merge GJK2D and EPA2D into narrow phase class + optimize EPA2D with unsafe
Evan Hemsley
parent
229cdfac74
commit
0ad7d34a18
|
|
@ -16,6 +16,11 @@ namespace MoonTools.Core.Bonk
|
|||
public float Width { get { return Max.X - Min.X; } }
|
||||
public float Height { get { return Max.Y - Min.Y; } }
|
||||
|
||||
public float Right { get { return Max.X; } }
|
||||
public float Left { get { return Min.X; } }
|
||||
public float Top { get { return Min.Y; } }
|
||||
public float Bottom { get { return Max.Y; } }
|
||||
|
||||
public AABB(float minX, float minY, float maxX, float maxY)
|
||||
{
|
||||
Min = new Vector2(minX, minY);
|
||||
|
|
|
|||
|
|
@ -13,6 +13,7 @@
|
|||
<AssemblyName>MoonTools.Core.Bonk</AssemblyName>
|
||||
<PackageLicenseExpression>LGPL-3.0-only</PackageLicenseExpression>
|
||||
<PackageProjectUrl>https://github.com/MoonsideGames/MoonTools.Core.Bonk</PackageProjectUrl>
|
||||
<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
|
||||
</PropertyGroup>
|
||||
<ItemGroup>
|
||||
<PackageReference Include="Microsoft.CodeAnalysis.FxCopAnalyzers" Version="2.9.8">
|
||||
|
|
|
|||
|
|
@ -1,103 +0,0 @@
|
|||
/*
|
||||
* Implementation of the Expanding Polytope Algorithm
|
||||
* as based on the following blog post:
|
||||
* https://blog.hamaluik.ca/posts/building-a-collision-engine-part-2-2d-penetration-vectors/
|
||||
*/
|
||||
|
||||
using MoonTools.Core.Structs;
|
||||
using System;
|
||||
using System.Collections.Immutable;
|
||||
using System.Linq;
|
||||
using System.Numerics;
|
||||
|
||||
namespace MoonTools.Core.Bonk
|
||||
{
|
||||
internal enum PolygonWinding
|
||||
{
|
||||
Clockwise,
|
||||
CounterClockwise
|
||||
}
|
||||
|
||||
public static class EPA2D
|
||||
{
|
||||
/// <summary>
|
||||
/// Returns a minimum separating vector in the direction from A to B.
|
||||
/// </summary>
|
||||
/// <param name="simplex">A simplex returned by the GJK algorithm.</param>
|
||||
public static Vector2 Intersect(IShape2D shapeA, Transform2D Transform2DA, IShape2D shapeB, Transform2D Transform2DB, Simplex2D simplex)
|
||||
{
|
||||
if (shapeA == null) { throw new ArgumentNullException(nameof(shapeA)); }
|
||||
if (shapeB == null) { throw new ArgumentNullException(nameof(shapeB)); }
|
||||
|
||||
var simplexVertices = simplex.Vertices.Select(vertex => vertex.ToVector2()).ToImmutableArray();
|
||||
|
||||
var e0 = (simplexVertices[1].X - simplexVertices[0].X) * (simplexVertices[1].Y + simplexVertices[0].Y);
|
||||
var e1 = (simplexVertices[2].X - simplexVertices[1].X) * (simplexVertices[2].Y + simplexVertices[1].Y);
|
||||
var e2 = (simplexVertices[0].X - simplexVertices[2].X) * (simplexVertices[0].Y + simplexVertices[2].Y);
|
||||
var winding = e0 + e1 + e2 >= 0 ? PolygonWinding.Clockwise : PolygonWinding.CounterClockwise;
|
||||
|
||||
Vector2 intersection = default;
|
||||
|
||||
for (int i = 0; i < 32; i++)
|
||||
{
|
||||
var edge = FindClosestEdge(winding, simplexVertices);
|
||||
var support = CalculateSupport(shapeA, Transform2DA, shapeB, Transform2DB, edge.normal);
|
||||
var distance = Vector2.Dot(support, edge.normal);
|
||||
|
||||
intersection = edge.normal;
|
||||
intersection *= distance;
|
||||
|
||||
if (Math.Abs(distance - edge.distance) <= float.Epsilon)
|
||||
{
|
||||
return intersection;
|
||||
}
|
||||
else
|
||||
{
|
||||
simplexVertices = simplexVertices.Insert(edge.index, support);
|
||||
}
|
||||
}
|
||||
|
||||
return intersection;
|
||||
}
|
||||
|
||||
private static Edge FindClosestEdge(PolygonWinding winding, ImmutableArray<Vector2> simplexVertices)
|
||||
{
|
||||
var closestDistance = float.PositiveInfinity;
|
||||
var closestNormal = Vector2.Zero;
|
||||
var closestIndex = 0;
|
||||
|
||||
for (int i = 0; i < simplexVertices.Length; i++)
|
||||
{
|
||||
var j = i + 1;
|
||||
if (j >= simplexVertices.Length) { j = 0; }
|
||||
Vector2 edge = simplexVertices[j] - simplexVertices[i];
|
||||
|
||||
Vector2 norm;
|
||||
if (winding == PolygonWinding.Clockwise)
|
||||
{
|
||||
norm = Vector2.Normalize(new Vector2(edge.Y, -edge.X));
|
||||
}
|
||||
else
|
||||
{
|
||||
norm = Vector2.Normalize(new Vector2(-edge.Y, edge.X));
|
||||
}
|
||||
|
||||
var dist = Vector2.Dot(norm, simplexVertices[i]);
|
||||
|
||||
if (dist < closestDistance)
|
||||
{
|
||||
closestDistance = dist;
|
||||
closestNormal = norm;
|
||||
closestIndex = j;
|
||||
}
|
||||
}
|
||||
|
||||
return new Edge(closestDistance, closestNormal, closestIndex);
|
||||
}
|
||||
|
||||
private static Vector2 CalculateSupport(IShape2D shapeA, Transform2D Transform2DA, IShape2D shapeB, Transform2D Transform2DB, Vector2 direction)
|
||||
{
|
||||
return shapeA.Support(direction, Transform2DA) - shapeB.Support(-direction, Transform2DB);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,145 +0,0 @@
|
|||
using MoonTools.Core.Structs;
|
||||
using MoonTools.Core.Bonk.Extensions;
|
||||
using System.Numerics;
|
||||
|
||||
namespace MoonTools.Core.Bonk
|
||||
{
|
||||
public static class GJK2D
|
||||
{
|
||||
/// <summary>
|
||||
/// Tests if the two shape-transform pairs are overlapping.
|
||||
/// </summary>
|
||||
public static bool TestCollision(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
|
||||
{
|
||||
return FindCollisionSimplex(shapeA, transformA, shapeB, transformB).Item1;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Tests if the two shape-transform pairs are overlapping, and returns a simplex that can be used by the EPA algorithm to determine a miminum separating vector.
|
||||
/// </summary>
|
||||
public static (bool, Simplex2D) FindCollisionSimplex(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
|
||||
{
|
||||
var minkowskiDifference = new MinkowskiDifference(shapeA, transformA, shapeB, transformB);
|
||||
var c = minkowskiDifference.Support(Vector2.UnitX);
|
||||
var b = minkowskiDifference.Support(-Vector2.UnitX);
|
||||
return Check(minkowskiDifference, c, b);
|
||||
}
|
||||
|
||||
private static (bool, Simplex2D) Check(MinkowskiDifference minkowskiDifference, Vector2 c, Vector2 b)
|
||||
{
|
||||
var cb = c - b;
|
||||
var c0 = -c;
|
||||
var d = Direction(cb, c0);
|
||||
return DoSimplex(minkowskiDifference, new Simplex2D(b, c), d);
|
||||
}
|
||||
|
||||
private static (bool, Simplex2D) DoSimplex(MinkowskiDifference minkowskiDifference, Simplex2D simplex, Vector2 direction)
|
||||
{
|
||||
var a = minkowskiDifference.Support(direction);
|
||||
var notPastOrigin = Vector2.Dot(a, direction) < 0;
|
||||
var (intersects, newSimplex, newDirection) = EnclosesOrigin(a, simplex);
|
||||
|
||||
if (notPastOrigin)
|
||||
{
|
||||
return (false, default(Simplex2D));
|
||||
}
|
||||
else if (intersects)
|
||||
{
|
||||
return (true, new Simplex2D(simplex.A, simplex.B.Value, a));
|
||||
}
|
||||
else
|
||||
{
|
||||
return DoSimplex(minkowskiDifference, newSimplex, newDirection);
|
||||
}
|
||||
}
|
||||
|
||||
private static (bool, Simplex2D, Vector2) EnclosesOrigin(Vector2 a, Simplex2D simplex)
|
||||
{
|
||||
if (simplex.ZeroSimplex)
|
||||
{
|
||||
return HandleZeroSimplex(a, simplex.A);
|
||||
}
|
||||
else if (simplex.OneSimplex)
|
||||
{
|
||||
return HandleOneSimplex(a, simplex.A, simplex.B.Value);
|
||||
}
|
||||
else
|
||||
{
|
||||
return (false, simplex, Vector2.Zero);
|
||||
}
|
||||
}
|
||||
|
||||
private static (bool, Simplex2D, Vector2) HandleZeroSimplex(Vector2 a, Vector2 b)
|
||||
{
|
||||
var ab = b - a;
|
||||
var a0 = -a;
|
||||
var (newSimplex, newDirection) = SameDirection(ab, a0) ? (new Simplex2D(a, b), Perpendicular(ab, a0)) : (new Simplex2D(a), a0);
|
||||
return (false, newSimplex, newDirection);
|
||||
}
|
||||
|
||||
private static (bool, Simplex2D, Vector2) HandleOneSimplex(Vector2 a, Vector2 b, Vector2 c)
|
||||
{
|
||||
var a0 = -a;
|
||||
var ab = b - a;
|
||||
var ac = c - a;
|
||||
var abp = Perpendicular(ab, -ac);
|
||||
var acp = Perpendicular(ac, -ab);
|
||||
|
||||
if (SameDirection(abp, a0))
|
||||
{
|
||||
if (SameDirection(ab, a0))
|
||||
{
|
||||
return (false, new Simplex2D(a, b), abp);
|
||||
}
|
||||
else
|
||||
{
|
||||
return (false, new Simplex2D(a), a0);
|
||||
}
|
||||
}
|
||||
else if (SameDirection(acp, a0))
|
||||
{
|
||||
if (SameDirection(ac, a0))
|
||||
{
|
||||
return (false, new Simplex2D(a, c), acp);
|
||||
}
|
||||
else
|
||||
{
|
||||
return (false, new Simplex2D(a), a0);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return (true, new Simplex2D(b, c), a0);
|
||||
}
|
||||
}
|
||||
|
||||
private static Vector2 TripleProduct(Vector2 a, Vector2 b, Vector2 c)
|
||||
{
|
||||
var A = new Vector3(a.X, a.Y, 0);
|
||||
var B = new Vector3(b.X, b.Y, 0);
|
||||
var C = new Vector3(c.X, c.Y, 0);
|
||||
|
||||
var first = Vector3.Cross(A, B);
|
||||
var second = Vector3.Cross(first, C);
|
||||
|
||||
return new Vector2(second.X, second.Y);
|
||||
}
|
||||
|
||||
private static Vector2 Direction(Vector2 a, Vector2 b)
|
||||
{
|
||||
var d = TripleProduct(a, b, a);
|
||||
var collinear = d == Vector2.Zero;
|
||||
return collinear ? new Vector2(a.Y, -a.X) : d;
|
||||
}
|
||||
|
||||
private static bool SameDirection(Vector2 a, Vector2 b)
|
||||
{
|
||||
return Vector2.Dot(a, b) > 0;
|
||||
}
|
||||
|
||||
private static Vector2 Perpendicular(Vector2 a, Vector2 b)
|
||||
{
|
||||
return TripleProduct(a, b, a);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,300 @@
|
|||
using MoonTools.Core.Structs;
|
||||
using System.Numerics;
|
||||
using System.Collections.Generic;
|
||||
|
||||
namespace MoonTools.Core.Bonk
|
||||
{
|
||||
internal unsafe struct SimplexVertexBuffer
|
||||
{
|
||||
private const int Size = 35;
|
||||
|
||||
public int Length { get; private set; }
|
||||
|
||||
public SimplexVertexBuffer(IEnumerable<Position2D> positions)
|
||||
{
|
||||
var i = 0;
|
||||
foreach (var position in positions)
|
||||
{
|
||||
if (i == Size) { break; }
|
||||
var vertex = position.ToVector2();
|
||||
_simplexXBuffer[i] = vertex.X;
|
||||
_simplexYBuffer[i] = vertex.Y;
|
||||
i++;
|
||||
}
|
||||
Length = i;
|
||||
}
|
||||
|
||||
public Vector2 this[int key]
|
||||
{
|
||||
get => new Vector2(_simplexXBuffer[key], _simplexYBuffer[key]);
|
||||
private set
|
||||
{
|
||||
_simplexXBuffer[key] = value.X;
|
||||
_simplexYBuffer[key] = value.Y;
|
||||
}
|
||||
}
|
||||
|
||||
public void Insert(int index, Vector2 value)
|
||||
{
|
||||
for (var i = Length; i > index; i--)
|
||||
{
|
||||
this[i] = this[i - 1];
|
||||
}
|
||||
this[index] = value;
|
||||
Length++;
|
||||
}
|
||||
|
||||
private fixed float _simplexXBuffer[Size];
|
||||
private fixed float _simplexYBuffer[Size];
|
||||
}
|
||||
|
||||
public static class NarrowPhase
|
||||
{
|
||||
private enum PolygonWinding
|
||||
{
|
||||
Clockwise,
|
||||
CounterClockwise
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Tests if the two shape-transform pairs are overlapping.
|
||||
/// </summary>
|
||||
public static bool TestCollision(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
|
||||
{
|
||||
if (shapeA is Rectangle rectangleA && shapeB is Rectangle rectangleB && transformA.Rotation == 0 && transformB.Rotation == 0)
|
||||
{
|
||||
return TestRectangleOverlap(rectangleA, transformA, rectangleB, transformB);
|
||||
}
|
||||
return FindCollisionSimplex(shapeA, transformA, shapeB, transformB).Item1;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Fast path for overlapping rectangles. If the transforms have non-zero rotation this will be inaccurate.
|
||||
/// </summary>
|
||||
/// <param name="rectangleA"></param>
|
||||
/// <param name="transformA"></param>
|
||||
/// <param name="rectangleB"></param>
|
||||
/// <param name="transformB"></param>
|
||||
/// <returns></returns>
|
||||
public static bool TestRectangleOverlap(Rectangle rectangleA, Transform2D transformA, Rectangle rectangleB, Transform2D transformB)
|
||||
{
|
||||
var firstAABB = rectangleA.TransformedAABB(transformA);
|
||||
var secondAABB = rectangleB.TransformedAABB(transformB);
|
||||
|
||||
return firstAABB.Left <= secondAABB.Right && firstAABB.Right >= secondAABB.Left && firstAABB.Top <= secondAABB.Bottom && firstAABB.Bottom >= secondAABB.Top;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Tests if the two shape-transform pairs are overlapping, and returns a simplex that can be used by the EPA algorithm to determine a miminum separating vector.
|
||||
/// </summary>
|
||||
public static (bool, Simplex2D) FindCollisionSimplex(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
|
||||
{
|
||||
var minkowskiDifference = new MinkowskiDifference(shapeA, transformA, shapeB, transformB);
|
||||
var c = minkowskiDifference.Support(Vector2.UnitX);
|
||||
var b = minkowskiDifference.Support(-Vector2.UnitX);
|
||||
return Check(minkowskiDifference, c, b);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Returns a minimum separating vector in the direction from A to B.
|
||||
/// </summary>
|
||||
/// <param name="simplex">A simplex returned by the GJK algorithm.</param>
|
||||
public unsafe static Vector2 Intersect(IShape2D shapeA, Transform2D Transform2DA, IShape2D shapeB, Transform2D Transform2DB, Simplex2D simplex)
|
||||
{
|
||||
if (shapeA == null) { throw new System.ArgumentNullException(nameof(shapeA)); }
|
||||
if (shapeB == null) { throw new System.ArgumentNullException(nameof(shapeB)); }
|
||||
if (!simplex.TwoSimplex) { throw new System.ArgumentException("Simplex must be a 2-Simplex.", nameof(simplex)); }
|
||||
|
||||
var a = simplex.A;
|
||||
var b = simplex.B.Value;
|
||||
var c = simplex.C.Value;
|
||||
|
||||
var e0 = (b.X - a.X) * (b.Y + a.Y);
|
||||
var e1 = (c.X - b.X) * (c.Y + b.Y);
|
||||
var e2 = (a.X - c.X) * (a.Y + c.Y);
|
||||
var winding = e0 + e1 + e2 >= 0 ? PolygonWinding.Clockwise : PolygonWinding.CounterClockwise;
|
||||
|
||||
var simplexVertices = new SimplexVertexBuffer(simplex.Vertices);
|
||||
|
||||
Vector2 intersection = default;
|
||||
|
||||
for (var i = 0; i < 32; i++)
|
||||
{
|
||||
var edge = FindClosestEdge(winding, simplexVertices);
|
||||
var support = CalculateSupport(shapeA, Transform2DA, shapeB, Transform2DB, edge.normal);
|
||||
var distance = Vector2.Dot(support, edge.normal);
|
||||
|
||||
intersection = edge.normal;
|
||||
intersection *= distance;
|
||||
|
||||
if (System.Math.Abs(distance - edge.distance) <= float.Epsilon)
|
||||
{
|
||||
return intersection;
|
||||
}
|
||||
else
|
||||
{
|
||||
simplexVertices.Insert(edge.index, support);
|
||||
}
|
||||
}
|
||||
|
||||
return intersection;
|
||||
}
|
||||
|
||||
private static Edge FindClosestEdge(PolygonWinding winding, SimplexVertexBuffer simplexVertices)
|
||||
{
|
||||
var closestDistance = float.PositiveInfinity;
|
||||
var closestNormal = Vector2.Zero;
|
||||
var closestIndex = 0;
|
||||
|
||||
for (var i = 0; i < simplexVertices.Length; i++)
|
||||
{
|
||||
var j = i + 1;
|
||||
if (j >= simplexVertices.Length) { j = 0; }
|
||||
var edge = simplexVertices[j] - simplexVertices[i];
|
||||
|
||||
Vector2 norm;
|
||||
if (winding == PolygonWinding.Clockwise)
|
||||
{
|
||||
norm = Vector2.Normalize(new Vector2(edge.Y, -edge.X));
|
||||
}
|
||||
else
|
||||
{
|
||||
norm = Vector2.Normalize(new Vector2(-edge.Y, edge.X));
|
||||
}
|
||||
|
||||
var dist = Vector2.Dot(norm, simplexVertices[i]);
|
||||
|
||||
if (dist < closestDistance)
|
||||
{
|
||||
closestDistance = dist;
|
||||
closestNormal = norm;
|
||||
closestIndex = j;
|
||||
}
|
||||
}
|
||||
|
||||
return new Edge(closestDistance, closestNormal, closestIndex);
|
||||
}
|
||||
|
||||
private static Vector2 CalculateSupport(IShape2D shapeA, Transform2D Transform2DA, IShape2D shapeB, Transform2D Transform2DB, Vector2 direction)
|
||||
{
|
||||
return shapeA.Support(direction, Transform2DA) - shapeB.Support(-direction, Transform2DB);
|
||||
}
|
||||
|
||||
private static (bool, Simplex2D) Check(MinkowskiDifference minkowskiDifference, Vector2 c, Vector2 b)
|
||||
{
|
||||
var cb = c - b;
|
||||
var c0 = -c;
|
||||
var d = Direction(cb, c0);
|
||||
return DoSimplex(minkowskiDifference, new Simplex2D(b, c), d);
|
||||
}
|
||||
|
||||
private static (bool, Simplex2D) DoSimplex(MinkowskiDifference minkowskiDifference, Simplex2D simplex, Vector2 direction)
|
||||
{
|
||||
var a = minkowskiDifference.Support(direction);
|
||||
var notPastOrigin = Vector2.Dot(a, direction) < 0;
|
||||
var (intersects, newSimplex, newDirection) = EnclosesOrigin(a, simplex);
|
||||
|
||||
if (notPastOrigin)
|
||||
{
|
||||
return (false, default(Simplex2D));
|
||||
}
|
||||
else if (intersects)
|
||||
{
|
||||
return (true, new Simplex2D(simplex.A, simplex.B.Value, a));
|
||||
}
|
||||
else
|
||||
{
|
||||
return DoSimplex(minkowskiDifference, newSimplex, newDirection);
|
||||
}
|
||||
}
|
||||
|
||||
private static (bool, Simplex2D, Vector2) EnclosesOrigin(Vector2 a, Simplex2D simplex)
|
||||
{
|
||||
if (simplex.ZeroSimplex)
|
||||
{
|
||||
return HandleZeroSimplex(a, simplex.A);
|
||||
}
|
||||
else if (simplex.OneSimplex)
|
||||
{
|
||||
return HandleOneSimplex(a, simplex.A, simplex.B.Value);
|
||||
}
|
||||
else
|
||||
{
|
||||
return (false, simplex, Vector2.Zero);
|
||||
}
|
||||
}
|
||||
|
||||
private static (bool, Simplex2D, Vector2) HandleZeroSimplex(Vector2 a, Vector2 b)
|
||||
{
|
||||
var ab = b - a;
|
||||
var a0 = -a;
|
||||
var (newSimplex, newDirection) = SameDirection(ab, a0) ? (new Simplex2D(a, b), Perpendicular(ab, a0)) : (new Simplex2D(a), a0);
|
||||
return (false, newSimplex, newDirection);
|
||||
}
|
||||
|
||||
private static (bool, Simplex2D, Vector2) HandleOneSimplex(Vector2 a, Vector2 b, Vector2 c)
|
||||
{
|
||||
var a0 = -a;
|
||||
var ab = b - a;
|
||||
var ac = c - a;
|
||||
var abp = Perpendicular(ab, -ac);
|
||||
var acp = Perpendicular(ac, -ab);
|
||||
|
||||
if (SameDirection(abp, a0))
|
||||
{
|
||||
if (SameDirection(ab, a0))
|
||||
{
|
||||
return (false, new Simplex2D(a, b), abp);
|
||||
}
|
||||
else
|
||||
{
|
||||
return (false, new Simplex2D(a), a0);
|
||||
}
|
||||
}
|
||||
else if (SameDirection(acp, a0))
|
||||
{
|
||||
if (SameDirection(ac, a0))
|
||||
{
|
||||
return (false, new Simplex2D(a, c), acp);
|
||||
}
|
||||
else
|
||||
{
|
||||
return (false, new Simplex2D(a), a0);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return (true, new Simplex2D(b, c), a0);
|
||||
}
|
||||
}
|
||||
|
||||
private static Vector2 TripleProduct(Vector2 a, Vector2 b, Vector2 c)
|
||||
{
|
||||
var A = new Vector3(a.X, a.Y, 0);
|
||||
var B = new Vector3(b.X, b.Y, 0);
|
||||
var C = new Vector3(c.X, c.Y, 0);
|
||||
|
||||
var first = Vector3.Cross(A, B);
|
||||
var second = Vector3.Cross(first, C);
|
||||
|
||||
return new Vector2(second.X, second.Y);
|
||||
}
|
||||
|
||||
private static Vector2 Direction(Vector2 a, Vector2 b)
|
||||
{
|
||||
var d = TripleProduct(a, b, a);
|
||||
var collinear = d == Vector2.Zero;
|
||||
return collinear ? new Vector2(a.Y, -a.X) : d;
|
||||
}
|
||||
|
||||
private static bool SameDirection(Vector2 a, Vector2 b)
|
||||
{
|
||||
return Vector2.Dot(a, b) > 0;
|
||||
}
|
||||
|
||||
private static Vector2 Perpendicular(Vector2 a, Vector2 b)
|
||||
{
|
||||
return TripleProduct(a, b, a);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -18,18 +18,18 @@ namespace Tests
|
|||
var squareB = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
|
||||
var transformB = new Transform2D(new Vector2(1.5f, 0));
|
||||
|
||||
var (result, simplex) = GJK2D.FindCollisionSimplex(squareA, transformA, squareB, transformB);
|
||||
var (result, simplex) = NarrowPhase.FindCollisionSimplex(squareA, transformA, squareB, transformB);
|
||||
|
||||
result.Should().BeTrue();
|
||||
|
||||
var intersection = EPA2D.Intersect(squareA, transformA, squareB, transformB, simplex);
|
||||
var intersection = NarrowPhase.Intersect(squareA, transformA, squareB, transformB, simplex);
|
||||
|
||||
intersection.X.Should().Be(1f);
|
||||
intersection.Y.Should().Be(0);
|
||||
|
||||
var movedTransform = new Transform2D(transformA.Position - (intersection * 1.01f)); // move a tiny bit past
|
||||
|
||||
GJK2D.TestCollision(squareA, movedTransform, squareB, transformB).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(squareA, movedTransform, squareB, transformB).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -40,11 +40,11 @@ namespace Tests
|
|||
var circleB = new Circle(1);
|
||||
var transformB = new Transform2D(new Vector2(1, 1));
|
||||
|
||||
var (result, simplex) = GJK2D.FindCollisionSimplex(circleA, transformA, circleB, transformB);
|
||||
var (result, simplex) = NarrowPhase.FindCollisionSimplex(circleA, transformA, circleB, transformB);
|
||||
|
||||
result.Should().BeTrue();
|
||||
|
||||
var intersection = EPA2D.Intersect(circleA, transformA, circleB, transformB, simplex);
|
||||
var intersection = NarrowPhase.Intersect(circleA, transformA, circleB, transformB, simplex);
|
||||
|
||||
var ix = (circleA.Radius * (float)Math.Cos(Math.PI / 4)) - ((circleB.Radius * (float)Math.Cos(5 * Math.PI / 4)) + transformB.Position.X);
|
||||
var iy = (circleA.Radius * (float)Math.Sin(Math.PI / 4)) - ((circleB.Radius * (float)Math.Sin(5 * Math.PI / 4)) + transformB.Position.Y);
|
||||
|
|
@ -54,7 +54,7 @@ namespace Tests
|
|||
|
||||
var movedTransform = new Transform2D(transformA.Position - (intersection * 1.01f)); // move a tiny bit past
|
||||
|
||||
GJK2D.TestCollision(circleA, movedTransform, circleB, transformB).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(circleA, movedTransform, circleB, transformB).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -65,15 +65,15 @@ namespace Tests
|
|||
var square = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
|
||||
var transformB = Transform2D.DefaultTransform;
|
||||
|
||||
var (result, simplex) = GJK2D.FindCollisionSimplex(line, transformA, square, transformB);
|
||||
var (result, simplex) = NarrowPhase.FindCollisionSimplex(line, transformA, square, transformB);
|
||||
|
||||
result.Should().BeTrue();
|
||||
|
||||
var intersection = EPA2D.Intersect(line, transformA, square, transformB, simplex);
|
||||
var intersection = NarrowPhase.Intersect(line, transformA, square, transformB, simplex);
|
||||
|
||||
var movedTransform = new Transform2D(transformA.Position - (intersection * 1.01f)); // move a tiny bit past
|
||||
|
||||
GJK2D.TestCollision(line, movedTransform, square, transformB).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(line, movedTransform, square, transformB).Should().BeFalse();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -16,7 +16,7 @@ namespace Tests
|
|||
var pointTransform = new Transform2D(new Position2D(4, 4));
|
||||
var line = new Line(new Position2D(-2, -2), new Position2D(2, 2));
|
||||
|
||||
GJK2D.TestCollision(point, pointTransform, line, Transform2D.DefaultTransform).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(point, pointTransform, line, Transform2D.DefaultTransform).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -25,7 +25,7 @@ namespace Tests
|
|||
var point = new Point(1, 1);
|
||||
var line = new Line(new Position2D(-3, -2), new Position2D(-9, -5));
|
||||
|
||||
GJK2D.TestCollision(point, Transform2D.DefaultTransform, line, Transform2D.DefaultTransform).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(point, Transform2D.DefaultTransform, line, Transform2D.DefaultTransform).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -37,7 +37,7 @@ namespace Tests
|
|||
var pointTransform = new Transform2D(new Position2D(1, 1));
|
||||
var circleTransform = new Transform2D(new Position2D(-1, 0));
|
||||
|
||||
GJK2D.TestCollision(point, pointTransform, circle, circleTransform).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(point, pointTransform, circle, circleTransform).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -47,7 +47,7 @@ namespace Tests
|
|||
var pointTransform = new Transform2D(new Position2D(3, 0));
|
||||
var circle = new Circle(1);
|
||||
|
||||
GJK2D.TestCollision(point, pointTransform, circle, Transform2D.DefaultTransform).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(point, pointTransform, circle, Transform2D.DefaultTransform).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -56,7 +56,7 @@ namespace Tests
|
|||
var point = new Point(1, 1);
|
||||
var rectangle = new Rectangle(-2, -2, 2, 2);
|
||||
|
||||
GJK2D.TestCollision(point, Transform2D.DefaultTransform, rectangle, Transform2D.DefaultTransform).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(point, Transform2D.DefaultTransform, rectangle, Transform2D.DefaultTransform).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -65,7 +65,7 @@ namespace Tests
|
|||
var point = new Point(5, 5);
|
||||
var rectangle = new Rectangle(-2, -2, 2, 2);
|
||||
|
||||
GJK2D.TestCollision(point, Transform2D.DefaultTransform, rectangle, Transform2D.DefaultTransform).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(point, Transform2D.DefaultTransform, rectangle, Transform2D.DefaultTransform).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -79,7 +79,7 @@ namespace Tests
|
|||
new Position2D(3, -2)
|
||||
));
|
||||
|
||||
GJK2D.TestCollision(point, Transform2D.DefaultTransform, polygon, Transform2D.DefaultTransform).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(point, Transform2D.DefaultTransform, polygon, Transform2D.DefaultTransform).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -93,7 +93,7 @@ namespace Tests
|
|||
new Position2D(3, -2)
|
||||
));
|
||||
|
||||
GJK2D.TestCollision(point, Transform2D.DefaultTransform, polygon, Transform2D.DefaultTransform).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(point, Transform2D.DefaultTransform, polygon, Transform2D.DefaultTransform).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -102,7 +102,7 @@ namespace Tests
|
|||
var lineA = new Line(new Position2D(-1, -1), new Position2D(1, 1));
|
||||
var lineB = new Line(new Position2D(-1, 1), new Position2D(1, -1));
|
||||
|
||||
GJK2D.TestCollision(lineA, Transform2D.DefaultTransform, lineB, Transform2D.DefaultTransform).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(lineA, Transform2D.DefaultTransform, lineB, Transform2D.DefaultTransform).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -113,7 +113,7 @@ namespace Tests
|
|||
|
||||
var transform = new Transform2D(new Position2D(0, 0), 0f, new Vector2(2, 2));
|
||||
|
||||
GJK2D.TestCollision(lineA, transform, lineB, transform).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(lineA, transform, lineB, transform).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -122,7 +122,7 @@ namespace Tests
|
|||
var lineA = new Line(new Position2D(0, 1), new Position2D(1, 0));
|
||||
var lineB = new Line(new Position2D(-1, -1), new Position2D(-2, -2));
|
||||
|
||||
GJK2D.TestCollision(lineA, Transform2D.DefaultTransform, lineB, Transform2D.DefaultTransform).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(lineA, Transform2D.DefaultTransform, lineB, Transform2D.DefaultTransform).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -133,7 +133,7 @@ namespace Tests
|
|||
|
||||
var transform = new Transform2D(new Position2D(0, 0), 0f, new Vector2(2, 2));
|
||||
|
||||
GJK2D.TestCollision(lineA, transform, lineB, transform).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(lineA, transform, lineB, transform).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -144,7 +144,7 @@ namespace Tests
|
|||
var circleB = new Circle(2);
|
||||
var transformB = new Transform2D(new Vector2(1, 1));
|
||||
|
||||
GJK2D.TestCollision(circleA, transformA, circleB, transformB).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(circleA, transformA, circleB, transformB).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -155,7 +155,7 @@ namespace Tests
|
|||
var circleB = new Circle(2);
|
||||
var transformB = new Transform2D(new Vector2(3, 0), 0f, new Vector2(2, 2));
|
||||
|
||||
GJK2D.TestCollision(circleA, transformA, circleB, transformB).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(circleA, transformA, circleB, transformB).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -166,7 +166,7 @@ namespace Tests
|
|||
var circleB = new Circle(2);
|
||||
var transformB = new Transform2D(new Vector2(5, 5));
|
||||
|
||||
GJK2D.TestCollision(circleA, transformA, circleB, transformB).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(circleA, transformA, circleB, transformB).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -177,7 +177,7 @@ namespace Tests
|
|||
var circleB = new Circle(2);
|
||||
var transformB = new Transform2D(new Vector2(5, 5), 0, new Vector2(0.2f, 0.2f));
|
||||
|
||||
GJK2D.TestCollision(circleA, transformA, circleB, transformB).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(circleA, transformA, circleB, transformB).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -197,7 +197,7 @@ namespace Tests
|
|||
|
||||
var transformB = new Transform2D(new Vector2(0.5f, 0.5f));
|
||||
|
||||
GJK2D.TestCollision(shapeA, transformA, shapeB, transformB).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(shapeA, transformA, shapeB, transformB).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -217,7 +217,7 @@ namespace Tests
|
|||
|
||||
var transformB = new Transform2D(new Vector2(3f, 0f), 0f, new Vector2(3f, 3f));
|
||||
|
||||
GJK2D.TestCollision(shapeA, transformA, shapeB, transformB).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(shapeA, transformA, shapeB, transformB).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -237,7 +237,7 @@ namespace Tests
|
|||
|
||||
var transformB = new Transform2D(new Vector2(5, 0));
|
||||
|
||||
GJK2D.TestCollision(shapeA, transformA, shapeB, transformB).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(shapeA, transformA, shapeB, transformB).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -257,7 +257,7 @@ namespace Tests
|
|||
|
||||
var transformB = new Transform2D(new Vector2(3f, 0), 0f, new Vector2(0.5f, 0.5f));
|
||||
|
||||
GJK2D.TestCollision(shapeA, transformA, shapeB, transformB).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(shapeA, transformA, shapeB, transformB).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -274,7 +274,7 @@ namespace Tests
|
|||
|
||||
var transformB = Transform2D.DefaultTransform;
|
||||
|
||||
GJK2D.TestCollision(line, transformA, polygon, transformB).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(line, transformA, polygon, transformB).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -291,7 +291,7 @@ namespace Tests
|
|||
|
||||
var transformB = Transform2D.DefaultTransform;
|
||||
|
||||
GJK2D.TestCollision(line, transformA, polygon, transformB).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(line, transformA, polygon, transformB).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -302,7 +302,7 @@ namespace Tests
|
|||
var circle = new Circle(1);
|
||||
var transformB = Transform2D.DefaultTransform;
|
||||
|
||||
GJK2D.TestCollision(line, transformA, circle, transformB).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(line, transformA, circle, transformB).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -313,7 +313,7 @@ namespace Tests
|
|||
var circle = new Circle(1);
|
||||
var transformB = Transform2D.DefaultTransform;
|
||||
|
||||
GJK2D.TestCollision(line, transformA, circle, transformB).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(line, transformA, circle, transformB).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -329,7 +329,7 @@ namespace Tests
|
|||
|
||||
var transformB = Transform2D.DefaultTransform;
|
||||
|
||||
GJK2D.TestCollision(circle, transformA, square, transformB).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(circle, transformA, square, transformB).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -344,7 +344,7 @@ namespace Tests
|
|||
));
|
||||
var squareTransform = Transform2D.DefaultTransform;
|
||||
|
||||
GJK2D.TestCollision(circle, circleTransform, square, squareTransform).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(circle, circleTransform, square, squareTransform).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -356,7 +356,7 @@ namespace Tests
|
|||
var rectangleB = new MoonTools.Core.Bonk.Rectangle(0, 0, 16, 16);
|
||||
var transformB = new Transform2D(new Position2D(16, 240));
|
||||
|
||||
GJK2D.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeFalse();
|
||||
NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeFalse();
|
||||
}
|
||||
|
||||
[Test]
|
||||
|
|
@ -368,11 +368,11 @@ namespace Tests
|
|||
var rectangleB = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
|
||||
var transformB = new Transform2D(new Vector2(1, 0));
|
||||
|
||||
GJK2D.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
public void RectanglesTouching()
|
||||
public void RectanglesTouchingGJK2D()
|
||||
{
|
||||
var rectangleA = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
|
||||
var transformA = new Transform2D(new Position2D(-1, 0));
|
||||
|
|
@ -380,7 +380,43 @@ namespace Tests
|
|||
var rectangleB = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
|
||||
var transformB = new Transform2D(new Vector2(1, 0));
|
||||
|
||||
GJK2D.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
|
||||
NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
public void RectanglesOverlappingGJK2D()
|
||||
{
|
||||
var rectangleA = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
|
||||
var transformA = new Transform2D(new Position2D(0, 0));
|
||||
|
||||
var rectangleB = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
|
||||
var transformB = new Transform2D(new Vector2(1, 0));
|
||||
|
||||
NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
public void RectanglesTouchingOverlap()
|
||||
{
|
||||
var rectangleA = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
|
||||
var transformA = new Transform2D(new Position2D(-1, 0));
|
||||
|
||||
var rectangleB = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
|
||||
var transformB = new Transform2D(new Vector2(1, 0));
|
||||
|
||||
NarrowPhase.TestRectangleOverlap(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
|
||||
}
|
||||
|
||||
[Test]
|
||||
public void RectanglesOverlappingOverlap()
|
||||
{
|
||||
var rectangleA = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
|
||||
var transformA = new Transform2D(new Position2D(0, 0));
|
||||
|
||||
var rectangleB = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
|
||||
var transformB = new Transform2D(new Vector2(1, 0));
|
||||
|
||||
NarrowPhase.TestRectangleOverlap(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue