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optimization for circle overlap + remove position data from point

generics
Evan Hemsley 2019-12-31 18:23:06 -08:00
parent 22d99e6b8d
commit f62c855c37
5 changed files with 84 additions and 51 deletions
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52
Bonk/NarrowPhase/NarrowPhase.cs
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@ -65,11 +65,23 @@ namespace MoonTools.Core.Bonk
{
return TestRectangleOverlap(rectangleA, transformA, rectangleB, transformB);
}
else if (shapeA is Point && shapeB is Rectangle && transformB.Rotation == 0)
{
return TestPointRectangleOverlap((Point)shapeA, transformA, (Rectangle)shapeB, transformB);
}
else if (shapeA is Rectangle && shapeB is Point && transformA.Rotation == 0)
{
return TestPointRectangleOverlap((Point)shapeB, transformB, (Rectangle)shapeA, transformA);
}
else if (shapeA is Circle circleA && shapeB is Circle circleB && transformA.Scale.X == transformA.Scale.Y && transformB.Scale.X == transformB.Scale.Y)
{
return TestCircleOverlap(circleA, transformA, circleB, 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.
/// Fast path for axis-aligned rectangles. If the transforms have non-zero rotation this will be inaccurate.
/// </summary>
/// <param name="rectangleA"></param>
/// <param name="transformA"></param>
@ -84,6 +96,44 @@ namespace MoonTools.Core.Bonk
return firstAABB.Left <= secondAABB.Right && firstAABB.Right >= secondAABB.Left && firstAABB.Top <= secondAABB.Bottom && firstAABB.Bottom >= secondAABB.Top;
}
/// <summary>
/// Fast path for overlapping point and axis-aligned rectangle. The rectangle transform must have non-zero rotation.
/// </summary>
/// <param name="point"></param>
/// <param name="pointTransform"></param>
/// <param name="rectangle"></param>
/// <param name="rectangleTransform"></param>
/// <returns></returns>
public static bool TestPointRectangleOverlap(Point point, Transform2D pointTransform, Rectangle rectangle, Transform2D rectangleTransform)
{
var transformedPoint = pointTransform.Position;
var AABB = rectangle.TransformedAABB(rectangleTransform);
return transformedPoint.X >= AABB.Left && transformedPoint.X <= AABB.Right && transformedPoint.Y <= AABB.Bottom && transformedPoint.Y >= AABB.Top;
}
/// <summary>
/// Fast path for overlapping circles. The circles must have uniform scaling.
/// </summary>
/// <param name="circleA"></param>
/// <param name="transformA"></param>
/// <param name="circleB"></param>
/// <param name="transformB"></param>
/// <returns></returns>
public static bool TestCircleOverlap(Circle circleA, Transform2D transformA, Circle circleB, Transform2D transformB)
{
var radiusA = circleA.Radius * transformA.Scale.X;
var radiusB = circleB.Radius * transformB.Scale.Y;
var centerA = transformA.Position;
var centerB = transformB.Position;
var distanceSquared = (centerA - centerB).LengthSquared();
var radiusSumSquared = (radiusA + radiusB) * (radiusA + radiusB);
return distanceSquared <= radiusSumSquared;
}
/// <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>

24
Bonk/Shapes/Point.cs
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@ -6,21 +6,9 @@ namespace MoonTools.Core.Bonk
{
public struct Point : IShape2D, IEquatable<Point>
{
private Position2D _position;
private Position2D Position { get; }
public AABB AABB { get; }
public Point(Position2D position)
{
_position = position;
AABB = new AABB(position, position);
}
public Point(int x, int y)
{
_position = new Position2D(x, y);
AABB = new AABB(x, y, x, y);
}
public AABB TransformedAABB(Transform2D transform)
{
return AABB.Transformed(AABB, transform);
@ -28,7 +16,7 @@ namespace MoonTools.Core.Bonk
public Vector2 Support(Vector2 direction, Transform2D transform)
{
return Vector2.Transform(_position.ToVector2(), transform.TransformMatrix);
return Vector2.Transform(Position.ToVector2(), transform.TransformMatrix);
}
public override bool Equals(object obj)
@ -43,22 +31,22 @@ namespace MoonTools.Core.Bonk
public bool Equals(Point other)
{
return _position == other._position;
return Position == other.Position;
}
public override int GetHashCode()
{
return HashCode.Combine(_position);
return HashCode.Combine(Position);
}
public static bool operator ==(Point a, Point b)
{
return a.Equals(b);
return true;
}
public static bool operator !=(Point a, Point b)
{
return !(a == b);
return false;
}
}
}

23
Test/Equality.cs
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@ -15,36 +15,27 @@ namespace Tests
[Test]
public void PointEqual()
{
var a = new Point(1, 1);
var b = new Point(1, 1);
var a = new Point();
var b = new Point();
a.Equals(b).Should().BeTrue();
}
[Test]
public void PointNotEqual()
{
var a = new Point(1, 1);
var b = new Point(-1, 1);
a.Equals(b).Should().BeFalse();
}
[Test]
public void PointEqualOperator()
{
var a = new Point(1, 1);
var b = new Point(1, 1);
var a = new Point();
var b = new Point();
(a == b).Should().BeTrue();
}
[Test]
public void PointNotEqualOperator()
{
var a = new Point(1, 1);
var b = new Point(-1, 1);
var a = new Point();
var b = new Point();
(a != b).Should().BeTrue();
(a != b).Should().BeFalse();
}
}

28
Test/GJK2DTest.cs
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@ -12,8 +12,8 @@ namespace Tests
[Test]
public void PointLineOverlapping()
{
var point = new Point(-3, -3);
var pointTransform = new Transform2D(new Position2D(4, 4));
var point = new Point();
var pointTransform = new Transform2D(new Position2D(1, 1));
var line = new Line(new Position2D(-2, -2), new Position2D(2, 2));
NarrowPhase.TestCollision(point, pointTransform, line, Transform2D.DefaultTransform).Should().BeTrue();
@ -22,10 +22,11 @@ namespace Tests
[Test]
public void PointLineNotOverlapping()
{
var point = new Point(1, 1);
var point = new Point();
var pointTransform = new Transform2D(new Position2D(1, 1));
var line = new Line(new Position2D(-3, -2), new Position2D(-9, -5));
NarrowPhase.TestCollision(point, Transform2D.DefaultTransform, line, Transform2D.DefaultTransform).Should().BeFalse();
NarrowPhase.TestCollision(point, pointTransform, line, Transform2D.DefaultTransform).Should().BeFalse();
}
[Test]
@ -43,7 +44,7 @@ namespace Tests
[Test]
public void PointCircleNotOverlapping()
{
var point = new Point(0, 0);
var point = new Point();
var pointTransform = new Transform2D(new Position2D(3, 0));
var circle = new Circle(1);
@ -53,7 +54,7 @@ namespace Tests
[Test]
public void PointRectangleOverlapping()
{
var point = new Point(1, 1);
var point = new Point();
var rectangle = new Rectangle(-2, -2, 2, 2);
NarrowPhase.TestCollision(point, Transform2D.DefaultTransform, rectangle, Transform2D.DefaultTransform).Should().BeTrue();
@ -62,16 +63,18 @@ namespace Tests
[Test]
public void PointRectangleNotOverlapping()
{
var point = new Point(5, 5);
var point = new Point();
var pointTransform = new Transform2D(new Position2D(5, 5));
var rectangle = new Rectangle(-2, -2, 2, 2);
NarrowPhase.TestCollision(point, Transform2D.DefaultTransform, rectangle, Transform2D.DefaultTransform).Should().BeFalse();
NarrowPhase.TestCollision(point, pointTransform, rectangle, Transform2D.DefaultTransform).Should().BeFalse();
}
[Test]
public void PointPolygonOverlapping()
{
var point = new Point(1, 1);
var point = new Point();
var pointTransform = new Transform2D(new Position2D(1, 1));
var polygon = new Polygon(ImmutableArray.Create(
new Position2D(-2, -2),
new Position2D(-3, 2),
@ -79,13 +82,14 @@ namespace Tests
new Position2D(3, -2)
));
NarrowPhase.TestCollision(point, Transform2D.DefaultTransform, polygon, Transform2D.DefaultTransform).Should().BeTrue();
NarrowPhase.TestCollision(point, pointTransform, polygon, Transform2D.DefaultTransform).Should().BeTrue();
}
[Test]
public void PointPolygonNotOverlapping()
{
var point = new Point(5, 5);
var point = new Point();
var pointTransform = new Transform2D(new Position2D(5, 5));
var polygon = new Polygon(ImmutableArray.Create(
new Position2D(-2, -2),
new Position2D(-3, 2),
@ -93,7 +97,7 @@ namespace Tests
new Position2D(3, -2)
));
NarrowPhase.TestCollision(point, Transform2D.DefaultTransform, polygon, Transform2D.DefaultTransform).Should().BeFalse();
NarrowPhase.TestCollision(point, pointTransform, polygon, Transform2D.DefaultTransform).Should().BeFalse();
}
[Test]

6
Test/SpatialHashTest.cs
View File

@ -1,4 +1,4 @@
using FluentAssertions;
using FluentAssertions;
using NUnit.Framework;
using MoonTools.Core.Structs;
using MoonTools.Core.Bonk;
@ -34,8 +34,8 @@ namespace Tests
var line = new Line(new Position2D(20, -4), new Position2D(22, -12));
var lineTransform = new Transform2D(new Vector2(0, 0));
var point = new Point(8, 8);
var pointTransform = Transform2D.DefaultTransform;
var point = new Point();
var pointTransform = new Transform2D(new Position2D(8, 8));
spatialHash.Insert(0, rectA, rectATransform);
spatialHash.Insert(1, rectB, rectBTransform);