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MoonTools.Bonk
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restructure files

pull/2/head
Evan Hemsley 2019-10-25 12:42:39 -07:00
parent 20872021fc
commit a53677ba02
8 changed files with 97 additions and 83 deletions
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80
Bonk/GJK2D.cs
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@ -2,90 +2,10 @@
using MoonTools.Core.Structs;
using System;
using MoonTools.Core.Bonk.Extensions;
using System.Collections.Generic;
namespace MoonTools.Core.Bonk
{
public struct MinkowskiDifference : IEquatable<MinkowskiDifference>
{
private IShape2D shapeA;
private Transform2D transformA;
private IShape2D shapeB;
private Transform2D transformB;
public MinkowskiDifference(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
{
this.shapeA = shapeA;
this.transformA = transformA;
this.shapeB = shapeB;
this.transformB = transformB;
}
public bool Equals(MinkowskiDifference other)
{
return
shapeA == other.shapeA &&
transformA.Equals(other.transformA) &&
shapeB == other.shapeB &&
transformB.Equals(other.transformB);
}
public Vector2 Support(Vector2 direction)
{
return shapeA.Support(direction, transformA) - shapeB.Support(-direction, transformB);
}
}
public struct Simplex : IShape2D
{
MinkowskiDifference minkowskiDifference;
Vector2 directionA;
Vector2 directionB;
public Simplex(MinkowskiDifference minkowskiDifference, Vector2 directionA, Vector2 directionB)
{
this.minkowskiDifference = minkowskiDifference;
this.directionA = directionA;
this.directionB = directionB;
}
public IEnumerable<Position2D> Vertices
{
get
{
yield return (Position2D)Support(directionA);
yield return (Position2D)Support(directionB);
yield return (Position2D)Support(-(directionB - directionA).Perpendicular());
}
}
public AABB AABB(Transform2D transform)
{
return Bonk.AABB.FromTransformedVertices(Vertices, transform);
}
public bool Equals(IShape2D other)
{
if (other is Simplex polytope)
{
return minkowskiDifference.Equals(polytope.minkowskiDifference) &&
directionA == polytope.directionA &&
directionB == polytope.directionB;
}
return false;
}
public Vector2 Support(Vector2 direction)
{
return minkowskiDifference.Support(direction);
}
public Vector2 Support(Vector2 direction, Transform2D transform)
{
return Vector2.Transform(Support(direction), transform.TransformMatrix);
}
}
public static class GJK2D
{

36
Bonk/MinkowskiDifference.cs Normal file
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@ -0,0 +1,36 @@
using System;
using Microsoft.Xna.Framework;
using MoonTools.Core.Structs;
namespace MoonTools.Core.Bonk
{
public struct MinkowskiDifference : IEquatable<MinkowskiDifference>
{
private IShape2D shapeA;
private Transform2D transformA;
private IShape2D shapeB;
private Transform2D transformB;
public MinkowskiDifference(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
{
this.shapeA = shapeA;
this.transformA = transformA;
this.shapeB = shapeB;
this.transformB = transformB;
}
public bool Equals(MinkowskiDifference other)
{
return
shapeA == other.shapeA &&
transformA.Equals(other.transformA) &&
shapeB == other.shapeB &&
transformB.Equals(other.transformB);
}
public Vector2 Support(Vector2 direction)
{
return shapeA.Support(direction, transformA) - shapeB.Support(-direction, transformB);
}
}
}

0
Bonk/Circle.cs → Bonk/Shapes/Circle.cs
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0
Bonk/Line.cs → Bonk/Shapes/Line.cs
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0
Bonk/Polygon.cs → Bonk/Shapes/Polygon.cs
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0
Bonk/Rectangle.cs → Bonk/Shapes/Rectangle.cs
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58
Bonk/Shapes/Simplex.cs Normal file
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@ -0,0 +1,58 @@
using System.Collections.Generic;
using Microsoft.Xna.Framework;
using MoonTools.Core.Structs;
using MoonTools.Core.Bonk.Extensions;
namespace MoonTools.Core.Bonk
{
public struct Simplex : IShape2D
{
MinkowskiDifference minkowskiDifference;
Vector2 directionA;
Vector2 directionB;
public Simplex(MinkowskiDifference minkowskiDifference, Vector2 directionA, Vector2 directionB)
{
this.minkowskiDifference = minkowskiDifference;
this.directionA = directionA;
this.directionB = directionB;
}
public IEnumerable<Position2D> Vertices
{
get
{
yield return (Position2D)Support(directionA);
yield return (Position2D)Support(directionB);
yield return (Position2D)Support(-(directionB - directionA).Perpendicular());
}
}
public AABB AABB(Transform2D transform)
{
return Bonk.AABB.FromTransformedVertices(Vertices, transform);
}
public bool Equals(IShape2D other)
{
if (other is Simplex polytope)
{
return minkowskiDifference.Equals(polytope.minkowskiDifference) &&
directionA == polytope.directionA &&
directionB == polytope.directionB;
}
return false;
}
public Vector2 Support(Vector2 direction)
{
return minkowskiDifference.Support(direction);
}
public Vector2 Support(Vector2 direction, Transform2D transform)
{
return Vector2.Transform(Support(direction), transform.TransformMatrix);
}
}
}

6
Bonk/Vector2Extensions.cs
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@ -2,15 +2,15 @@ using Microsoft.Xna.Framework;
namespace MoonTools.Core.Bonk.Extensions
{
public static class Vector2Extensions
internal static class Vector2Extensions
{
public static Vector2 Cross(this Vector2 a, Vector2 b)
internal static Vector2 Cross(this Vector2 a, Vector2 b)
{
var vec3 = Vector3.Cross(new Vector3(a.X, a.Y, 0), new Vector3(b.X, b.Y, 0));
return new Vector2(vec3.X, vec3.Y);
}
public static Vector2 Perpendicular(this Vector2 v)
internal static Vector2 Perpendicular(this Vector2 v)
{
return new Vector2(v.Y, -v.X);
}