corners method

Bonk/AABB2D.cs

@@ -8,7 +8,7 @@ namespace MoonTools.Bonk
     /// <summary>
     /// Axis-aligned bounding box.
     /// </summary>
-    public struct AABB : IEquatable<AABB>
+    public struct AABB2D : IEquatable<AABB2D>
     {
         /// <summary>
         /// The top-left position of the AABB.
@@ -39,13 +39,13 @@ namespace MoonTools.Bonk
         /// <value></value>
         public float Bottom { get { return Max.Y; } }
 
-        public AABB(float minX, float minY, float maxX, float maxY)
+        public AABB2D(float minX, float minY, float maxX, float maxY)
         {
             Min = new Vector2(minX, minY);
             Max = new Vector2(maxX, maxY);
         }
 
-        public AABB(Vector2 min, Vector2 max)
+        public AABB2D(Vector2 min, Vector2 max)
         {
             Min = min;
             Max = max;
@@ -67,7 +67,7 @@ namespace MoonTools.Bonk
         /// <param name="aabb"></param>
         /// <param name="transform"></param>
         /// <returns></returns>
-        public static AABB Transformed(AABB aabb, Transform2D transform)
+        public static AABB2D Transformed(AABB2D aabb, Transform2D transform)
         {
             var center = (aabb.Min + aabb.Max) / 2f;
             var extent = (aabb.Max - aabb.Min) / 2f;
@@ -75,7 +75,7 @@ namespace MoonTools.Bonk
             var newCenter = Vector2.Transform(center, transform.TransformMatrix);
             var newExtent = Vector2.TransformNormal(extent, AbsoluteMatrix(transform.TransformMatrix));
 
-            return new AABB(newCenter - newExtent, newCenter + newExtent);
+            return new AABB2D(newCenter - newExtent, newCenter + newExtent);
         }
 
         /// <summary>
@@ -84,7 +84,7 @@ namespace MoonTools.Bonk
         /// </summary>
         /// <param name="vertices"></param>
         /// <returns></returns>
-        public static AABB FromVertices(IEnumerable<Position2D> vertices)
+        public static AABB2D FromVertices(IEnumerable<Position2D> vertices)
         {
             var minX = float.MaxValue;
             var minY = float.MaxValue;
@@ -111,20 +111,28 @@ namespace MoonTools.Bonk
                 }
             }
 
-            return new AABB(minX, minY, maxX, maxY);
+            return new AABB2D(minX, minY, maxX, maxY);
         }
 
-        public static bool TestOverlap(AABB a, AABB b)
+        public static bool TestOverlap(AABB2D a, AABB2D b)
         {
             return a.Left <= b.Right && a.Right >= b.Left && a.Top <= b.Bottom && a.Bottom >= b.Top;
         }
 
-        public override bool Equals(object obj)
+        public AABB2D Merge(AABB2D other)
         {
-            return obj is AABB aabb && Equals(aabb);
+            return new AABB2D(
+                Vector2.Min(Min, other.Min),
+                Vector2.Max(Max, other.Max)
+            );
         }
 
-        public bool Equals(AABB other)
+        public override bool Equals(object obj)
+        {
+            return obj is AABB2D aabb && Equals(aabb);
+        }
+
+        public bool Equals(AABB2D other)
         {
             return Min == other.Min &&
                    Max == other.Max;
@@ -135,12 +143,12 @@ namespace MoonTools.Bonk
             return HashCode.Combine(Min, Max);
         }
 
-        public static bool operator ==(AABB left, AABB right)
+        public static bool operator ==(AABB2D left, AABB2D right)
         {
             return left.Equals(right);
         }
 
-        public static bool operator !=(AABB left, AABB right)
+        public static bool operator !=(AABB2D left, AABB2D right)
         {
             return !(left == right);
         }

Bonk/AABB3D.cs

@@ -0,0 +1,79 @@
+using System;
+using System.Collections.Generic;
+using System.Numerics;
+using MoonTools.Structs;
+
+namespace MoonTools.Bonk
+{
+    /// <summary>
+    /// Axis-aligned bounding box in 3 dimensions.
+    /// </summary>
+    public struct AABB3D : IEquatable<AABB3D>
+    {
+        public Vector3 Min { get; private set; }
+
+        public Vector3 Max { get; private set; }
+
+        public float Width { get { return Max.X - Min.X; } }
+        public float Height { get { return Max.Y - Min.Y; } }
+        public float Depth { get { return Max.Z - Min.Z; } }
+
+        public AABB3D(float minX, float minY, float minZ, float maxX, float maxY, float maxZ)
+        {
+            Min = new Vector3(minX, minY, minZ);
+            Max = new Vector3(maxX, maxY, maxZ);
+        }
+
+        public AABB3D(Vector3 min, Vector3 max)
+        {
+            Min = min;
+            Max = max;
+        }
+
+        public static bool TestOverlap(AABB3D a, AABB3D b)
+        {
+            return 
+                a.Min.X <= b.Max.X && 
+                a.Max.X >= b.Min.X && 
+                a.Min.Y <= b.Max.Y && 
+                a.Max.Y >= b.Min.Y &&
+                a.Min.Z <= b.Max.Z &&
+                a.Max.Z >= b.Min.Z;
+        }
+
+        public AABB3D Merge(AABB3D other)
+        {
+            return new AABB3D(
+                Vector3.Min(Min, other.Min),
+                Vector3.Max(Max, other.Max)
+            );
+        }
+
+        public IEnumerable<Vector3> AABBCorners()
+        {
+            yield return Min;
+            yield return new Vector3(Min.X, Min.Y, Max.Z);
+            yield return new Vector3(Min.X, Max.Y, Min.Z);
+            yield return new Vector3(Max.X, Min.Y, Min.Z);
+            yield return new Vector3(Min.X, Max.Y, Max.Z);
+            yield return new Vector3(Max.X, Min.Y, Max.Z);
+            yield return new Vector3(Max.X, Max.Y, Min.Z);
+            yield return Max;
+        }
+
+        public override bool Equals(object obj)
+        {
+            return obj is AABB3D d && Equals(d);
+        }
+
+        public override int GetHashCode()
+        {
+            return HashCode.Combine(Min, Max);
+        }
+
+        public bool Equals(AABB3D other)
+        {
+            return Min == other.Min && Max == other.Max;
+        }
+    }
+}

Bonk/BroadPhase/SpatialHash2D.cs

@@ -9,7 +9,7 @@ namespace MoonTools.Bonk
     /// Used to quickly check if two shapes are potentially overlapping.
     /// </summary>
     /// <typeparam name="T">The type that will be used to uniquely identify shape-transform pairs.</typeparam>
-    public class SpatialHash<T> where T : IEquatable<T>
+    public class SpatialHash2D<T> where T : IEquatable<T>
     {
         private readonly int cellSize;
 
@@ -22,7 +22,7 @@ namespace MoonTools.Bonk
         public int MaxY { get; private set; } = 0;
 
 
-        public SpatialHash(int cellSize)
+        public SpatialHash2D(int cellSize)
         {
             this.cellSize = cellSize;
         }
@@ -89,7 +89,7 @@ namespace MoonTools.Bonk
                         foreach (var t in hashDictionary[key])
                         {
                             var (otherShape, otherTransform) = IDLookup[t];
-                            if (!id.Equals(t) && AABB.TestOverlap(box, otherShape.TransformedAABB(otherTransform)))
+                            if (!id.Equals(t) && AABB2D.TestOverlap(box, otherShape.TransformedAABB(otherTransform)))
                             {
                                 yield return (t, otherShape, otherTransform);
                             }
@@ -105,7 +105,7 @@ namespace MoonTools.Bonk
         /// </summary>
         /// <param name="aabb">A transformed AABB.</param>
         /// <returns></returns>
-        public IEnumerable<(T, IHasAABB2D, Transform2D)> Retrieve(AABB aabb)
+        public IEnumerable<(T, IHasAABB2D, Transform2D)> Retrieve(AABB2D aabb)
         {
             var (minX, minY) = Hash(aabb.Min);
             var (maxX, maxY) = Hash(aabb.Max);
@@ -125,7 +125,7 @@ namespace MoonTools.Bonk
                         foreach (var t in hashDictionary[key])
                         {
                             var (otherShape, otherTransform) = IDLookup[t];
-                            if (AABB.TestOverlap(aabb, otherShape.TransformedAABB(otherTransform)))
+                            if (AABB2D.TestOverlap(aabb, otherShape.TransformedAABB(otherTransform)))
                             {
                                 yield return (t, otherShape, otherTransform);
                             }

Bonk/IHasAABB2D.cs

@@ -4,13 +4,13 @@ namespace MoonTools.Bonk
 {
     public interface IHasAABB2D
     {
-        AABB AABB { get; }
+        AABB2D 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);
+        AABB2D TransformedAABB(Transform2D transform);
     }
 }

Bonk/MultiShape2D.cs

@@ -5,22 +5,22 @@ using MoonTools.Structs;
 
 namespace MoonTools.Bonk
 {
-    public struct MultiShape : IHasAABB2D
+    public struct MultiShape2D : IHasAABB2D
     {
         public ImmutableArray<(IShape2D, Transform2D)> ShapeTransformPairs { get; }
 
-        public AABB AABB { get; }
+        public AABB2D AABB { get; }
 
-        public MultiShape(ImmutableArray<(IShape2D, Transform2D)> shapeTransformPairs)
+        public MultiShape2D(ImmutableArray<(IShape2D, Transform2D)> shapeTransformPairs)
         {
             ShapeTransformPairs = shapeTransformPairs;
 
             AABB = AABBFromShapes(shapeTransformPairs);
         }
 
-        public AABB TransformedAABB(Transform2D transform)
+        public AABB2D TransformedAABB(Transform2D transform)
         {
-            return AABB.Transformed(AABB, transform);
+            return AABB2D.Transformed(AABB, transform);
         }
 
         /// <summary>
@@ -47,7 +47,7 @@ namespace MoonTools.Bonk
             return ((T, Transform2D))ShapeTransformPairs[0];
         }
 
-        private static AABB AABBFromShapes(IEnumerable<(IShape2D, Transform2D)> shapeTransforms)
+        private static AABB2D AABBFromShapes(IEnumerable<(IShape2D, Transform2D)> shapeTransforms)
         {
             var minX = float.MaxValue;
             var minY = float.MaxValue;
@@ -76,7 +76,7 @@ namespace MoonTools.Bonk
                 }
             }
 
-            return new AABB(minX, minY, maxX, maxY);
+            return new AABB2D(minX, minY, maxX, maxY);
         }
     }
 }

Bonk/NarrowPhase/Edge2D.cs

@@ -2,13 +2,13 @@
 
 namespace MoonTools.Bonk
 {
-    internal struct Edge
+    internal struct Edge2D
     {
         public float distance;
         public Vector2 normal;
         public int index;
 
-        public Edge(float distance, Vector2 normal, int index)
+        public Edge2D(float distance, Vector2 normal, int index)
         {
             this.distance = distance;
             this.normal = normal;

Bonk/NarrowPhase/NarrowPhase.cs

@@ -16,17 +16,17 @@ namespace MoonTools.Bonk
         /// </summary>
         public static bool TestCollision(IHasAABB2D hasBoundingBoxA, Transform2D transformA, IHasAABB2D hasBoundingBoxB, Transform2D transformB)
         {
-            if (hasBoundingBoxA is MultiShape && hasBoundingBoxB is MultiShape)
+            if (hasBoundingBoxA is MultiShape2D && hasBoundingBoxB is MultiShape2D)
             {
-                return TestCollision((MultiShape)hasBoundingBoxA, transformA, (MultiShape)hasBoundingBoxB, transformB);
+                return TestCollision((MultiShape2D)hasBoundingBoxA, transformA, (MultiShape2D)hasBoundingBoxB, transformB);
             }
-            else if (hasBoundingBoxA is MultiShape && hasBoundingBoxB is IShape2D)
+            else if (hasBoundingBoxA is MultiShape2D && hasBoundingBoxB is IShape2D)
             {
-                return TestCollision((MultiShape)hasBoundingBoxA, transformA, (IShape2D)hasBoundingBoxB, transformB);
+                return TestCollision((MultiShape2D)hasBoundingBoxA, transformA, (IShape2D)hasBoundingBoxB, transformB);
             }
-            else if (hasBoundingBoxA is IShape2D && hasBoundingBoxB is MultiShape)
+            else if (hasBoundingBoxA is IShape2D && hasBoundingBoxB is MultiShape2D)
             {
-                return TestCollision((IShape2D)hasBoundingBoxA, transformA, (MultiShape)hasBoundingBoxB, transformB);
+                return TestCollision((IShape2D)hasBoundingBoxA, transformA, (MultiShape2D)hasBoundingBoxB, transformB);
             }
             else if (hasBoundingBoxA is IShape2D && hasBoundingBoxB is IShape2D)
             {
@@ -68,7 +68,7 @@ namespace MoonTools.Bonk
         /// <param name="shape"></param>
         /// <param name="shapeTransform"></param>
         /// <returns></returns>
-        public static bool TestCollision(MultiShape multiShape, Transform2D multiShapeTransform, IShape2D shape, Transform2D shapeTransform)
+        public static bool TestCollision(MultiShape2D multiShape, Transform2D multiShapeTransform, IShape2D shape, Transform2D shapeTransform)
         {
             foreach (var (otherShape, otherTransform) in multiShape.TransformShapesUsingOffset(multiShapeTransform))
             {
@@ -86,7 +86,7 @@ namespace MoonTools.Bonk
         /// <param name="shape"></param>
         /// <param name="shapeTransform"></param>
         /// <returns></returns>
-        public static bool TestCollision(IShape2D shape, Transform2D shapeTransform, MultiShape multiShape, Transform2D multiShapeTransform)
+        public static bool TestCollision(IShape2D shape, Transform2D shapeTransform, MultiShape2D multiShape, Transform2D multiShapeTransform)
         {
             foreach (var (otherShape, otherTransform) in multiShape.TransformShapesUsingOffset(multiShapeTransform))
             {
@@ -104,7 +104,7 @@ namespace MoonTools.Bonk
         /// <param name="multiShapeB"></param>
         /// <param name="transformB"></param>
         /// <returns></returns>
-        public static bool TestCollision(MultiShape multiShapeA, Transform2D transformA, MultiShape multiShapeB, Transform2D transformB)
+        public static bool TestCollision(MultiShape2D multiShapeA, Transform2D transformA, MultiShape2D multiShapeB, Transform2D transformB)
         {
             foreach (var (shapeA, shapeTransformA) in multiShapeA.TransformShapesUsingOffset(transformA))
             {
@@ -226,7 +226,7 @@ namespace MoonTools.Bonk
             return intersection;
         }
 
-        private static Edge FindClosestEdge(PolygonWinding winding, SimplexVertexBuffer simplexVertices)
+        private static Edge2D FindClosestEdge(PolygonWinding winding, SimplexVertexBuffer simplexVertices)
         {
             var closestDistance = float.PositiveInfinity;
             var closestNormal = Vector2.Zero;
@@ -258,7 +258,7 @@ namespace MoonTools.Bonk
                 }
             }
 
-            return new Edge(closestDistance, closestNormal, closestIndex);
+            return new Edge2D(closestDistance, closestNormal, closestIndex);
         }
 
         private static Vector2 CalculateSupport(IShape2D shapeA, Transform2D Transform2DA, IShape2D shapeB, Transform2D Transform2DB, Vector2 direction)

Bonk/Shapes/2D/Circle.cs

@@ -10,12 +10,12 @@ namespace MoonTools.Bonk
     public struct Circle : IShape2D, IEquatable<Circle>
     {
         public int Radius { get; }
-        public AABB AABB { get; }
+        public AABB2D AABB { get; }
 
         public Circle(int radius)
         {
             Radius = radius;
-            AABB = new AABB(-Radius, -Radius, Radius, Radius);
+            AABB = new AABB2D(-Radius, -Radius, Radius, Radius);
         }
 
         public Vector2 Support(Vector2 direction, Transform2D transform)
@@ -23,9 +23,9 @@ namespace MoonTools.Bonk
             return Vector2.Transform(Vector2.Normalize(direction) * Radius, transform.TransformMatrix);
         }
 
-        public AABB TransformedAABB(Transform2D transform2D)
+        public AABB2D TransformedAABB(Transform2D transform2D)
         {
-            return AABB.Transformed(AABB, transform2D);
+            return AABB2D.Transformed(AABB, transform2D);
         }
 
         public override bool Equals(object obj)

Bonk/Shapes/2D/Line.cs

@@ -13,7 +13,7 @@ namespace MoonTools.Bonk
         private Position2D _v0;
         private Position2D _v1;
 
-        public AABB AABB { get; }
+        public AABB2D AABB { get; }
 
         public IEnumerable<Position2D> Vertices
         {
@@ -29,7 +29,7 @@ namespace MoonTools.Bonk
             _v0 = start;
             _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));
+            AABB = new AABB2D(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)
@@ -41,9 +41,9 @@ namespace MoonTools.Bonk
                 transformedEnd;
         }
 
-        public AABB TransformedAABB(Transform2D transform)
+        public AABB2D TransformedAABB(Transform2D transform)
         {
-            return AABB.Transformed(AABB, transform);
+            return AABB2D.Transformed(AABB, transform);
         }
 
         public override bool Equals(object obj)

Bonk/Shapes/2D/Point.cs

@@ -9,11 +9,11 @@ namespace MoonTools.Bonk
     /// </summary>
     public struct Point : IShape2D, IEquatable<Point>
     {
-        public AABB AABB { get; }
+        public AABB2D AABB { get; }
 
-        public AABB TransformedAABB(Transform2D transform)
+        public AABB2D TransformedAABB(Transform2D transform)
         {
-            return AABB.Transformed(AABB, transform);
+            return AABB2D.Transformed(AABB, transform);
         }
 
         public Vector2 Support(Vector2 direction, Transform2D transform)

Bonk/Shapes/2D/Polygon2D.cs

@@ -10,24 +10,24 @@ namespace MoonTools.Bonk
     /// A Shape defined by an arbitrary collection of vertices.
     /// NOTE: A Polygon must be defined in clockwise order, have more than 2 vertices, be convex, and have no duplicate vertices.
     /// </summary>
-    public struct Polygon : IShape2D, IEquatable<Polygon>
+    public struct Polygon2D : IShape2D, IEquatable<Polygon2D>
     {
         public ImmutableArray<Position2D> Vertices { get; private set; }
-        public AABB AABB { get; }
+        public AABB2D AABB { get; }
 
         public int VertexCount { get { return Vertices.Length; } }
 
         // vertices are local to the origin
-        public Polygon(IEnumerable<Position2D> vertices)
+        public Polygon2D(IEnumerable<Position2D> vertices)
         {
             Vertices = vertices.ToImmutableArray();
-            AABB = AABB.FromVertices(vertices);
+            AABB = AABB2D.FromVertices(vertices);
         }
 
-        public Polygon(ImmutableArray<Position2D> vertices)
+        public Polygon2D(ImmutableArray<Position2D> vertices)
         {
             Vertices = vertices;
-            AABB = AABB.FromVertices(vertices);
+            AABB = AABB2D.FromVertices(vertices);
         }
 
         public Vector2 Support(Vector2 direction, Transform2D transform)
@@ -47,9 +47,9 @@ namespace MoonTools.Bonk
             return maxVertex;
         }
 
-        public AABB TransformedAABB(Transform2D transform)
+        public AABB2D TransformedAABB(Transform2D transform)
         {
-            return AABB.Transformed(AABB, transform);
+            return AABB2D.Transformed(AABB, transform);
         }
 
         public override bool Equals(object obj)
@@ -59,10 +59,10 @@ namespace MoonTools.Bonk
 
         public bool Equals(IShape2D other)
         {
-            return other is Polygon otherPolygon && Equals(otherPolygon);
+            return other is Polygon2D otherPolygon && Equals(otherPolygon);
         }
 
-        public bool Equals(Polygon other)
+        public bool Equals(Polygon2D other)
         {
             if (VertexCount != other.VertexCount) { return false; }
 
@@ -87,22 +87,22 @@ namespace MoonTools.Bonk
             return HashCode.Combine(Vertices);
         }
 
-        public static bool operator ==(Polygon a, Polygon b)
+        public static bool operator ==(Polygon2D a, Polygon2D b)
         {
             return a.Equals(b);
         }
 
-        public static bool operator !=(Polygon a, Polygon b)
+        public static bool operator !=(Polygon2D a, Polygon2D b)
         {
             return !(a == b);
         }
 
-        public static bool operator ==(Polygon a, Rectangle b)
+        public static bool operator ==(Polygon2D a, Rectangle b)
         {
             return a.Equals(b);
         }
 
-        public static bool operator !=(Polygon a, Rectangle b)
+        public static bool operator !=(Polygon2D a, Rectangle b)
         {
             return !(a == b);
         }

Bonk/Shapes/2D/Rectangle.cs

@@ -9,7 +9,7 @@ namespace MoonTools.Bonk
     /// </summary>
     public struct Rectangle : IShape2D, IEquatable<Rectangle>
     {
-        public AABB AABB { get; }
+        public AABB2D AABB { get; }
         public int Width { get; }
         public int Height { get; }
 
@@ -31,7 +31,7 @@ namespace MoonTools.Bonk
             Right = left + width;
             Top = top;
             Bottom = top + height;
-            AABB = new AABB(left, top, Right, Bottom);
+            AABB = new AABB2D(left, top, Right, Bottom);
             BottomLeft = new Vector2(Left, Bottom);
             TopRight = new Vector2(Top, Right);
             Min = AABB.Min;
@@ -70,9 +70,9 @@ namespace MoonTools.Bonk
             return Vector2.Transform(Support(inverseDirection), transform.TransformMatrix);
         }
 
-        public AABB TransformedAABB(Transform2D transform)
+        public AABB2D TransformedAABB(Transform2D transform)
         {
-            return AABB.Transformed(AABB, transform);
+            return AABB2D.Transformed(AABB, transform);
         }
 
         public override bool Equals(object obj)
@@ -105,12 +105,12 @@ namespace MoonTools.Bonk
             return !(a == b);
         }
 
-        public static bool operator ==(Rectangle a, Polygon b)
+        public static bool operator ==(Rectangle a, Polygon2D b)
         {
             return a.Equals(b);
         }
 
-        public static bool operator !=(Rectangle a, Polygon b)
+        public static bool operator !=(Rectangle a, Polygon2D b)
         {
             return !(a == b);
         }

Bonk/SweepTest/SweepTest.cs

@@ -15,7 +15,7 @@ namespace MoonTools.Bonk
         /// <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>
+        public static SweepResult<T> Test<T>(SpatialHash2D<T> spatialHash, Rectangle rectangle, Transform2D transform, Vector2 ray) where T : IEquatable<T>
         {
             var transformedAABB = rectangle.TransformedAABB(transform);
             var sweepBox = SweepBox(transformedAABB, ray);
@@ -29,14 +29,14 @@ namespace MoonTools.Bonk
             {
                 Rectangle otherRectangle;
                 Transform2D otherTransform;
-                AABB otherTransformedAABB;
+                AABB2D otherTransformedAABB;
                 if (shape is Rectangle)
                 {
                     otherRectangle = (Rectangle)shape;
                     otherTransformedAABB = shape.TransformedAABB(shapeTransform);
                     otherTransform = shapeTransform;
                 }
-                else if (shape is MultiShape multiShape && multiShape.IsSingleShape<Rectangle>())
+                else if (shape is MultiShape2D multiShape && multiShape.IsSingleShape<Rectangle>())
                 {
                     Transform2D rectangleOffset;
                     (otherRectangle, rectangleOffset) = multiShape.ShapeTransformPair<Rectangle>();
@@ -116,14 +116,14 @@ namespace MoonTools.Bonk
             }
         }
 
-        public static SweepResult<T> Test<T>(SpatialHash<T> spatialHash, Point point, Transform2D transform, Vector2 ray) where T : IEquatable<T>
+        public static SweepResult<T> Test<T>(SpatialHash2D<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)
+        private static AABB2D SweepBox(AABB2D aabb, Vector2 ray)
         {
-            return new AABB(
+            return new AABB2D(
                 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),

Test/AABB2DTest.cs

@@ -0,0 +1,42 @@
+using NUnit.Framework;
+using FluentAssertions;
+using MoonTools.Bonk;
+using System.Numerics;
+
+namespace Tests
+{
+    public class AABB2DTest
+    {
+        [Test]
+        public void Overlapping()
+        {
+            var a = new AABB2D(new Vector2(-1, -1), new Vector2(1, 1));
+            var b = new AABB2D(new Vector2(0, 0), new Vector2(2, 2));
+
+            AABB2D.TestOverlap(a, b).Should().BeTrue();
+
+            var c = new AABB2D(-2, -2, 2, 1);
+            var d = new AABB2D(-2, -2, 2, 2);
+
+            AABB2D.TestOverlap(c, d).Should().BeTrue();
+        }
+
+        [Test]
+        public void NotOverlapping()
+        {
+            var a = new AABB2D(new Vector2(-1, -1), new Vector2(1, 1));
+            var b = new AABB2D(new Vector2(-3, -3), new Vector2(-2, -2));
+
+            AABB2D.TestOverlap(a, b).Should().BeFalse();
+        }
+
+        [Test]
+        public void Merge()
+        {
+            var a = new AABB2D(new Vector2(-1, -2), new Vector2(2, 1));
+            var b = new AABB2D(new Vector2(-3, -1), new Vector2(3, 1));
+
+            a.Merge(b).Should().Be(new AABB2D(new Vector2(-3, -2), new Vector2(3, 1)));
+        }
+    }
+}

Test/AABB3DTest.cs

@@ -0,0 +1,42 @@
+using NUnit.Framework;
+using FluentAssertions;
+using MoonTools.Bonk;
+using System.Numerics;
+
+namespace Tests
+{
+    public class AABB3DTest
+    {
+        [Test]
+        public void Overlapping()
+        {
+            var a = new AABB3D(new Vector3(-1, -1, -1), new Vector3(1, 1, 1));
+            var b = new AABB3D(new Vector3(0, 0, 0), new Vector3(2, 2, 2));
+
+            AABB3D.TestOverlap(a, b).Should().BeTrue();
+
+            var c = new AABB3D(-2, -2, 2, 2, 1, 2);
+            var d = new AABB3D(-2, -2, 2, 2, 2, 2);
+
+            AABB3D.TestOverlap(c, d).Should().BeTrue();
+        }
+
+        [Test]
+        public void NotOverlapping()
+        {
+            var a = new AABB3D(new Vector3(-1, -1, -1), new Vector3(1, 1, 1));
+            var b = new AABB3D(new Vector3(-3, -3, -3), new Vector3(-2, -2, -1));
+
+            AABB3D.TestOverlap(a, b).Should().BeFalse();
+        }
+
+        [Test]
+        public void Merge()
+        {
+            var a = new AABB3D(new Vector3(-1, -1, -1), new Vector3(2, 2, 2));
+            var b = new AABB3D(new Vector3(-2, -2, -1), new Vector3(3, 1, 3));
+
+            a.Merge(b).Should().Be(new AABB3D(new Vector3(-2, -2, -1), new Vector3(3, 2, 3)));
+        }
+    }
+}

Test/AABBTest.cs

@@ -1,33 +0,0 @@
-using NUnit.Framework;
-using FluentAssertions;
-using MoonTools.Bonk;
-using System.Numerics;
-
-namespace Tests
-{
-    public class AABBTest
-    {
-        [Test]
-        public void Overlapping()
-        {
-            var a = new AABB(new Vector2(-1, -1), new Vector2(1, 1));
-            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]
-        public void NotOverlapping()
-        {
-            var a = new AABB(new Vector2(-1, -1), new Vector2(1, 1));
-            var b = new AABB(new Vector2(-3, -3), new Vector2(-2, -2));
-
-            AABB.TestOverlap(a, b).Should().BeFalse();
-        }
-    }
-}

Test/Equality.cs

@@ -179,13 +179,13 @@ namespace Tests
             [Test]
             public void PolygonEqual()
             {
-                var a = new Polygon(ImmutableArray.Create(
+                var a = new Polygon2D(ImmutableArray.Create(
                     new Position2D(0, 1),
                     new Position2D(1, 2),
                     new Position2D(-1, -1)
                 ));
 
-                var b = new Polygon(ImmutableArray.Create(
+                var b = new Polygon2D(ImmutableArray.Create(
                     new Position2D(0, 1),
                     new Position2D(1, 2),
                     new Position2D(-1, -1)
@@ -197,13 +197,13 @@ namespace Tests
             [Test]
             public void PolygonEqualOperator()
             {
-                var a = new Polygon(ImmutableArray.Create(
+                var a = new Polygon2D(ImmutableArray.Create(
                     new Position2D(0, 1),
                     new Position2D(1, 2),
                     new Position2D(-1, -1)
                 ));
 
-                var b = new Polygon(ImmutableArray.Create(
+                var b = new Polygon2D(ImmutableArray.Create(
                     new Position2D(0, 1),
                     new Position2D(1, 2),
                     new Position2D(-1, -1)
@@ -215,13 +215,13 @@ namespace Tests
             [Test]
             public void PolygonDifferentOrderEqual()
             {
-                var a = new Polygon(ImmutableArray.Create(
+                var a = new Polygon2D(ImmutableArray.Create(
                     new Position2D(0, 1),
                     new Position2D(1, 2),
                     new Position2D(-1, -1)
                 ));
 
-                var b = new Polygon(ImmutableArray.Create(
+                var b = new Polygon2D(ImmutableArray.Create(
                     new Position2D(1, 2),
                     new Position2D(-1, -1),
                     new Position2D(0, 1)
@@ -233,13 +233,13 @@ namespace Tests
             [Test]
             public void PolygonDifferentOrderEqualOperator()
             {
-                var a = new Polygon(ImmutableArray.Create(
+                var a = new Polygon2D(ImmutableArray.Create(
                     new Position2D(0, 1),
                     new Position2D(1, 2),
                     new Position2D(-1, -1)
                 ));
 
-                var b = new Polygon(ImmutableArray.Create(
+                var b = new Polygon2D(ImmutableArray.Create(
                     new Position2D(1, 2),
                     new Position2D(-1, -1),
                     new Position2D(0, 1)
@@ -251,13 +251,13 @@ namespace Tests
             [Test]
             public void PolygonNotEqual()
             {
-                var a = new Polygon(ImmutableArray.Create(
+                var a = new Polygon2D(ImmutableArray.Create(
                     new Position2D(0, 1),
                     new Position2D(1, 2),
                     new Position2D(-1, -1)
                 ));
 
-                var b = new Polygon(ImmutableArray.Create(
+                var b = new Polygon2D(ImmutableArray.Create(
                     new Position2D(1, 0),
                     new Position2D(2, 1),
                     new Position2D(-1, -1)
@@ -269,13 +269,13 @@ namespace Tests
             [Test]
             public void PolygonNotEqualOperator()
             {
-                var a = new Polygon(ImmutableArray.Create(
+                var a = new Polygon2D(ImmutableArray.Create(
                     new Position2D(0, 1),
                     new Position2D(1, 2),
                     new Position2D(-1, -1)
                 ));
 
-                var b = new Polygon(ImmutableArray.Create(
+                var b = new Polygon2D(ImmutableArray.Create(
                     new Position2D(1, 0),
                     new Position2D(2, 1),
                     new Position2D(-1, -1)
@@ -465,8 +465,8 @@ namespace Tests
             [Test]
             public void Equal()
             {
-                var aabb = new AABB(0, 0, 3, 3);
+                var aabb = new AABB2D(0, 0, 3, 3);
-                var other = new AABB(0, 0, 3, 3);
+                var other = new AABB2D(0, 0, 3, 3);
 
                 (aabb == other).Should().BeTrue();
             }
@@ -474,8 +474,8 @@ namespace Tests
             [Test]
             public void NotEqual()
             {
-                var aabb = new AABB(0, 0, 3, 3);
+                var aabb = new AABB2D(0, 0, 3, 3);
-                var other = new AABB(0, 0, 6, 6);
+                var other = new AABB2D(0, 0, 6, 6);
 
                 (aabb != other).Should().BeTrue();
             }

Test/NarrowPhaseTest.cs

@@ -75,7 +75,7 @@ namespace Tests
         {
             var point = new Point();
             var pointTransform = new Transform2D(new Position2D(1, 1));
-            var polygon = new Polygon(ImmutableArray.Create(
+            var polygon = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-2, -2),
                 new Position2D(-3, 2),
                 new Position2D(3, 2),
@@ -90,7 +90,7 @@ namespace Tests
         {
             var point = new Point();
             var pointTransform = new Transform2D(new Position2D(5, 5));
-            var polygon = new Polygon(ImmutableArray.Create(
+            var polygon = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-2, -2),
                 new Position2D(-3, 2),
                 new Position2D(3, 2),
@@ -187,14 +187,14 @@ namespace Tests
         [Test]
         public void PolygonPolygonOverlapping()
         {
-            var shapeA = new Polygon(ImmutableArray.Create(
+            var shapeA = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-1, 1), new Position2D(1, 1),
                 new Position2D(-1, -1), new Position2D(1, -1)
             ));
 
             var transformA = Transform2D.DefaultTransform;
 
-            var shapeB = new Polygon(ImmutableArray.Create(
+            var shapeB = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-1, 1), new Position2D(1, 1),
                 new Position2D(-1, -1), new Position2D(1, -1)
             ));
@@ -207,14 +207,14 @@ namespace Tests
         [Test]
         public void ScaledPolygonsOverlapping()
         {
-            var shapeA = new Polygon(ImmutableArray.Create(
+            var shapeA = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-1, 1), new Position2D(1, 1),
                 new Position2D(-1, -1), new Position2D(1, -1)
             ));
 
             var transformA = Transform2D.DefaultTransform;
 
-            var shapeB = new Polygon(ImmutableArray.Create(
+            var shapeB = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-1, 1), new Position2D(1, 1),
                 new Position2D(-1, -1), new Position2D(1, -1)
             ));
@@ -227,14 +227,14 @@ namespace Tests
         [Test]
         public void PolygonPolygonNotOverlapping()
         {
-            var shapeA = new Polygon(ImmutableArray.Create(
+            var shapeA = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-1, 1), new Position2D(1, 1),
                 new Position2D(-1, -1), new Position2D(1, -1)
             ));
 
             var transformA = Transform2D.DefaultTransform;
 
-            var shapeB = new Polygon(ImmutableArray.Create(
+            var shapeB = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-1, 1), new Position2D(1, 1),
                 new Position2D(-1, -1), new Position2D(1, -1)
             ));
@@ -247,14 +247,14 @@ namespace Tests
         [Test]
         public void ScaledPolygonsNotOverlapping()
         {
-            var shapeA = new Polygon(ImmutableArray.Create(
+            var shapeA = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-1, 1), new Position2D(1, 1),
                 new Position2D(-1, -1), new Position2D(1, -1)
             ));
 
             var transformA = Transform2D.DefaultTransform;
 
-            var shapeB = new Polygon(ImmutableArray.Create(
+            var shapeB = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-2, 2), new Position2D(2, 2),
                 new Position2D(-2, -2), new Position2D(2, -2)
             ));
@@ -271,7 +271,7 @@ namespace Tests
 
             var transformA = Transform2D.DefaultTransform;
 
-            var polygon = new Polygon(ImmutableArray.Create(
+            var polygon = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-1, -1), new Position2D(1, -1),
                 new Position2D(1, 1), new Position2D(-1, 1)
             ));
@@ -288,7 +288,7 @@ namespace Tests
 
             var transformA = Transform2D.DefaultTransform;
 
-            var polygon = new Polygon(ImmutableArray.Create(
+            var polygon = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-1, -1), new Position2D(1, -1),
                 new Position2D(1, 1), new Position2D(-1, 1)
             ));
@@ -326,7 +326,7 @@ namespace Tests
             var circle = new Circle(1);
             var transformA = new Transform2D(new Vector2(0.25f, 0));
 
-            var square = new Polygon(ImmutableArray.Create(
+            var square = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-1, -1), new Position2D(1, -1),
                 new Position2D(1, 1), new Position2D(-1, 1)
             ));
@@ -342,7 +342,7 @@ namespace Tests
             var circle = new Circle(1);
             var circleTransform = new Transform2D(new Vector2(5, 0));
 
-            var square = new Polygon(ImmutableArray.Create(
+            var square = new Polygon2D(ImmutableArray.Create(
                 new Position2D(-1, -1), new Position2D(1, -1),
                 new Position2D(1, 1), new Position2D(-1, 1)
             ));
@@ -426,7 +426,7 @@ namespace Tests
         [Test]
         public void MultiRectanglesOverlapping()
         {
-            var multiRectangleA = new MultiShape(
+            var multiRectangleA = new MultiShape2D(
                 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))),
@@ -435,7 +435,7 @@ namespace Tests
             );
             var transformA = new Transform2D(new Position2D(5, 0));
 
-            var multiRectangleB = new MultiShape(
+            var multiRectangleB = new MultiShape2D(
                 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))),
@@ -450,7 +450,7 @@ namespace Tests
         [Test]
         public void MultiRectanglesNotOverlapping()
         {
-            var multiRectangleA = new MultiShape(
+            var multiRectangleA = new MultiShape2D(
                 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))),
@@ -459,7 +459,7 @@ namespace Tests
             );
             var transformA = new Transform2D(new Position2D(5, 0));
 
-            var multiRectangleB = new MultiShape(
+            var multiRectangleB = new MultiShape2D(
                 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))),

Test/SpatialHashTest.cs

@@ -12,7 +12,7 @@ namespace Tests
         [Test]
         public void InsertAndRetrieve()
         {
-            var spatialHash = new SpatialHash<int>(16);
+            var spatialHash = new SpatialHash2D<int>(16);
 
             var rectA = new Rectangle(-2, -2, 4, 4);
             var rectATransform = new Transform2D(new Vector2(-8, -8));
@@ -38,7 +38,7 @@ namespace Tests
             var point = new Point();
             var pointTransform = new Transform2D(new Position2D(8, 8));
 
-            var multiRectangle = new MultiShape(
+            var multiRectangle = new MultiShape2D(
                 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))),
@@ -76,7 +76,7 @@ namespace Tests
         [Test]
         public void InsertAndRetrieveSameValues()
         {
-            var spatialHash = new SpatialHash<int>(16);
+            var spatialHash = new SpatialHash2D<int>(16);
 
             var rectA = new Rectangle(-2, -2, 4, 4);
             var rectATransform = new Transform2D(new Vector2(-8, -8));
@@ -97,7 +97,7 @@ namespace Tests
         [Test]
         public void Clear()
         {
-            var spatialHash = new SpatialHash<int>(16);
+            var spatialHash = new SpatialHash2D<int>(16);
 
             var rectA = new Rectangle(-2, -2, 4, 4);
             var rectATransform = new Transform2D(new Vector2(-8, -8));

Test/SweepTestTest.cs

@@ -23,7 +23,7 @@ namespace Tests
             var downRectangle = new Rectangle(-6, -2, 12, 4);
             var downTransform = new Transform2D(new Position2D(-6, 20));
 
-            var spatialHash = new SpatialHash<int>(16);
+            var spatialHash = new SpatialHash2D<int>(16);
             spatialHash.Insert(1, otherRectangle, otherTransform);
             spatialHash.Insert(2, farthestRectangle, farthestTransform);
             spatialHash.Insert(3, downRectangle, downTransform);