func (c *Physics) Integrate(data *structs.Data, duration float64) {
if data.InvMass <= 0 {
return
}
if duration <= 0 {
panic("Duration cant be zero")
}
// update linear position
data.Position.Add(data.Velocity.Multiply(duration))
// Work out the acceleration from the force
resultingAcc := data.Acceleration.Clone()
resultingAcc.Add(data.Forces.Multiply(data.InvMass))
// update linear velocity from the acceleration
data.Velocity.Add(resultingAcc.Multiply(duration))
// impose drag
data.Velocity = data.Velocity.Multiply(math.Pow(data.Damping, duration))
// look in the direction where you want to go
data.Orientation = data.Velocity.ToOrientation()
// data.Orientation += data.Rotations * duration
// clear forces
c.Data.Forces.Clear()
}
