o1

dist/diagrams/throw_o1.ts

@@ -0,0 +1,56 @@
+private static updateVelocities(a: Ball, b: Ball) {
+    const contact = Collision.positionsAtContact(a, b);
+    const ab = contact.b.clone().sub(contact.a).normalize(); // Normal vector
+
+    // Tangential vector (perpendicular to ab in the x,y plane)
+    const tangent = new Vector3(-ab.y, ab.x, 0);
+
+    // Relative velocity
+    const relativeVel = b.vel.clone().sub(a.vel);
+
+    // Relative velocity at contact point due to spin
+    const aSpinContribution = a.rvel.clone().cross(new Vector3(0, 0, RADIUS));
+    const bSpinContribution = b.rvel.clone().cross(new Vector3(0, 0, RADIUS));
+    const relativeSpinVel = bSpinContribution.clone().sub(aSpinContribution);
+
+    // Total relative velocity at contact
+    const v_rel = relativeVel.clone().add(relativeSpinVel);
+
+    // Decompose relative velocity into normal and tangential components
+    const v_rel_normal = ab.dot(v_rel);
+    const v_rel_tangent = tangent.dot(v_rel);
+
+    // Only proceed if balls are moving towards each other
+    if (v_rel_normal > 0) return;
+
+    // Calculate normal impulse (assuming perfectly elastic collision, restitution e = 1)
+    const e = 1; // Coefficient of restitution
+    const j_n = -(1 + e) * v_rel_normal / (2 / MASS);
+
+    // Apply normal impulse to linear velocities
+    const impulse_normal = ab.clone().multiplyScalar(j_n);
+    a.vel.sub(impulse_normal.clone().divideScalar(MASS));
+    b.vel.add(impulse_normal.clone().divideScalar(MASS));
+
+    // Calculate friction impulse
+    // Relative tangential velocity before impulse
+    let j_t = -v_rel_tangent / (2 / MASS + (RADIUS * RADIUS) / INERTIA);
+
+    // Clamp friction impulse to Coulomb's law
+    const j_t_max = MU * j_n;
+    if (Math.abs(j_t) > Math.abs(j_t_max)) {
+      j_t = -j_t_max * Math.sign(v_rel_tangent);
+    }
+
+    // Apply friction impulse to linear velocities
+    const impulse_tangent = tangent.clone().multiplyScalar(j_t);
+    a.vel.sub(impulse_tangent.clone().divideScalar(MASS));
+    b.vel.add(impulse_tangent.clone().divideScalar(MASS));
+
+    // Apply friction impulse to angular velocities
+    a.rvel.sub(new Vector3(0, 0, j_t * RADIUS / INERTIA));
+    b.rvel.add(new Vector3(0, 0, j_t * RADIUS / INERTIA));
+
+    // **Optional:** Incorporate throw effects based on post-collision velocities
+    // This can involve further calculations if you want to adjust positions or apply additional physics.
+  }