tasty restructuring
parent
a53677ba02
commit
a3eec5c01c
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@ -1,75 +1,61 @@
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using Microsoft.Xna.Framework;
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using MoonTools.Core.Structs;
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using System;
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using MoonTools.Core.Bonk.Extensions;
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namespace MoonTools.Core.Bonk
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{
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public static class GJK2D
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{
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public static bool TestCollision(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
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{
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var minkowskiDifference = new MinkowskiDifference(shapeA, transformA, shapeB, transformB);
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return OriginInside(minkowskiDifference);
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}
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public static (bool, Simplex) CollisionAndSimplex(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
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{
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var minkowskiDifference = new MinkowskiDifference(shapeA, transformA, shapeB, transformB);
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var (collision, a, b) = OriginInsideWithSimplex(minkowskiDifference);
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var polytope = new Simplex(minkowskiDifference, a, b);
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return (collision, polytope);
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}
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private static Vector2 MinkowskiDifference(Vector2 direction, IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
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{
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return shapeA.Support(direction, transformA) - shapeB.Support(-direction, transformB);
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}
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private static bool OriginInside(MinkowskiDifference minkowskiDifference)
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{
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var a = minkowskiDifference.Support(Vector2.UnitX);
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var b = minkowskiDifference.Support(-a);
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return Vector2.Dot(a, b) > 0 ? false : CheckSimplex(minkowskiDifference.Support, a, b);
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return Vector2.Dot(a, b) > 0 ? false : CheckSimplex(new Simplex(minkowskiDifference, a, b));
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}
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private static (bool, Vector2, Vector2) OriginInsideWithSimplex(MinkowskiDifference minkowskiDifference)
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private static bool CheckSimplex(Simplex simplex)
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{
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var a = minkowskiDifference.Support(Vector2.UnitX);
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var b = minkowskiDifference.Support(-a);
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var a = simplex.DirectionA;
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var b = simplex.DirectionB;
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return Vector2.Dot(a, b) > 0 ? (false, a, b) : Simplex(minkowskiDifference.Support, a, b);
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}
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private static bool CheckSimplex(Func<Vector2, Vector2> support, Vector2 a, Vector2 b)
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{
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var axb = a.Cross(b);
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var c = support((b - a).Perpendicular());
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var c = simplex.Support((b - a).Perpendicular());
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var axc = a.Cross(c);
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var bxc = b.Cross(c);
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var cxb = -bxc;
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return (b - a) == Vector2.Zero || (axb.Y > 0 != bxc.Y > 0 ? CheckSimplex(support, b, c) : (axc.Y > 0 != cxb.Y > 0 ? CheckSimplex(support, a, c) : true));
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return (b - a) == Vector2.Zero || (axb.Y > 0 != bxc.Y > 0 ? CheckSimplex(simplex.WithDirections(b, c)) : (axc.Y > 0 != cxb.Y > 0 ? CheckSimplex(simplex.WithDirections(a, c)) : true));
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}
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private static (bool, Vector2, Vector2) Simplex(Func<Vector2, Vector2> support, Vector2 a, Vector2 b)
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public static (bool, Simplex) FindCollisionSimplex(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
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{
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var minkowskiDifference = new MinkowskiDifference(shapeA, transformA, shapeB, transformB);
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var a = minkowskiDifference.Support(Vector2.UnitX);
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var b = minkowskiDifference.Support(-a);
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return Vector2.Dot(a, b) > 0 ? (false, default(Simplex)) : Simplex(new Simplex(minkowskiDifference, a, b));
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}
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private static (bool, Simplex) Simplex(Simplex simplex)
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{
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var a = simplex.DirectionA;
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var b = simplex.DirectionB;
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if ((b - a) == Vector2.Zero)
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{
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return (false, a, b);
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return (false, simplex.WithDirections(a, b));
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}
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else
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{
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var c = support((b - a).Perpendicular());
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var c = simplex.Support((b - a).Perpendicular());
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var axb = a.Cross(b);
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var bxc = b.Cross(c);
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if (axb.Y > 0 != bxc.Y > 0)
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{
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return Simplex(support, b, c);
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return Simplex(simplex.WithDirections(b, c));
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}
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else
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{
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@ -78,11 +64,11 @@ namespace MoonTools.Core.Bonk
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if (axc.Y > 0 != cxb.Y > 0)
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{
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return Simplex(support, a, b);
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return Simplex(simplex.WithDirections(a, b));
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}
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else
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{
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return (true, a, b);
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return (true, simplex.WithDirections(a, b));
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}
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}
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}
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@ -11,6 +11,9 @@ namespace MoonTools.Core.Bonk
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Vector2 directionA;
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Vector2 directionB;
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public Vector2 DirectionA { get { return directionA; } }
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public Vector2 DirectionB { get { return directionB; } }
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public Simplex(MinkowskiDifference minkowskiDifference, Vector2 directionA, Vector2 directionB)
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{
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this.minkowskiDifference = minkowskiDifference;
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@ -18,6 +21,11 @@ namespace MoonTools.Core.Bonk
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this.directionB = directionB;
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}
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public Simplex WithDirections(Vector2 a, Vector2 b)
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{
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return new Simplex(minkowskiDifference, a, b);
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}
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public IEnumerable<Position2D> Vertices
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{
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get
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@ -18,7 +18,7 @@ namespace Tests
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var squareB = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
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var transformB = new Transform2D(new Vector2(1.5f, 0));
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var (result, simplex) = GJK2D.CollisionAndSimplex(squareA, transformA, squareB, transformB);
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var (result, simplex) = GJK2D.FindCollisionSimplex(squareA, transformA, squareB, transformB);
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result.Should().BeTrue();
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@ -36,7 +36,7 @@ namespace Tests
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var circleB = new Circle(1);
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var transformB = new Transform2D(new Vector2(1, 1));
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var (result, simplex) = GJK2D.CollisionAndSimplex(circleA, transformA, circleB, transformB);
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var (result, simplex) = GJK2D.FindCollisionSimplex(circleA, transformA, circleB, transformB);
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result.Should().BeTrue();
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@ -57,7 +57,7 @@ namespace Tests
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var square = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
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var transformB = Transform2D.DefaultTransform;
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var (result, simplex) = GJK2D.CollisionAndSimplex(line, transformA, square, transformB);
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var (result, simplex) = GJK2D.FindCollisionSimplex(line, transformA, square, transformB);
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result.Should().BeTrue();
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