MoonTools.Bonk/Bonk/NarrowPhase/GJK2D.cs

78 lines
2.7 KiB
C#

using Microsoft.Xna.Framework;
using MoonTools.Core.Structs;
using MoonTools.Core.Bonk.Extensions;
namespace MoonTools.Core.Bonk
{
public static class GJK2D
{
public static bool TestCollision(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
{
var minkowskiDifference = new MinkowskiDifference(shapeA, transformA, shapeB, transformB);
var a = minkowskiDifference.Support(Vector2.UnitX);
var b = minkowskiDifference.Support(-a);
return Vector2.Dot(a, b) > 0 ? false : CheckSimplex(new Simplex(minkowskiDifference, a, b));
}
private static bool CheckSimplex(Simplex simplex)
{
var a = simplex.DirectionA;
var b = simplex.DirectionB;
var axb = a.Cross(b);
var c = simplex.Support((b - a).Perpendicular());
var axc = a.Cross(c);
var bxc = b.Cross(c);
var cxb = -bxc;
return (b - a) == Vector2.Zero || (axb.Y > 0 != bxc.Y > 0 ? CheckSimplex(simplex.WithDirections(b, c)) : (axc.Y > 0 != cxb.Y > 0 ? CheckSimplex(simplex.WithDirections(a, c)) : true));
}
public static (bool, Simplex) FindCollisionSimplex(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
{
var minkowskiDifference = new MinkowskiDifference(shapeA, transformA, shapeB, transformB);
var a = minkowskiDifference.Support(Vector2.UnitX);
var b = minkowskiDifference.Support(-a);
return Vector2.Dot(a, b) > 0 ? (false, default(Simplex)) : Simplex(new Simplex(minkowskiDifference, a, b));
}
private static (bool, Simplex) Simplex(Simplex simplex)
{
var a = simplex.DirectionA;
var b = simplex.DirectionB;
if ((b - a) == Vector2.Zero)
{
return (false, simplex.WithDirections(a, b));
}
else
{
var c = simplex.Support((b - a).Perpendicular());
var axb = a.Cross(b);
var bxc = b.Cross(c);
if (axb.Y > 0 != bxc.Y > 0)
{
return Simplex(simplex.WithDirections(b, c));
}
else
{
var axc = a.Cross(c);
var cxb = -bxc;
if (axc.Y > 0 != cxb.Y > 0)
{
return Simplex(simplex.WithDirections(a, b));
}
else
{
return (true, simplex.WithDirections(a, b));
}
}
}
}
}
}