update drone

Bonk/AABB.cs

@@ -26,11 +26,13 @@ namespace MoonTools.Bonk
 
         public float Right { get { return Max.X; } }
         public float Left { get { return Min.X; } }
+
         /// <summary>
         /// The top of the AABB. Assumes a downward-aligned Y axis, so this value will be smaller than Bottom.
         /// </summary>
         /// <value></value>
         public float Top { get { return Min.Y; } }
+
         /// <summary>
         /// The bottom of the AABB. Assumes a downward-aligned Y axis, so this value will be larger than Top.
         /// </summary>

Bonk/Bonk.csproj

@@ -1,8 +1,8 @@
 <Project Sdk="Microsoft.NET.Sdk">
   <PropertyGroup>
-    <Version>7.0.0</Version>
+    <Version>8.0.1</Version>
     <TargetFramework>netstandard2.0</TargetFramework>
-    <Description>.NET Core High Performance Collision Detection</Description>
+    <Description>.NET Standard High Performance Collision Detection</Description>
     <PackageId>MoonTools.Bonk</PackageId>
     <RootNamespace>MoonTools.Bonk</RootNamespace>
     <Company>Moonside Games</Company>
@@ -14,15 +14,16 @@
     <PackageLicenseExpression>LGPL-3.0-only</PackageLicenseExpression>
     <PackageProjectUrl>https://gitea.moonside.games/MoonsideGames/MoonTools.Bonk</PackageProjectUrl>
     <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
+    <Platforms>x64</Platforms>
   </PropertyGroup>
   <ItemGroup>
     <PackageReference Include="Microsoft.CodeAnalysis.FxCopAnalyzers" Version="2.9.8">
       <PrivateAssets>all</PrivateAssets>
       <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
     </PackageReference>
-    <PackageReference Include="System.Collections.Immutable" Version="1.7.0"/>
-    <PackageReference Include="System.Numerics.Vectors" Version="4.5.0"/>
-    <PackageReference Include="Microsoft.Bcl.HashCode" Version="1.1.0"/>
-    <PackageReference Include="MoonTools.Structs" Version="3.0.1"/>
+    <PackageReference Include="System.Collections.Immutable" Version="1.7.1" />
+    <PackageReference Include="System.Numerics.Vectors" Version="4.5.0" />
+    <PackageReference Include="Microsoft.Bcl.HashCode" Version="1.1.0" />
+    <PackageReference Include="MoonTools.Structs" Version="3.0.1" />
   </ItemGroup>
 </Project>

Bonk/BroadPhase/SpatialHash.cs

@@ -14,7 +14,13 @@ namespace MoonTools.Bonk
         private readonly int cellSize;
 
         private readonly Dictionary<long, HashSet<T>> hashDictionary = new Dictionary<long, HashSet<T>>();
-        private readonly Dictionary<T, (IShape2D, Transform2D)> IDLookup = new Dictionary<T, (IShape2D, Transform2D)>();
+        private readonly Dictionary<T, (IHasAABB2D, Transform2D)> IDLookup = new Dictionary<T, (IHasAABB2D, Transform2D)>();
+
+        public int MinX { get; private set; } = 0;
+        public int MaxX { get; private set; } = 0;
+        public int MinY { get; private set; } = 0;
+        public int MaxY { get; private set; } = 0;
+
 
         public SpatialHash(int cellSize)
         {
@@ -32,7 +38,7 @@ namespace MoonTools.Bonk
         /// <param name="id">A unique ID for the shape-transform pair.</param>
         /// <param name="shape"></param>
         /// <param name="transform2D"></param>
-        public void Insert(T id, IShape2D shape, Transform2D transform2D)
+        public void Insert(T id, IHasAABB2D shape, Transform2D transform2D)
         {
             var box = shape.TransformedAABB(transform2D);
             var minHash = Hash(box.Min);
@@ -52,20 +58,30 @@ namespace MoonTools.Bonk
                     IDLookup[id] = (shape, transform2D);
                 }
             }
+
+            MinX = Math.Min(MinX, minHash.Item1);
+            MinY = Math.Min(MinY, minHash.Item2);
+            MaxX = Math.Max(MaxX, maxHash.Item1);
+            MaxY = Math.Max(MaxY, maxHash.Item2);
         }
 
         /// <summary>
         /// Retrieves all the potential collisions of a shape-transform pair. Excludes any shape-transforms with the given ID.
         /// </summary>
-        public IEnumerable<(T, IShape2D, Transform2D)> Retrieve(T id, IShape2D shape, Transform2D transform2D)
+        public IEnumerable<(T, IHasAABB2D, Transform2D)> Retrieve(T id, IHasAABB2D shape, Transform2D transform2D)
         {
             var box = shape.TransformedAABB(transform2D);
-            var minHash = Hash(box.Min);
-            var maxHash = Hash(box.Max);
+            var (minX, minY) = Hash(box.Min);
+            var (maxX, maxY) = Hash(box.Max);
 
-            for (var i = minHash.Item1; i <= maxHash.Item1; i++)
+            if (minX < MinX) { minX = MinX; }
+            if (maxX > MaxX) { maxX = MaxX; }
+            if (minY < MinY) { minY = MinY; }
+            if (maxY > MaxY) { maxY = MaxY; }
+
+            for (var i = minX; i <= maxX; i++)
             {
-                for (var j = minHash.Item2; j <= maxHash.Item2; j++)
+                for (var j = minY; j <= maxY; j++)
                 {
                     var key = MakeLong(i, j);
                     if (hashDictionary.ContainsKey(key))
@@ -73,7 +89,43 @@ namespace MoonTools.Bonk
                         foreach (var t in hashDictionary[key])
                         {
                             var (otherShape, otherTransform) = IDLookup[t];
-                            if (!id.Equals(t) && AABB.TestOverlap(shape.TransformedAABB(transform2D), otherShape.TransformedAABB(otherTransform)))
+                            if (!id.Equals(t) && AABB.TestOverlap(box, otherShape.TransformedAABB(otherTransform)))
+                            {
+                                yield return (t, otherShape, otherTransform);
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+
+        /// <summary>
+        /// Retrieves objects based on a pre-transformed AABB.
+        /// </summary>
+        /// <param name="aabb">A transformed AABB.</param>
+        /// <returns></returns>
+        public IEnumerable<(T, IHasAABB2D, Transform2D)> Retrieve(AABB aabb)
+        {
+            var (minX, minY) = Hash(aabb.Min);
+            var (maxX, maxY) = Hash(aabb.Max);
+
+            if (minX < MinX) { minX = MinX; }
+            if (maxX > MaxX) { maxX = MaxX; }
+            if (minY < MinY) { minY = MinY; }
+            if (maxY > MaxY) { maxY = MaxY; }
+
+            for (var i = minX; i <= maxX; i++)
+            {
+                for (var j = minY; j <= maxY; j++)
+                {
+                    var key = MakeLong(i, j);
+                    if (hashDictionary.ContainsKey(key))
+                    {
+                        foreach (var t in hashDictionary[key])
+                        {
+                            var (otherShape, otherTransform) = IDLookup[t];
+                            if (AABB.TestOverlap(aabb, otherShape.TransformedAABB(otherTransform)))
                             {
                                 yield return (t, otherShape, otherTransform);
                             }

Bonk/IHasAABB2D.cs

@@ -0,0 +1,16 @@
+using MoonTools.Structs;
+
+namespace MoonTools.Bonk
+{
+    public interface IHasAABB2D
+    {
+        AABB AABB { get; }
+
+        /// <summary>
+        /// Returns a bounding box based on the shape.
+        /// </summary>
+        /// <param name="transform">A Transform for transforming the shape vertices.</param>
+        /// <returns>Returns a bounding box based on the shape.</returns>
+        AABB TransformedAABB(Transform2D transform);
+    }
+}

Bonk/IShape2D.cs

@@ -4,10 +4,8 @@ using MoonTools.Structs;
 
 namespace MoonTools.Bonk
 {
-    public interface IShape2D : IEquatable<IShape2D>
+    public interface IShape2D : IHasAABB2D, IEquatable<IShape2D>
     {
-        AABB AABB { get; }
-
         /// <summary>
         /// A Minkowski support function. Gives the farthest point on the edge of a shape along the given direction.
         /// </summary>
@@ -15,12 +13,5 @@ namespace MoonTools.Bonk
         /// <param name="transform">A Transform for transforming the shape vertices.</param>
         /// <returns>The farthest point on the edge of the shape along the given direction.</returns>
         Vector2 Support(Vector2 direction, Transform2D transform);
-
-        /// <summary>
-        /// Returns a bounding box based on the shape.
-        /// </summary>
-        /// <param name="transform">A Transform for transforming the shape vertices.</param>
-        /// <returns>Returns a bounding box based on the shape.</returns>
-        AABB TransformedAABB(Transform2D transform);
     }
 }

Bonk/MinkowskiDifference.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Numerics;
 using MoonTools.Structs;
 

Bonk/MultiShape.cs

@@ -0,0 +1,82 @@
+using System.Collections.Generic;
+using System.Collections.Immutable;
+using System.Numerics;
+using MoonTools.Structs;
+
+namespace MoonTools.Bonk
+{
+    public struct MultiShape : IHasAABB2D
+    {
+        public ImmutableArray<(IShape2D, Transform2D)> ShapeTransformPairs { get; }
+
+        public AABB AABB { get; }
+
+        public MultiShape(ImmutableArray<(IShape2D, Transform2D)> shapeTransformPairs)
+        {
+            ShapeTransformPairs = shapeTransformPairs;
+
+            AABB = AABBFromShapes(shapeTransformPairs);
+        }
+
+        public AABB TransformedAABB(Transform2D transform)
+        {
+            return AABB.Transformed(AABB, transform);
+        }
+
+        /// <summary>
+        /// Moves the shapes by pivoting with an offset transform. 
+        /// </summary>
+        /// <param name="offsetTransform"></param>
+        /// <returns></returns>
+        public IEnumerable<(IShape2D, Transform2D)> TransformShapesUsingOffset(Transform2D offsetTransform)
+        {
+            foreach (var (shape, shapeTransform) in ShapeTransformPairs)
+            {
+                var newTransform = new Transform2D(Vector2.Transform(shapeTransform.Position, offsetTransform.TransformMatrix), offsetTransform.Rotation, offsetTransform.Scale);
+                yield return (shape, newTransform);
+            }
+        }
+
+        public bool IsSingleShape<T>() where T : struct, IShape2D
+        {
+            return ShapeTransformPairs.Length == 1 && ShapeTransformPairs[0].Item1 is T;
+        }
+
+        public (T, Transform2D) ShapeTransformPair<T>() where T : struct, IShape2D
+        {
+            return ((T, Transform2D))ShapeTransformPairs[0];
+        }
+
+        private static AABB AABBFromShapes(IEnumerable<(IShape2D, Transform2D)> shapeTransforms)
+        {
+            var minX = float.MaxValue;
+            var minY = float.MaxValue;
+            var maxX = float.MinValue;
+            var maxY = float.MinValue;
+
+            foreach (var (shape, transform) in shapeTransforms)
+            {
+                var aabb = shape.TransformedAABB(transform);
+
+                if (aabb.Min.X < minX)
+                {
+                    minX = aabb.Min.X;
+                }
+                if (aabb.Min.Y < minY)
+                {
+                    minY = aabb.Min.Y;
+                }
+                if (aabb.Max.X > maxX)
+                {
+                    maxX = aabb.Max.X;
+                }
+                if (aabb.Max.Y > maxY)
+                {
+                    maxY = aabb.Max.Y;
+                }
+            }
+
+            return new AABB(minX, minY, maxX, maxY);
+        }
+    }
+}

Bonk/NarrowPhase/NarrowPhase.cs

@@ -14,6 +14,30 @@ namespace MoonTools.Bonk
         /// <summary>
         /// Tests if two shape-transform pairs are overlapping. Automatically detects fast-path optimizations.
         /// </summary>
+        public static bool TestCollision(IHasAABB2D hasBoundingBoxA, Transform2D transformA, IHasAABB2D hasBoundingBoxB, Transform2D transformB)
+        {
+            if (hasBoundingBoxA is MultiShape && hasBoundingBoxB is MultiShape)
+            {
+                return TestCollision((MultiShape)hasBoundingBoxA, transformA, (MultiShape)hasBoundingBoxB, transformB);
+            }
+            else if (hasBoundingBoxA is MultiShape && hasBoundingBoxB is IShape2D)
+            {
+                return TestCollision((MultiShape)hasBoundingBoxA, transformA, (IShape2D)hasBoundingBoxB, transformB);
+            }
+            else if (hasBoundingBoxA is IShape2D && hasBoundingBoxB is MultiShape)
+            {
+                return TestCollision((IShape2D)hasBoundingBoxA, transformA, (MultiShape)hasBoundingBoxB, transformB);
+            }
+            else if (hasBoundingBoxA is IShape2D && hasBoundingBoxB is IShape2D)
+            {
+                return TestCollision((IShape2D)hasBoundingBoxA, transformA, (IShape2D)hasBoundingBoxB, transformB);
+            }
+            else
+            {
+                throw new System.ArgumentException("Collision testing requires MultiShapes or IShape2Ds.");
+            }
+        }
+
         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)
@@ -35,6 +59,63 @@ namespace MoonTools.Bonk
             return FindCollisionSimplex(shapeA, transformA, shapeB, transformB).Item1;
         }
 
+        /// <summary>
+        /// Tests if a multishape-transform and shape-transform pair are overlapping.
+        /// Note that this must perform pairwise comparison so the worst-case performance of this method will vary inversely with the amount of shapes in the multishape.
+        /// </summary>
+        /// <param name="multiShape"></param>
+        /// <param name="multiShapeTransform"></param>
+        /// <param name="shape"></param>
+        /// <param name="shapeTransform"></param>
+        /// <returns></returns>
+        public static bool TestCollision(MultiShape multiShape, Transform2D multiShapeTransform, IShape2D shape, Transform2D shapeTransform)
+        {
+            foreach (var (otherShape, otherTransform) in multiShape.TransformShapesUsingOffset(multiShapeTransform))
+            {
+                if (TestCollision(shape, shapeTransform, otherShape, otherTransform)) { return true; }
+            }
+            return false;
+        }
+
+        /// <summary>
+        /// Tests if a multishape-transform and shape-transform pair are overlapping.
+        /// Note that this must perform pairwise comparison so the worst-case performance of this method will vary inversely with the amount of shapes in the multishape.
+        /// </summary>
+        /// <param name="multiShape"></param>
+        /// <param name="multiShapeTransform"></param>
+        /// <param name="shape"></param>
+        /// <param name="shapeTransform"></param>
+        /// <returns></returns>
+        public static bool TestCollision(IShape2D shape, Transform2D shapeTransform, MultiShape multiShape, Transform2D multiShapeTransform)
+        {
+            foreach (var (otherShape, otherTransform) in multiShape.TransformShapesUsingOffset(multiShapeTransform))
+            {
+                if (TestCollision(shape, shapeTransform, otherShape, otherTransform)) { return true; }
+            }
+            return false;
+        }
+
+        /// <summary>
+        /// Tests if two multishape-transform pairs are overlapping.
+        /// Note that this must perform pairwise comparison so the worst-case performance of this method will vary inversely with the amount of shapes in the multishapes.
+        /// </summary>
+        /// <param name="multiShapeA"></param>
+        /// <param name="transformA"></param>
+        /// <param name="multiShapeB"></param>
+        /// <param name="transformB"></param>
+        /// <returns></returns>
+        public static bool TestCollision(MultiShape multiShapeA, Transform2D transformA, MultiShape multiShapeB, Transform2D transformB)
+        {
+            foreach (var (shapeA, shapeTransformA) in multiShapeA.TransformShapesUsingOffset(transformA))
+            {
+                foreach (var (shapeB, shapeTransformB) in multiShapeB.TransformShapesUsingOffset(transformB))
+                {
+                    if (TestCollision(shapeA, shapeTransformA, shapeB, shapeTransformB)) { return true; }
+                }
+            }
+            return false;
+        }
+
         /// <summary>
         /// Fast path for axis-aligned rectangles. If the transforms have non-zero rotation this will be inaccurate.
         /// </summary>

Bonk/Shapes/Point.cs

@@ -4,6 +4,9 @@ using MoonTools.Structs;
 
 namespace MoonTools.Bonk
 {
+    /// <summary>
+    /// A Point is "that which has not part". All points by themselves are identical.
+    /// </summary>
     public struct Point : IShape2D, IEquatable<Point>
     {
         public AABB AABB { get; }

Bonk/Shapes/Polygon.cs

@@ -59,7 +59,7 @@ namespace MoonTools.Bonk
 
         public bool Equals(IShape2D other)
         {
-            return (other is Polygon otherPolygon && Equals(otherPolygon)) || (other is Rectangle rectangle && Equals(rectangle));
+            return other is Polygon otherPolygon && Equals(otherPolygon);
         }
 
         public bool Equals(Polygon other)
@@ -82,11 +82,6 @@ namespace MoonTools.Bonk
             return true;
         }
 
-        public bool Equals(Rectangle rectangle)
-        {
-            return RectanglePolygonComparison.Equals(this, rectangle);
-        }
-
         public override int GetHashCode()
         {
             return HashCode.Combine(Vertices);

Bonk/Shapes/Rectangle.cs

@@ -1,56 +1,41 @@
 using System;
-using System.Collections.Generic;
 using System.Numerics;
 using MoonTools.Structs;
 
 namespace MoonTools.Bonk
 {
     /// <summary>
-    /// A rectangle is a shape defined by a minimum and maximum X value and a minimum and maximum Y value.
+    /// A rectangle is a shape defined by a width and height. The origin is the center of the rectangle.
     /// </summary>
     public struct Rectangle : IShape2D, IEquatable<Rectangle>
     {
-        /// <summary>
-        /// The minimum position of the rectangle. Note that we assume y-down coordinates.
-        /// </summary>
-        /// <value></value>
-        public Position2D Min { get; }
-        /// <summary>
-        /// The maximum position of the rectangle. Note that we assume y-down coordinates.
-        /// </summary>
-        /// <value></value>
-        public Position2D Max { get; }
         public AABB AABB { get; }
-
-        public int Left { get { return Min.X; } }
-        public int Right { get { return Max.X; } }
-        public int Top { get { return Min.Y; } }
-        public int Bottom { get { return Max.Y; } }
-
         public int Width { get; }
         public int Height { get; }
 
-        public Position2D TopRight { get { return new Position2D(Right, Top); } }
-        public Position2D BottomLeft { get { return new Position2D(Left, Bottom); } }
+        public float Right { get; }
+        public float Left { get; }
+        public float Top { get; }
+        public float Bottom { get; }
+        public Vector2 BottomLeft { get; }
+        public Vector2 TopRight { get; }
 
-        public IEnumerable<Position2D> Vertices
-        {
-            get
-            {
-                yield return new Position2D(Min.X, Min.Y);
-                yield return new Position2D(Min.X, Max.Y);
-                yield return new Position2D(Max.X, Min.Y);
-                yield return new Position2D(Max.X, Max.Y);
-            }
-        }
+        public Vector2 Min { get; }
+        public Vector2 Max { get; }
 
-        public Rectangle(int minX, int minY, int maxX, int maxY)
+        public Rectangle(int left, int top, int width, int height)
         {
-            Min = new Position2D(minX, minY);
-            Max = new Position2D(maxX, maxY);
-            AABB = new AABB(minX, minY, maxX, maxY);
-            Width = Max.X - Min.X;
-            Height = Max.Y - Min.Y;
+            Width = width;
+            Height = height;
+            Left = left;
+            Right = left + width;
+            Top = top;
+            Bottom = top + height;
+            AABB = new AABB(left, top, Right, Bottom);
+            BottomLeft = new Vector2(Left, Bottom);
+            TopRight = new Vector2(Top, Right);
+            Min = AABB.Min;
+            Max = AABB.Max;
         }
 
         private Vector2 Support(Vector2 direction)
@@ -97,7 +82,7 @@ namespace MoonTools.Bonk
 
         public bool Equals(IShape2D other)
         {
-            return (other is Rectangle rectangle && Equals(rectangle)) || (other is Polygon polygon && Equals(polygon));
+            return (other is Rectangle rectangle && Equals(rectangle));
         }
 
         public bool Equals(Rectangle other)
@@ -105,11 +90,6 @@ namespace MoonTools.Bonk
             return Min == other.Min && Max == other.Max;
         }
 
-        public bool Equals(Polygon other)
-        {
-            return RectanglePolygonComparison.Equals(other, this);
-        }
-
         public override int GetHashCode()
         {
             return HashCode.Combine(Min, Max);

Bonk/Shapes/RectanglePolygonComparison.cs

@@ -1,25 +0,0 @@
-using MoonTools.Structs;
-
-namespace MoonTools.Bonk
-{
-    internal static class RectanglePolygonComparison
-    {
-        public static bool Equals(Polygon polygon, Rectangle rectangle)
-        {
-            if (polygon.VertexCount != 4) { return false; }
-
-            int? minIndex = null;
-            for (var i = 0; i < 4; i++)
-            {
-                if (polygon.Vertices[i] == rectangle.Min) { minIndex = i; break; }
-            }
-
-            if (!minIndex.HasValue) { return false; }
-
-            return
-                polygon.Vertices[(minIndex.Value + 1) % 4] == rectangle.TopRight &&
-                polygon.Vertices[(minIndex.Value + 2) % 4] == rectangle.Max &&
-                polygon.Vertices[(minIndex.Value + 3) % 4] == rectangle.BottomLeft;
-        }
-    }
-}

Bonk/SweepTest/SweepResult.cs

@@ -0,0 +1,21 @@
+using System;
+using System.Numerics;
+
+namespace MoonTools.Bonk
+{
+    public struct SweepResult<T> where T : IEquatable<T>
+    {
+        public readonly static SweepResult<T> False = new SweepResult<T>();
+
+        public bool Hit { get; }
+        public Vector2 Motion { get; }
+        public T ID { get; }
+
+        public SweepResult(bool hit, Vector2 motion, T id)
+        {
+            Hit = hit;
+            Motion = motion;
+            ID = id;
+        }
+    }
+}

Bonk/SweepTest/SweepTest.cs

@@ -0,0 +1,134 @@
+using System;
+using System.Numerics;
+using MoonTools.Structs;
+
+namespace MoonTools.Bonk
+{
+    public static class SweepTest
+    {
+        /// <summary>
+        /// Performs a sweep test on and against rectangles. Returns the position 1 pixel before overlap occurs.
+        /// </summary>
+        /// <typeparam name="T"></typeparam>
+        /// <param name="spatialHash">A spatial hash.</param>
+        /// <param name="rectangle"></param>
+        /// <param name="transform">A transform by which to transform the IHasAABB2D.</param>
+        /// <param name="ray">Given in world-space.</param>
+        /// <returns></returns>
+        public static SweepResult<T> Test<T>(SpatialHash<T> spatialHash, Rectangle rectangle, Transform2D transform, Vector2 ray) where T : IEquatable<T>
+        {
+            var transformedAABB = rectangle.TransformedAABB(transform);
+            var sweepBox = SweepBox(transformedAABB, ray);
+
+            var shortestDistance = float.MaxValue;
+            var nearestID = default(T);
+            Rectangle? nearestRectangle = null;
+            Transform2D? nearestTransform = null;
+
+            foreach (var (id, shape, shapeTransform) in spatialHash.Retrieve(sweepBox))
+            {
+                Rectangle otherRectangle;
+                Transform2D otherTransform;
+                AABB otherTransformedAABB;
+                if (shape is Rectangle)
+                {
+                    otherRectangle = (Rectangle)shape;
+                    otherTransformedAABB = shape.TransformedAABB(shapeTransform);
+                    otherTransform = shapeTransform;
+                }
+                else if (shape is MultiShape multiShape && multiShape.IsSingleShape<Rectangle>())
+                {
+                    Transform2D rectangleOffset;
+                    (otherRectangle, rectangleOffset) = multiShape.ShapeTransformPair<Rectangle>();
+                    otherTransform = shapeTransform.Compose(rectangleOffset);
+                    otherTransformedAABB = shape.TransformedAABB(otherTransform);
+                }
+                else
+                {
+                    continue;
+                }
+
+                float xInvEntry, yInvEntry;
+
+                if (ray.X > 0)
+                {
+                    xInvEntry = otherTransformedAABB.Left - (transformedAABB.Right);
+                }
+                else
+                {
+                    xInvEntry = (otherTransformedAABB.Right) - transformedAABB.Left;
+                }
+
+                if (ray.Y > 0)
+                {
+                    yInvEntry = otherTransformedAABB.Top - (transformedAABB.Bottom);
+                }
+                else
+                {
+                    yInvEntry = (otherTransformedAABB.Bottom) - transformedAABB.Top;
+                }
+
+                float xEntry, yEntry;
+
+                if (ray.X == 0)
+                {
+                    xEntry = float.MinValue;
+                }
+                else
+                {
+                    xEntry = xInvEntry / ray.X;
+                }
+
+                if (ray.Y == 0)
+                {
+                    yEntry = float.MinValue;
+                }
+                else
+                {
+                    yEntry = yInvEntry / ray.Y;
+                }
+
+                var entryTime = Math.Max(xEntry, yEntry);
+
+                if (entryTime >= 0 && entryTime <= 1)
+                {
+                    if (entryTime < shortestDistance)
+                    {
+                        shortestDistance = entryTime;
+                        nearestID = id;
+                        nearestRectangle = otherRectangle;
+                        nearestTransform = shapeTransform;
+                    }
+                }
+
+            }
+
+            if (nearestRectangle.HasValue)
+            {
+                var overlapPosition = ray * shortestDistance;
+                var correctionX = -Math.Sign(ray.X);
+                var correctionY = -Math.Sign(ray.Y);
+                return new SweepResult<T>(true, new Position2D((int)overlapPosition.X + correctionX, (int)overlapPosition.Y + correctionY), nearestID);
+            }
+            else
+            {
+                return SweepResult<T>.False;
+            }
+        }
+
+        public static SweepResult<T> Test<T>(SpatialHash<T> spatialHash, Point point, Transform2D transform, Vector2 ray) where T : IEquatable<T>
+        {
+            return Test(spatialHash, new Rectangle(0, 0, 0, 0), transform, ray);
+        }
+
+        private static AABB SweepBox(AABB aabb, Vector2 ray)
+        {
+            return new AABB(
+                Math.Min(aabb.Min.X, aabb.Min.X + ray.X),
+                Math.Min(aabb.Min.Y, aabb.Min.Y + ray.Y),
+                Math.Max(aabb.Max.X, aabb.Max.X + ray.X),
+                Math.Max(aabb.Max.Y, aabb.Max.Y + ray.Y)
+            );
+        }
+    }
+}

README.md

@@ -1,7 +1,7 @@
 # MoonTools.Bonk
 
 [![NuGet Badge](https://buildstats.info/nuget/MoonTools.Bonk)](https://www.nuget.org/packages/MoonTools.Bonk/)
-[![CircleCI](https://circleci.com/gh/MoonsideGames/MoonTools.Bonk.svg?style=svg)](https://circleci.com/gh/MoonsideGames/MoonTools.Bonk)
+[![Build Status](https://gitea.drone.moonside.games/api/badges/MoonsideGames/MoonTools.Bonk/status.svg)](https://gitea.drone.moonside.games/MoonsideGames/MoonTools.Bonk)
 
 Bonk is a fast and modular collision detection system for .NET that is part of the MoonTools suite. It can be used with any .NET-based game engine.
 

Test/AABBTest.cs

@@ -14,6 +14,11 @@ namespace Tests
             var b = new AABB(new Vector2(0, 0), new Vector2(2, 2));
 
             AABB.TestOverlap(a, b).Should().BeTrue();
+
+            var c = new AABB(-2, -2, 2, 1);
+            var d = new AABB(-2, -2, 2, 2);
+
+            AABB.TestOverlap(c, d).Should().BeTrue();
         }
 
         [Test]

Test/EPA2DTest.cs

@@ -13,9 +13,9 @@ namespace Tests
         [Test]
         public void RectangleOverlap()
         {
-            var squareA = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
+            var squareA = new Rectangle(-1, -1, 2, 2);
             var transformA = Transform2D.DefaultTransform;
-            var squareB = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
+            var squareB = new Rectangle(-1, -1, 2, 2);
             var transformB = new Transform2D(new Vector2(1.5f, 0));
 
             var (result, simplex) = NarrowPhase.FindCollisionSimplex(squareA, transformA, squareB, transformB);
@@ -62,7 +62,7 @@ namespace Tests
         {
             var line = new Line(new Position2D(-4, -4), new Position2D(4, 4));
             var transformA = Transform2D.DefaultTransform;
-            var square = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
+            var square = new Rectangle(-1, -1, 2, 2);
             var transformB = Transform2D.DefaultTransform;
 
             var (result, simplex) = NarrowPhase.FindCollisionSimplex(line, transformA, square, transformB);

Test/Equality.cs

@@ -140,8 +140,8 @@ namespace Tests
             [Test]
             public void RectangleEqual()
             {
-                var a = new Rectangle(0, 0, 3, 3);
-                var b = new Rectangle(0, 0, 3, 3);
+                var a = new Rectangle(-1, -1, 3, 3);
+                var b = new Rectangle(-1, -1, 3, 3);
 
                 a.Equals(b).Should().BeTrue();
             }
@@ -149,8 +149,8 @@ namespace Tests
             [Test]
             public void RectangleEqualOperator()
             {
-                var a = new Rectangle(0, 0, 3, 3);
-                var b = new Rectangle(0, 0, 3, 3);
+                var a = new Rectangle(-1, -1, 3, 3);
+                var b = new Rectangle(-1, -1, 3, 3);
 
                 (a == b).Should().BeTrue();
             }
@@ -158,8 +158,8 @@ namespace Tests
             [Test]
             public void RectangleNotEqual()
             {
-                var a = new Rectangle(0, 0, 3, 3);
-                var b = new Rectangle(-1, -1, 5, 5);
+                var a = new Rectangle(-1, -1, 3, 3);
+                var b = new Rectangle(-3, -3, 6, 6);
 
                 a.Equals(b).Should().BeFalse();
             }
@@ -167,8 +167,8 @@ namespace Tests
             [Test]
             public void RectangleNotEqualOperator()
             {
-                var a = new Rectangle(0, 0, 3, 3);
-                var b = new Rectangle(-1, -1, 5, 5);
+                var a = new Rectangle(-1, -1, 3, 3);
+                var b = new Rectangle(-3, -3, 6, 6);
 
                 (a != b).Should().BeTrue();
             }
@@ -283,70 +283,6 @@ namespace Tests
 
                 (a != b).Should().BeTrue();
             }
-
-            [Test]
-            public void PolygonRectangleEqual()
-            {
-                var a = new Polygon(ImmutableArray.Create(
-                    new Position2D(-1, -1),
-                    new Position2D(1, -1),
-                    new Position2D(1, 1),
-                    new Position2D(-1, 1)
-                ));
-
-                var b = new Rectangle(-1, -1, 1, 1);
-
-                a.Equals(b).Should().BeTrue();
-                b.Equals(a).Should().BeTrue();
-            }
-
-            [Test]
-            public void PolygonRectangleNotEqual()
-            {
-                var a = new Polygon(ImmutableArray.Create(
-                    new Position2D(-2, -1),
-                    new Position2D(1, -1),
-                    new Position2D(1, 1),
-                    new Position2D(-2, 1)
-                ));
-
-                var b = new Rectangle(-1, -1, 1, 1);
-
-                a.Equals(b).Should().BeFalse();
-                b.Equals(a).Should().BeFalse();
-            }
-
-            [Test]
-            public void PolygonRectangleEqualOperator()
-            {
-                var a = new Polygon(ImmutableArray.Create(
-                    new Position2D(-1, -1),
-                    new Position2D(1, -1),
-                    new Position2D(1, 1),
-                    new Position2D(-1, 1)
-                ));
-
-                var b = new Rectangle(-1, -1, 1, 1);
-
-                (a == b).Should().BeTrue();
-                (b == a).Should().BeTrue();
-            }
-
-            [Test]
-            public void PolygonRectangleNotEqualOperator()
-            {
-                var a = new Polygon(ImmutableArray.Create(
-                    new Position2D(2, 1),
-                    new Position2D(1, -1),
-                    new Position2D(-1, -1),
-                    new Position2D(-2, 1)
-                ));
-
-                var b = new Rectangle(-1, -1, 1, 1);
-
-                (a != b).Should().BeTrue();
-                (b != a).Should().BeTrue();
-            }
         }
 
         public class SimplexTests

Test/NarrowPhaseTest.cs

@@ -7,7 +7,7 @@ using System.Collections.Immutable;
 
 namespace Tests
 {
-    public class GJK2DTest
+    public class NarrowPhaseTest
     {
         [Test]
         public void PointLineOverlapping()
@@ -55,7 +55,7 @@ namespace Tests
         public void PointRectangleOverlapping()
         {
             var point = new Point();
-            var rectangle = new Rectangle(-2, -2, 2, 2);
+            var rectangle = new Rectangle(-2, -2, 4, 4);
 
             NarrowPhase.TestCollision(point, Transform2D.DefaultTransform, rectangle, Transform2D.DefaultTransform).Should().BeTrue();
         }
@@ -65,7 +65,7 @@ namespace Tests
         {
             var point = new Point();
             var pointTransform = new Transform2D(new Position2D(5, 5));
-            var rectangle = new Rectangle(-2, -2, 2, 2);
+            var rectangle = new Rectangle(-2, -2, 4, 4);
 
             NarrowPhase.TestCollision(point, pointTransform, rectangle, Transform2D.DefaultTransform).Should().BeFalse();
         }
@@ -354,10 +354,10 @@ namespace Tests
         [Test]
         public void RectanglesNotOverlapping()
         {
-            var rectangleA = new MoonTools.Bonk.Rectangle(-6, -6, 6, 6);
+            var rectangleA = new Rectangle(-6, -6, 12, 12);
             var transformA = new Transform2D(new Position2D(39, 249));
 
-            var rectangleB = new MoonTools.Bonk.Rectangle(0, 0, 16, 16);
+            var rectangleB = new Rectangle(-8, -8, 16, 16);
             var transformB = new Transform2D(new Position2D(16, 240));
 
             NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeFalse();
@@ -366,11 +366,11 @@ namespace Tests
         [Test]
         public void RotatedRectanglesOverlapping()
         {
-            var rectangleA = new MoonTools.Bonk.Rectangle(-1, -1, 2, 2);
-            var transformA = new Transform2D(new Vector2(-1, 0), -90f);
+            var rectangleA = new Rectangle(-1, -3, 3, 6);
+            var transformA = new Transform2D(new Vector2(4f, 0), (float)System.Math.PI / 2);
 
-            var rectangleB = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
-            var transformB = new Transform2D(new Vector2(1, 0));
+            var rectangleB = new Rectangle(-1, -1, 2, 2);
+            var transformB = new Transform2D(new Vector2(0, 0));
 
             NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
         }
@@ -378,10 +378,10 @@ namespace Tests
         [Test]
         public void RectanglesTouchingGJK2D()
         {
-            var rectangleA = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
+            var rectangleA = new Rectangle(-1, -1, 2, 2);
             var transformA = new Transform2D(new Position2D(-1, 0));
 
-            var rectangleB = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
+            var rectangleB = new Rectangle(-1, -1, 2, 2);
             var transformB = new Transform2D(new Vector2(1, 0));
 
             NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
@@ -390,10 +390,10 @@ namespace Tests
         [Test]
         public void RectanglesOverlappingGJK2D()
         {
-            var rectangleA = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
+            var rectangleA = new Rectangle(-1, -1, 2, 2);
             var transformA = new Transform2D(new Position2D(0, 0));
 
-            var rectangleB = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
+            var rectangleB = new Rectangle(-1, -1, 2, 2);
             var transformB = new Transform2D(new Vector2(1, 0));
 
             NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
@@ -402,10 +402,10 @@ namespace Tests
         [Test]
         public void RectanglesTouchingOverlap()
         {
-            var rectangleA = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
+            var rectangleA = new Rectangle(-1, -1, 2, 2);
             var transformA = new Transform2D(new Position2D(-1, 0));
 
-            var rectangleB = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
+            var rectangleB = new Rectangle(-1, -1, 2, 2);
             var transformB = new Transform2D(new Vector2(1, 0));
 
             NarrowPhase.TestRectangleOverlap(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
@@ -414,13 +414,61 @@ namespace Tests
         [Test]
         public void RectanglesOverlappingOverlap()
         {
-            var rectangleA = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
+            var rectangleA = new Rectangle(-1, -1, 2, 2);
             var transformA = new Transform2D(new Position2D(0, 0));
 
-            var rectangleB = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
-            var transformB = new Transform2D(new Vector2(1, 0));
+            var rectangleB = new Rectangle(-1, -1, 2, 2);
+            var transformB = new Transform2D(new Vector2(1, 0), 0, new Vector2(-1, 1));
 
             NarrowPhase.TestRectangleOverlap(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
         }
+
+        [Test]
+        public void MultiRectanglesOverlapping()
+        {
+            var multiRectangleA = new MultiShape(
+                ImmutableArray.Create<(IShape2D, Transform2D)>(
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-5, 0))),
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-5, 1))),
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-5, 2)))
+                )
+            );
+            var transformA = new Transform2D(new Position2D(5, 0));
+
+            var multiRectangleB = new MultiShape(
+                ImmutableArray.Create<(IShape2D, Transform2D)>(
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(4, -1))),
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(4, 0))),
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(4, 1)))
+                )
+            );
+            var transformB = new Transform2D(new Position2D(0, 3));
+
+            NarrowPhase.TestCollision(multiRectangleA, transformA, multiRectangleB, transformB).Should().BeTrue();
+        }
+
+        [Test]
+        public void MultiRectanglesNotOverlapping()
+        {
+            var multiRectangleA = new MultiShape(
+                ImmutableArray.Create<(IShape2D, Transform2D)>(
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-5, 0))),
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-5, 1))),
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-5, 2)))
+                )
+            );
+            var transformA = new Transform2D(new Position2D(5, 0));
+
+            var multiRectangleB = new MultiShape(
+                ImmutableArray.Create<(IShape2D, Transform2D)>(
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(4, -1))),
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(4, 0))),
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(4, 1)))
+                )
+            );
+            var transformB = new Transform2D(new Position2D(0, -3));
+
+            NarrowPhase.TestCollision(multiRectangleA, transformA, multiRectangleB, transformB).Should().BeFalse();
+        }
     }
 }

Test/SpatialHashTest.cs

@@ -3,6 +3,7 @@ using NUnit.Framework;
 using MoonTools.Structs;
 using MoonTools.Bonk;
 using System.Numerics;
+using System.Collections.Immutable;
 
 namespace Tests
 {
@@ -13,16 +14,16 @@ namespace Tests
         {
             var spatialHash = new SpatialHash<int>(16);
 
-            var rectA = new Rectangle(-2, -2, 2, 2);
+            var rectA = new Rectangle(-2, -2, 4, 4);
             var rectATransform = new Transform2D(new Vector2(-8, -8));
 
-            var rectB = new Rectangle(-2, -2, 2, 2);
+            var rectB = new Rectangle(-2, -2, 4, 4);
             var rectBTransform = new Transform2D(new Vector2(8, 8));
 
-            var rectC = new Rectangle(-2, -2, 2, 2);
+            var rectC = new Rectangle(-2, -2, 4, 4);
             var rectCTransform = new Transform2D(new Vector2(24, -4));
 
-            var rectD = new Rectangle(-2, -2, 2, 2);
+            var rectD = new Rectangle(-2, -2, 4, 4);
             var rectDTransform = new Transform2D(new Vector2(24, 24));
 
             var circleA = new Circle(2);
@@ -37,25 +38,39 @@ namespace Tests
             var point = new Point();
             var pointTransform = new Transform2D(new Position2D(8, 8));
 
+            var multiRectangle = new MultiShape(
+                ImmutableArray.Create<(IShape2D, Transform2D)>(
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-2, -2))),
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-2, -1))),
+                    (new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-2, 0)))
+                )
+            );
+            var multiRectangleTransform = new Transform2D(new Position2D(8, 8));
+
             spatialHash.Insert(0, rectA, rectATransform);
             spatialHash.Insert(1, rectB, rectBTransform);
             spatialHash.Insert(2, rectC, rectCTransform);
             spatialHash.Insert(3, rectD, rectDTransform);
             spatialHash.Insert(4, circleA, circleATransform);
-            spatialHash.Insert(1, circleB, circleBTransform);
+            spatialHash.Insert(9, circleB, circleBTransform);
             spatialHash.Insert(6, line, lineTransform);
             spatialHash.Insert(7, point, pointTransform);
+            spatialHash.Insert(8, multiRectangle, multiRectangleTransform);
 
             spatialHash.Retrieve(0, rectA, rectATransform).Should().BeEmpty();
             spatialHash.Retrieve(1, rectB, rectBTransform).Should().NotContain((1, circleB, circleBTransform));
             spatialHash.Retrieve(1, rectB, rectBTransform).Should().Contain((7, point, pointTransform));
+            spatialHash.Retrieve(1, rectB, rectBTransform).Should().Contain((8, multiRectangle, multiRectangleTransform));
             spatialHash.Retrieve(2, rectC, rectCTransform).Should().Contain((6, line, lineTransform)).And.Contain((4, circleA, circleATransform));
-            spatialHash.Retrieve(3, rectD, rectDTransform).Should().Contain((1, circleB, circleBTransform));
+            spatialHash.Retrieve(3, rectD, rectDTransform).Should().Contain((9, circleB, circleBTransform));
 
             spatialHash.Retrieve(4, circleA, circleATransform).Should().Contain((6, line, lineTransform)).And.Contain((2, rectC, rectCTransform));
             spatialHash.Retrieve(1, circleB, circleBTransform).Should().NotContain((1, rectB, rectBTransform)).And.Contain((3, rectD, rectDTransform));
 
             spatialHash.Retrieve(6, line, lineTransform).Should().Contain((4, circleA, circleATransform)).And.Contain((2, rectC, rectCTransform));
+
+            spatialHash.Retrieve(8, multiRectangle, multiRectangleTransform).Should().Contain((1, rectB, rectBTransform));
+            spatialHash.Retrieve(8, multiRectangle, multiRectangleTransform).Should().NotContain((0, rectA, rectATransform));
         }
 
         [Test]
@@ -63,13 +78,13 @@ namespace Tests
         {
             var spatialHash = new SpatialHash<int>(16);
 
-            var rectA = new Rectangle(-2, -2, 2, 2);
+            var rectA = new Rectangle(-2, -2, 4, 4);
             var rectATransform = new Transform2D(new Vector2(-8, -8));
 
-            var rectB = new Rectangle(-2, -2, 2, 2);
+            var rectB = new Rectangle(-2, -2, 4, 4);
             var rectBTransform = new Transform2D(new Vector2(-8, -8));
 
-            var rectC = new Rectangle(-1, -1, 1, 1);
+            var rectC = new Rectangle(-2, -2, 2, 2);
             var rectCTransform = new Transform2D(new Vector2(-8, -8));
 
             spatialHash.Insert(0, rectA, rectATransform);
@@ -84,10 +99,10 @@ namespace Tests
         {
             var spatialHash = new SpatialHash<int>(16);
 
-            var rectA = new Rectangle(-2, -2, 2, 2);
+            var rectA = new Rectangle(-2, -2, 4, 4);
             var rectATransform = new Transform2D(new Vector2(-8, -8));
 
-            var rectB = new Rectangle(-2, -2, 2, 2);
+            var rectB = new Rectangle(-2, -2, 4, 4);
             var rectBTransform = new Transform2D(new Vector2(8, 8));
 
             spatialHash.Insert(0, rectA, rectATransform);

Test/SweepTestTest.cs

@@ -0,0 +1,42 @@
+using System.Numerics;
+using FluentAssertions;
+using MoonTools.Bonk;
+using MoonTools.Structs;
+using NUnit.Framework;
+
+namespace Tests
+{
+    class SweepTestTest
+    {
+        [Test]
+        public void SweepsThrough()
+        {
+            var rectangle = new Rectangle(-2, -2, 4, 4);
+            var transform = new Transform2D(new Position2D(-6, 0));
+
+            var otherRectangle = new Rectangle(-2, -2, 4, 4);
+            var otherTransform = new Transform2D(new Position2D(6, 0));
+
+            var farthestRectangle = new Rectangle(-2, -2, 4, 4);
+            var farthestTransform = new Transform2D(new Position2D(12, 0));
+
+            var downRectangle = new Rectangle(-6, -2, 12, 4);
+            var downTransform = new Transform2D(new Position2D(-6, 20));
+
+            var spatialHash = new SpatialHash<int>(16);
+            spatialHash.Insert(1, otherRectangle, otherTransform);
+            spatialHash.Insert(2, farthestRectangle, farthestTransform);
+            spatialHash.Insert(3, downRectangle, downTransform);
+
+            SweepTest.Test(spatialHash, rectangle, transform, new Vector2(12, 0)).Should().Be(
+                new SweepResult<int>(true, new Vector2(7, 0), 1)
+            );
+
+            SweepTest.Test(spatialHash, rectangle, transform, new Vector2(-12, 0)).Hit.Should().BeFalse();
+
+            SweepTest.Test(spatialHash, rectangle, transform, new Vector2(0, 20)).Should().Be(
+                new SweepResult<int>(true, new Vector2(0, 15), 3)
+            );
+        }
+    }
+}

Test/Test.csproj

@@ -1,6 +1,6 @@
 <Project Sdk="Microsoft.NET.Sdk">
   <PropertyGroup>
-    <TargetFramework>netcoreapp3.0</TargetFramework>
+    <TargetFramework>netcoreapp3.1</TargetFramework>
     <IsPackable>false</IsPackable>
   </PropertyGroup>
   <ItemGroup>
@@ -12,4 +12,4 @@
   <ItemGroup>
     <ProjectReference Include="..\Bonk\Bonk.csproj" />
   </ItemGroup>
-</Project>
+</Project>