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MoonTools.Bonk
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fast AABB transformation

pull/4/head
Evan Hemsley 2019-12-29 22:19:10 -08:00
parent d9bc05ee32
commit f9df547302
10 changed files with 136 additions and 120 deletions
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98
Bonk/AABB.cs
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@ -1,4 +1,4 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Numerics; using System.Numerics;
using MoonTools.Core.Structs; using MoonTools.Core.Structs;
@ -10,50 +10,74 @@ namespace MoonTools.Core.Bonk
/// </summary> /// </summary>
public struct AABB : IEquatable<AABB> public struct AABB : IEquatable<AABB>
{ {
public float MinX { get; private set; } public Vector2 Min { get; private set; }
public float MinY { get; private set; } public Vector2 Max { get; private set; }
public float MaxX { get; private set; }
public float MaxY { get; private set; }
public float Width { get { return MaxX - MinX; } } public float Width { get { return Max.X - Min.X; } }
public float Height { get { return MaxY - MinY; } } public float Height { get { return Max.Y - Min.Y; } }
public static AABB FromTransformedVertices(IEnumerable<Position2D> vertices, Transform2D transform) public AABB(float minX, float minY, float maxX, float maxY)
{ {
float minX = float.MaxValue; Min = new Vector2(minX, minY);
float minY = float.MaxValue; Max = new Vector2(maxX, maxY);
float maxX = float.MinValue; }
float maxY = float.MinValue;
public AABB(Vector2 min, Vector2 max)
{
Min = min;
Max = max;
}
private static Matrix4x4 AbsoluteMatrix(Matrix4x4 matrix)
{
return new Matrix4x4
(
Math.Abs(matrix.M11), Math.Abs(matrix.M12), Math.Abs(matrix.M13), Math.Abs(matrix.M14),
Math.Abs(matrix.M21), Math.Abs(matrix.M22), Math.Abs(matrix.M23), Math.Abs(matrix.M24),
Math.Abs(matrix.M31), Math.Abs(matrix.M32), Math.Abs(matrix.M33), Math.Abs(matrix.M34),
Math.Abs(matrix.M41), Math.Abs(matrix.M42), Math.Abs(matrix.M43), Math.Abs(matrix.M44)
);
}
public static AABB Transformed(AABB aabb, Transform2D transform)
{
var center = (aabb.Min + aabb.Max) / 2f;
var extent = (aabb.Max - aabb.Min) / 2f;
var newCenter = Vector2.Transform(center, transform.TransformMatrix);
var newExtent = Vector2.TransformNormal(extent, AbsoluteMatrix(transform.TransformMatrix));
return new AABB(newCenter - newExtent, newCenter + newExtent);
}
public static AABB FromVertices(IEnumerable<Position2D> vertices)
{
var minX = float.MaxValue;
var minY = float.MaxValue;
var maxX = float.MinValue;
var maxY = float.MinValue;
foreach (var vertex in vertices) foreach (var vertex in vertices)
{ {
var transformedVertex = Vector2.Transform(vertex, transform.TransformMatrix); if (vertex.X < minX)
if (transformedVertex.X < minX)
{ {
minX = transformedVertex.X; minX = vertex.X;
} }
if (transformedVertex.Y < minY) if (vertex.Y < minY)
{ {
minY = transformedVertex.Y; minY = vertex.Y;
} }
if (transformedVertex.X > maxX) if (vertex.X > maxX)
{ {
maxX = transformedVertex.X; maxX = vertex.X;
} }
if (transformedVertex.Y > maxY) if (vertex.Y > maxY)
{ {
maxY = transformedVertex.Y; maxY = vertex.Y;
} }
} }
return new AABB return new AABB(minX, minY, maxX, maxY);
{
MinX = minX,
MinY = minY,
MaxX = maxX,
MaxY = maxY
};
} }
public override bool Equals(object obj) public override bool Equals(object obj)
@ -63,23 +87,13 @@ namespace MoonTools.Core.Bonk
public bool Equals(AABB other) public bool Equals(AABB other)
{ {
return MinX == other.MinX && return Min == other.Min &&
MinY == other.MinY && Max == other.Max;
MaxX == other.MaxX &&
MaxY == other.MaxY;
} }
public override int GetHashCode() public override int GetHashCode()
{ {
return HashCode.Combine(MinX, MinY, MaxX, MaxY); return HashCode.Combine(Min, Max);
}
public AABB(float minX, float minY, float maxX, float maxY)
{
MinX = minX;
MinY = minY;
MaxX = maxX;
MaxY = maxY;
} }
public static bool operator ==(AABB left, AABB right) public static bool operator ==(AABB left, AABB right)

25
Bonk/BroadPhase/SpatialHash.cs
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@ -1,5 +1,6 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Numerics;
using MoonTools.Core.Structs; using MoonTools.Core.Structs;
namespace MoonTools.Core.Bonk namespace MoonTools.Core.Bonk
@ -20,9 +21,9 @@ namespace MoonTools.Core.Bonk
this.cellSize = cellSize; this.cellSize = cellSize;
} }
private (int, int) Hash(float x, float y) private (int, int) Hash(Vector2 position)
{ {
return ((int)Math.Floor(x / cellSize), (int)Math.Floor(y / cellSize)); return ((int)Math.Floor(position.X / cellSize), (int)Math.Floor(position.Y / cellSize));
} }
/// <summary> /// <summary>
@ -33,13 +34,13 @@ namespace MoonTools.Core.Bonk
/// <param name="transform2D"></param> /// <param name="transform2D"></param>
public void Insert(T id, IShape2D shape, Transform2D transform2D) public void Insert(T id, IShape2D shape, Transform2D transform2D)
{ {
var box = shape.AABB(transform2D); var box = shape.TransformedAABB(transform2D);
var minHash = Hash(box.MinX, box.MinY); var minHash = Hash(box.Min);
var maxHash = Hash(box.MaxX, box.MaxY); var maxHash = Hash(box.Max);
for (int i = minHash.Item1; i <= maxHash.Item1; i++) for (var i = minHash.Item1; i <= maxHash.Item1; i++)
{ {
for (int j = minHash.Item2; j <= maxHash.Item2; j++) for (var j = minHash.Item2; j <= maxHash.Item2; j++)
{ {
if (!hashDictionary.ContainsKey(i)) if (!hashDictionary.ContainsKey(i))
{ {
@ -62,9 +63,9 @@ namespace MoonTools.Core.Bonk
/// </summary> /// </summary>
public IEnumerable<(T, IShape2D, Transform2D)> Retrieve(T id, IShape2D shape, Transform2D transform2D) public IEnumerable<(T, IShape2D, Transform2D)> Retrieve(T id, IShape2D shape, Transform2D transform2D)
{ {
AABB box = shape.AABB(transform2D); AABB box = shape.TransformedAABB(transform2D);
var minHash = Hash(box.MinX, box.MinY); var minHash = Hash(box.Min);
var maxHash = Hash(box.MaxX, box.MaxY); var maxHash = Hash(box.Max);
for (int i = minHash.Item1; i <= maxHash.Item1; i++) for (int i = minHash.Item1; i <= maxHash.Item1; i++)
{ {
@ -98,4 +99,4 @@ namespace MoonTools.Core.Bonk
IDLookup.Clear(); IDLookup.Clear();
} }
} }
} }

4
Bonk/IShape2D.cs
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@ -6,6 +6,8 @@ namespace MoonTools.Core.Bonk
{ {
public interface IShape2D : IEquatable<IShape2D> public interface IShape2D : IEquatable<IShape2D>
{ {
AABB AABB { get; }
/// <summary> /// <summary>
/// A Minkowski support function. Gives the farthest point on the edge of a shape along the given direction. /// A Minkowski support function. Gives the farthest point on the edge of a shape along the given direction.
/// </summary> /// </summary>
@ -19,6 +21,6 @@ namespace MoonTools.Core.Bonk
/// </summary> /// </summary>
/// <param name="transform">A Transform for transforming the shape vertices.</param> /// <param name="transform">A Transform for transforming the shape vertices.</param>
/// <returns>Returns a bounding box based on the shape.</returns> /// <returns>Returns a bounding box based on the shape.</returns>
AABB AABB(Transform2D transform); AABB TransformedAABB(Transform2D transform);
} }
} }

11
Bonk/Shapes/Circle.cs
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@ -10,10 +10,12 @@ namespace MoonTools.Core.Bonk
public struct Circle : IShape2D, IEquatable<Circle> public struct Circle : IShape2D, IEquatable<Circle>
{ {
public int Radius { get; } public int Radius { get; }
public AABB AABB { get; }
public Circle(int radius) public Circle(int radius)
{ {
Radius = radius; Radius = radius;
AABB = new AABB(-Radius, -Radius, Radius, Radius);
} }
public Vector2 Support(Vector2 direction, Transform2D transform) public Vector2 Support(Vector2 direction, Transform2D transform)
@ -21,14 +23,9 @@ namespace MoonTools.Core.Bonk
return Vector2.Transform(Vector2.Normalize(direction) * Radius, transform.TransformMatrix); return Vector2.Transform(Vector2.Normalize(direction) * Radius, transform.TransformMatrix);
} }
public AABB AABB(Transform2D transform2D) public AABB TransformedAABB(Transform2D transform2D)
{ {
return new AABB( return AABB.Transformed(AABB, transform2D);
transform2D.Position.X - (Radius * transform2D.Scale.X),
transform2D.Position.Y - (Radius * transform2D.Scale.Y),
transform2D.Position.X + (Radius * transform2D.Scale.X),
transform2D.Position.Y + (Radius * transform2D.Scale.Y)
);
} }
public override bool Equals(object obj) public override bool Equals(object obj)

34
Bonk/Shapes/Line.cs
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@ -10,36 +10,40 @@ namespace MoonTools.Core.Bonk
/// </summary> /// </summary>
public struct Line : IShape2D, IEquatable<Line> public struct Line : IShape2D, IEquatable<Line>
{ {
private Position2D v0; private Position2D _v0;
private Position2D v1; private Position2D _v1;
public AABB AABB { get; }
public IEnumerable<Position2D> Vertices public IEnumerable<Position2D> Vertices
{ {
get get
{ {
yield return v0; yield return _v0;
yield return v1; yield return _v1;
} }
} }
public Line(Position2D start, Position2D end) public Line(Position2D start, Position2D end)
{ {
v0 = start; _v0 = start;
v1 = end; _v1 = end;
AABB = new AABB(Math.Min(_v0.X, _v1.X), Math.Min(_v0.Y, _v1.Y), Math.Max(_v0.X, _v1.X), Math.Max(_v0.Y, _v1.Y));
} }
public Vector2 Support(Vector2 direction, Transform2D transform) public Vector2 Support(Vector2 direction, Transform2D transform)
{ {
var TransformedStart = Vector2.Transform(v0, transform.TransformMatrix); var transformedStart = Vector2.Transform(_v0, transform.TransformMatrix);
var TransformedEnd = Vector2.Transform(v1, transform.TransformMatrix); var transformedEnd = Vector2.Transform(_v1, transform.TransformMatrix);
return Vector2.Dot(TransformedStart, direction) > Vector2.Dot(TransformedEnd, direction) ? return Vector2.Dot(transformedStart, direction) > Vector2.Dot(transformedEnd, direction) ?
TransformedStart : transformedStart :
TransformedEnd; transformedEnd;
} }
public AABB AABB(Transform2D Transform2D) public AABB TransformedAABB(Transform2D transform)
{ {
return Bonk.AABB.FromTransformedVertices(Vertices, Transform2D); return AABB.Transformed(AABB, transform);
} }
public override bool Equals(object obj) public override bool Equals(object obj)
@ -54,12 +58,12 @@ namespace MoonTools.Core.Bonk
public bool Equals(Line other) public bool Equals(Line other)
{ {
return (v0 == other.v0 && v1 == other.v1) || (v1 == other.v0 && v0 == other.v1); return (_v0 == other._v0 && _v1 == other._v1) || (_v1 == other._v0 && _v0 == other._v1);
} }
public override int GetHashCode() public override int GetHashCode()
{ {
return HashCode.Combine(v0, v1); return HashCode.Combine(_v0, _v1);
} }
public static bool operator ==(Line a, Line b) public static bool operator ==(Line a, Line b)

22
Bonk/Shapes/Point.cs
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@ -1,5 +1,4 @@
using System; using System;
using System.Linq;
using System.Numerics; using System.Numerics;
using MoonTools.Core.Structs; using MoonTools.Core.Structs;
@ -7,26 +6,29 @@ namespace MoonTools.Core.Bonk
{ {
public struct Point : IShape2D, IEquatable<Point> public struct Point : IShape2D, IEquatable<Point>
{ {
private Position2D position; private Position2D _position;
public AABB AABB { get; }
public Point(Position2D position) public Point(Position2D position)
{ {
this.position = position; _position = position;
AABB = new AABB(position, position);
} }
public Point(int x, int y) public Point(int x, int y)
{ {
this.position = new Position2D(x, y); _position = new Position2D(x, y);
AABB = new AABB(x, y, x, y);
} }
public AABB AABB(Transform2D transform) public AABB TransformedAABB(Transform2D transform)
{ {
return Bonk.AABB.FromTransformedVertices(Enumerable.Repeat<Position2D>(position, 1), transform); return AABB.Transformed(AABB, transform);
} }
public Vector2 Support(Vector2 direction, Transform2D transform) 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) public override bool Equals(object obj)
@ -41,12 +43,12 @@ namespace MoonTools.Core.Bonk
public bool Equals(Point other) public bool Equals(Point other)
{ {
return position == other.position; return _position == other._position;
} }
public override int GetHashCode() public override int GetHashCode()
{ {
return HashCode.Combine(position); return HashCode.Combine(_position);
} }
public static bool operator ==(Point a, Point b) public static bool operator ==(Point a, Point b)

25
Bonk/Shapes/Polygon.cs
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@ -13,27 +13,30 @@ namespace MoonTools.Core.Bonk
/// </summary> /// </summary>
public struct Polygon : IShape2D, IEquatable<Polygon> public struct Polygon : IShape2D, IEquatable<Polygon>
{ {
private ImmutableArray<Position2D> vertices; private ImmutableArray<Position2D> _vertices;
public AABB AABB { get; }
public IEnumerable<Position2D> Vertices { get { return vertices; } } public IEnumerable<Position2D> Vertices { get { return _vertices; } }
public int VertexCount { get { return vertices.Length; } } public int VertexCount { get { return _vertices.Length; } }
// vertices are local to the origin // vertices are local to the origin
public Polygon(IEnumerable<Position2D> vertices) // TODO: remove this, params is bad because it allocates an array public Polygon(IEnumerable<Position2D> vertices)
{ {
this.vertices = vertices.ToImmutableArray(); _vertices = vertices.ToImmutableArray();
AABB = AABB.FromVertices(vertices);
} }
public Polygon(ImmutableArray<Position2D> vertices) public Polygon(ImmutableArray<Position2D> vertices)
{ {
this.vertices = vertices; _vertices = vertices;
AABB = AABB.FromVertices(vertices);
} }
public Vector2 Support(Vector2 direction, Transform2D transform) public Vector2 Support(Vector2 direction, Transform2D transform)
{ {
var maxDotProduct = float.NegativeInfinity; var maxDotProduct = float.NegativeInfinity;
var maxVertex = vertices[0].ToVector2(); var maxVertex = _vertices[0].ToVector2();
foreach (var vertex in Vertices) foreach (var vertex in Vertices)
{ {
var transformed = Vector2.Transform(vertex, transform.TransformMatrix); var transformed = Vector2.Transform(vertex, transform.TransformMatrix);
@ -47,9 +50,9 @@ namespace MoonTools.Core.Bonk
return maxVertex; return maxVertex;
} }
public AABB AABB(Transform2D Transform2D) public AABB TransformedAABB(Transform2D transform)
{ {
return Bonk.AABB.FromTransformedVertices(Vertices, Transform2D); return AABB.Transformed(AABB, transform);
} }
public override bool Equals(object obj) public override bool Equals(object obj)
@ -64,11 +67,11 @@ namespace MoonTools.Core.Bonk
public bool Equals(Polygon other) public bool Equals(Polygon other)
{ {
var q = from a in vertices var q = from a in _vertices
join b in other.Vertices on a equals b join b in other.Vertices on a equals b
select a; select a;
return vertices.Length == other.VertexCount && q.Count() == vertices.Length; return _vertices.Length == other.VertexCount && q.Count() == _vertices.Length;
} }
public bool Equals(Rectangle rectangle) public bool Equals(Rectangle rectangle)

9
Bonk/Shapes/Rectangle.cs
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@ -1,6 +1,5 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq;
using System.Numerics; using System.Numerics;
using MoonTools.Core.Structs; using MoonTools.Core.Structs;
@ -16,6 +15,8 @@ namespace MoonTools.Core.Bonk
public int MaxX { get; } public int MaxX { get; }
public int MaxY { get; } public int MaxY { get; }
public AABB AABB { get; }
public IEnumerable<Position2D> Vertices public IEnumerable<Position2D> Vertices
{ {
get get
@ -33,6 +34,8 @@ namespace MoonTools.Core.Bonk
MinY = minY; MinY = minY;
MaxX = maxX; MaxX = maxX;
MaxY = maxY; MaxY = maxY;
AABB = new AABB(minX, minY, maxX, maxY);
} }
public Vector2 Support(Vector2 direction, Transform2D transform) public Vector2 Support(Vector2 direction, Transform2D transform)
@ -52,9 +55,9 @@ namespace MoonTools.Core.Bonk
return maxVertex; return maxVertex;
} }
public AABB AABB(Transform2D Transform2D) public AABB TransformedAABB(Transform2D transform)
{ {
return Bonk.AABB.FromTransformedVertices(Vertices, Transform2D); return AABB.Transformed(AABB, transform);
} }
public override bool Equals(object obj) public override bool Equals(object obj)

16
Bonk/Shapes/Simplex.cs
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@ -1,4 +1,4 @@
using System.Linq; using System.Linq;
using System.Collections.Generic; using System.Collections.Generic;
using System.Numerics; using System.Numerics;
using MoonTools.Core.Structs; using MoonTools.Core.Structs;
@ -9,7 +9,7 @@ namespace MoonTools.Core.Bonk
/// <summary> /// <summary>
/// A simplex is a shape with up to n - 2 vertices in the nth dimension. /// A simplex is a shape with up to n - 2 vertices in the nth dimension.
/// </summary> /// </summary>
public struct Simplex2D : IShape2D, IEquatable<Simplex2D> public struct Simplex2D : IEquatable<Simplex2D>
{ {
private Vector2 a; private Vector2 a;
private Vector2? b; private Vector2? b;
@ -56,11 +56,6 @@ namespace MoonTools.Core.Bonk
} }
} }
public AABB AABB(Transform2D transform)
{
return Bonk.AABB.FromTransformedVertices(Vertices, transform);
}
public Vector2 Support(Vector2 direction, Transform2D transform) public Vector2 Support(Vector2 direction, Transform2D transform)
{ {
var maxDotProduct = float.NegativeInfinity; var maxDotProduct = float.NegativeInfinity;
@ -80,12 +75,7 @@ namespace MoonTools.Core.Bonk
public override bool Equals(object obj) public override bool Equals(object obj)
{ {
return obj is IShape2D other && Equals(other); return obj is Simplex2D other && Equals(other);
}
public bool Equals(IShape2D other)
{
return other is Simplex2D otherSimplex && Equals(otherSimplex);
} }
public bool Equals(Simplex2D other) public bool Equals(Simplex2D other)

12
Test/Equality.cs
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@ -1,4 +1,4 @@
using NUnit.Framework; using NUnit.Framework;
using FluentAssertions; using FluentAssertions;
using MoonTools.Core.Bonk; using MoonTools.Core.Bonk;
@ -18,7 +18,7 @@ namespace Tests
var a = new Point(1, 1); var a = new Point(1, 1);
var b = new Point(1, 1); var b = new Point(1, 1);
a.Should().BeEquivalentTo(b); a.Equals(b).Should().BeTrue();
} }
[Test] [Test]
@ -27,7 +27,7 @@ namespace Tests
var a = new Point(1, 1); var a = new Point(1, 1);
var b = new Point(-1, 1); var b = new Point(-1, 1);
a.Should().NotBeEquivalentTo(b); a.Equals(b).Should().BeFalse();
} }
[Test] [Test]
@ -305,7 +305,7 @@ namespace Tests
var b = new Rectangle(-1, -1, 1, 1); var b = new Rectangle(-1, -1, 1, 1);
a.Should().BeEquivalentTo(b); a.Equals(b).Should().BeTrue();
} }
[Test] [Test]
@ -320,7 +320,7 @@ namespace Tests
var b = new Rectangle(-1, -1, 1, 1); var b = new Rectangle(-1, -1, 1, 1);
a.Should().NotBeEquivalentTo(b); a.Equals(b).Should().BeFalse();
} }
[Test] [Test]
@ -538,4 +538,4 @@ namespace Tests
} }
} }
} }
} }