C# CollisionObject.GetRestitution方法代码示例

		//response  between two dynamic objects without friction, assuming 0 penetration depth
		public static float ResolveSingleCollision(
				RigidBody body1,
				CollisionObject colObj2,
				ref IndexedVector3 contactPositionWorld,
				ref IndexedVector3 contactNormalOnB,
				ContactSolverInfo solverInfo,
				float distance)
		{
			RigidBody body2 = RigidBody.Upcast(colObj2);


			IndexedVector3 normal = contactNormalOnB;

			IndexedVector3 rel_pos1 = contactPositionWorld - body1.GetWorldTransform()._origin;
			IndexedVector3 rel_pos2 = contactPositionWorld - colObj2.GetWorldTransform()._origin;

			IndexedVector3 vel1 = body1.GetVelocityInLocalPoint(ref rel_pos1);
			IndexedVector3 vel2 = body2 != null ? body2.GetVelocityInLocalPoint(ref rel_pos2) : IndexedVector3.Zero;
			IndexedVector3 vel = vel1 - vel2;
			float rel_vel = normal.Dot(ref vel);

			float combinedRestitution = body1.GetRestitution() * colObj2.GetRestitution();
			float restitution = combinedRestitution * -rel_vel;

			float positionalError = solverInfo.m_erp * -distance / solverInfo.m_timeStep;
			float velocityError = -(1.0f + restitution) * rel_vel;// * damping;
			float denom0 = body1.ComputeImpulseDenominator(ref contactPositionWorld, ref normal);
			float denom1 = body2 != null ? body2.ComputeImpulseDenominator(ref contactPositionWorld, ref normal) : 0.0f;
			float relaxation = 1.0f;
			float jacDiagABInv = relaxation / (denom0 + denom1);

			float penetrationImpulse = positionalError * jacDiagABInv;
			float velocityImpulse = velocityError * jacDiagABInv;

			float normalImpulse = penetrationImpulse + velocityImpulse;
			normalImpulse = 0.0f > normalImpulse ? 0.0f : normalImpulse;

			body1.ApplyImpulse(normal * (normalImpulse), rel_pos1);
			if (body2 != null)
			{
				body2.ApplyImpulse(-normal * (normalImpulse), rel_pos2);
			}

			return normalImpulse;
		}

        public bool Callback(ref ManifoldPoint cp, CollisionObject colObj0, int partId0, int index0, CollisionObject colObj1, int partId1, int index1)
        {
            bool enable = true;
           	if (enable)
	        {
		        InternalEdgeUtility.AdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1,BulletXNA.BulletCollision.CollisionDispatch.InternalEdgeUtility.InternalEdgeAdjustFlags.BT_TRIANGLE_CONVEX_BACKFACE_NONE);
		        //btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE);
		        //btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
	        }

	        float friction0 = colObj0.GetFriction();
	        float friction1 = colObj1.GetFriction();
	        float restitution0 = colObj0.GetRestitution();
	        float restitution1 = colObj1.GetRestitution();

	        if ((colObj0.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0)
	        {
		        friction0 = 1.0f;//partId0,index0
		        restitution0 = 0.0f;
	        }
	        if ((colObj1.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0)
	        {
		        if ((index1&1) != 0)
		        {
			        friction1 = 1.0f;//partId1,index1
		        } 
                else
		        {
			        friction1 = 0.0f;
		        }
		        restitution1 = 0.0f;
	        }

	        cp.m_combinedFriction = CalculateCombinedFriction(friction0,friction1);
	        cp.m_combinedRestitution = CalculateCombinedRestitution(restitution0,restitution1);

	        //this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
	        return true;
 
        }

 private float CalculateCombinedRestitution(CollisionObject body0, CollisionObject body1)
 {
     return body0.GetRestitution() * body1.GetRestitution();
 }

			public bool Callback(ref ManifoldPoint cp, CollisionObject colObj0, int partId0, int index0, CollisionObject colObj1, int partId1, int index1)
			{
				float friction0 = colObj0.GetFriction();
				float friction1 = colObj1.GetFriction();
				float restitution0 = colObj0.GetRestitution();
				float restitution1 = colObj1.GetRestitution();

				if ((colObj0.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0)
				{
					friction0 = 1.0f;//partId0,index0
					restitution0 = 0.0f;
				}
				if ((colObj1.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0)
				{
					if ((index1&1) != 0)
					{
						friction1 = 1.0f;//partId1,index1
					} 
					else
					{
						friction1 = 0f;
					}
					restitution1 = 0f;
				}

				cp.m_combinedFriction = CalculateCombinedFriction(friction0,friction1);
				cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);

				//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
				return true;
			}