Method resolveCollision

Engine/source/T3D/rigidShape.cpp:1270–1316

---------------------------------------------------------------------------- Resolve collision impacts Handle collision impacts, as opposed to contacts. Impulses are calculated based on standard collision resolution formulas. */

on standard collision resolution formulas.
*/
bool RigidShape::resolveCollision(Rigid&  ns,CollisionList& cList)
{
   PROFILE_SCOPE(RigidShape_resolveCollision);
   // Apply impulses to resolve collision
   bool collided = false;
   for (S32 i = 0; i < cList.getCount(); i++)
   {
      Collision& c = cList[i];
      if (c.distance < mDataBlock->collisionTol)
      {
         // Velocity into surface
         Point3F v, r;
         ns.getOriginVector(c.point, &r);
         ns.getVelocity(r, &v);
         F32 vn = mDot(v, c.normal);

         // Only interested in velocities greater than sContactTol,
         // velocities less than that will be dealt with as contacts
         // "constraints".
         if (vn < -mDataBlock->contactTol)
         {

            // Apply impulses to the rigid body to keep it from
            // penetrating the surface.
            if (c.object->getTypeMask() & VehicleObjectType)
            {
                  RigidShape* otherRigid = dynamic_cast<RigidShape*>(c.object);
                  if (otherRigid)
                     ns.resolveCollision(cList[i].point, cList[i].normal, &otherRigid->mRigid);
                  else
                     ns.resolveCollision(cList[i].point, cList[i].normal);
            }
            else ns.resolveCollision(cList[i].point, cList[i].normal);
            collided = true;

            // Keep track of objects we collide with
            if (!isGhost() && c.object->getTypeMask() & ShapeBaseObjectType)
            {
               ShapeBase* col = static_cast<ShapeBase*>(c.object);
               queueCollision(col, v - col->getVelocity());
            }
         }
      }
   }

   return collided;
}

//----------------------------------------------------------------------------
/** Resolve contact forces