i)
{
mBalls[i]->Update(mSimTime, mSimDeltaTime);
}
}
void World::DoCollisionResponse()
{
if(!contacts_.empty()) // m_iNumContacts > 0 )
{
vector<float> preRelVel;
preRelVel.resize(contacts_.size());
vector<float> impulseMag;
impulseMag.resize(contacts_.size());
ComputePreimpulseVelocity(preRelVel);
ComputeImpulseMagnitude(preRelVel, impulseMag);
DoImpulse(impulseMag);
}
}
//----------------------------------------------------------------------------
void BouncingTetrahedra::DoCollisionResponse ()
{
if (mNumContacts > 0)
{
float* preRelVelocities = new1<float>(mNumContacts);
float* impulseMagnitudes = new1<float>(mNumContacts);
ComputePreimpulseVelocity(preRelVelocities);
ComputeImpulseMagnitude(preRelVelocities, impulseMagnitudes);
DoImpulse(impulseMagnitudes);
delete1(preRelVelocities);
delete1(impulseMagnitudes);
}
for (int i = 0; i < NUM_TETRA; ++i)
{
mTetras[i]->Update(mSimTime, mSimDeltaTime);
}
}