![]() Both linear and angular velocities are considered. The collision response is determined in terms of the perpendicular and parallel components at the point of collision. This allows players to rotate freely, even when they are in direct contact with a wall. As a special case, the collision between a player and a wall is assumed to be equivalent to that of a cylinder and block. This is achieved by converting the angular velocity into an equivalent linear velocity, according to the position and velocity of the cylinder. The collision test between a block and a cylinder should also take account of the angular velocity of the block. ![]() This requires the solution of four linear and four quadratic equations. Any point of collision can then be determined as the intersection between a line segment and this complex shape. The collision test between a block and a cylinder assumes that the block has its width and height increased by the radius of the cylinder, and that the block has rounded corners. This requires the solution of a quadratic equation. ![]() Any point of collision can then be determined as the intersection between the line segment and the circle, corresponding to the particle and the stationary cylinder respectively. The collision test between two cylinders assumes that one of them is stationary with its radius equal to the sum of the two radii, and that the other is a particle with its velocity equal to the relative velocity between the two cylinders. Collision detection and response is performed in two dimensions only. Repeated intersections are avoided by updating the motion of the system to a time slightly before that of the first collision. If no collisions are detected, then the motion is updated to the time of the next simulation cycle. Further collision tests, motion updates and collision responses are then performed in the time remaining in the current simulation cycle. If any collisions are detected, then the motion of the system is updated to the time of the first collision, and the collision response is applied. In each simulation cycle, all potentially colliding objects are tested for collision. ![]() A better technique would be to drive the simulation loop directly from a timer. However, due to its inherent lag, this had the undesired effect of the simulation loop attempting to speed up after the program had lost processor time. An attempt was made to track the frame rate, so that the simulation cycle period would be independent of the processor speed and screen size. The simulation loop repeats at about 1000 cycles per second by running at a fixed rate of 16 cycles per frame. The following list of features has been implemented. All of the compulsory components and the extensions have been implemented. The program has been written in C++ using the OpenGL and GLUT libraries. The aim of this assessment was to develop a virtual environment for the game of ShufflePuck using physically based modelling techniques. ![]()
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