reorganization + AABB test when retrieving from spatial hash

Bonk/AABB.cs

@@ -10,7 +10,15 @@ namespace MoonTools.Core.Bonk
     /// </summary>
     public struct AABB : IEquatable<AABB>
     {
+        /// <summary>
+        /// The top-left position of the AABB.
+        /// </summary>
+        /// <value></value>
         public Vector2 Min { get; private set; }
+        /// <summary>
+        /// The bottom-right position of the AABB.
+        /// </summary>
+        /// <value></value>
         public Vector2 Max { get; private set; }
 
         public float Width { get { return Max.X - Min.X; } }
@@ -18,7 +26,15 @@ namespace MoonTools.Core.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>
+        /// <value></value>
         public float Bottom { get { return Max.Y; } }
 
         public AABB(float minX, float minY, float maxX, float maxY)
@@ -44,6 +60,12 @@ namespace MoonTools.Core.Bonk
             );
         }
 
+        /// <summary>
+        /// Efficiently transforms the AABB by a Transform2D.
+        /// </summary>
+        /// <param name="aabb"></param>
+        /// <param name="transform"></param>
+        /// <returns></returns>
         public static AABB Transformed(AABB aabb, Transform2D transform)
         {
             var center = (aabb.Min + aabb.Max) / 2f;
@@ -55,6 +77,12 @@ namespace MoonTools.Core.Bonk
             return new AABB(newCenter - newExtent, newCenter + newExtent);
         }
 
+        /// <summary>
+        /// Creates an AABB for an arbitrary collection of positions.
+        /// This is less efficient than defining a custom AABB method for most shapes, so avoid using this if possible.
+        /// </summary>
+        /// <param name="vertices"></param>
+        /// <returns></returns>
         public static AABB FromVertices(IEnumerable<Position2D> vertices)
         {
             var minX = float.MaxValue;
@@ -85,6 +113,11 @@ namespace MoonTools.Core.Bonk
             return new AABB(minX, minY, maxX, maxY);
         }
 
+        public static bool TestOverlap(AABB a, AABB b)
+        {
+            return a.Left <= b.Right && a.Right >= b.Left && a.Top <= b.Bottom && a.Bottom >= b.Top;
+        }
+
         public override bool Equals(object obj)
         {
             return obj is AABB aabb && Equals(aabb);

Bonk/BroadPhase/SpatialHash.cs

@@ -73,7 +73,10 @@ namespace MoonTools.Core.Bonk
                         foreach (var t in hashDictionary[key])
                         {
                             var (otherShape, otherTransform) = IDLookup[t];
-                            if (!id.Equals(t)) { yield return (t, otherShape, otherTransform); }
+                            if (!id.Equals(t) && AABB.TestOverlap(shape.TransformedAABB(transform2D), otherShape.TransformedAABB(otherTransform)))
+                            {
+                                yield return (t, otherShape, otherTransform);
+                            }
                         }
                     }
                 }

Bonk/NarrowPhase/NarrowPhase.cs

@@ -1,53 +1,8 @@
 using MoonTools.Core.Structs;
 using System.Numerics;
-using System.Collections.Generic;
 
 namespace MoonTools.Core.Bonk
 {
-    internal unsafe struct SimplexVertexBuffer
-    {
-        private const int Size = 35;
-        
-        public int Length { get; private set; }
-
-        public SimplexVertexBuffer(IEnumerable<Position2D> positions)
-        {
-            var i = 0;
-            foreach (var position in positions)
-            {
-                if (i == Size) { break; }
-                var vertex = position.ToVector2();
-                _simplexXBuffer[i] = vertex.X;
-                _simplexYBuffer[i] = vertex.Y;
-                i++;
-            }
-            Length = i;
-        }
-
-        public Vector2 this[int key]
-        {
-            get => new Vector2(_simplexXBuffer[key], _simplexYBuffer[key]);
-            private set 
-            {
-                _simplexXBuffer[key] = value.X;
-                _simplexYBuffer[key] = value.Y;
-            }
-        }
-
-        public void Insert(int index, Vector2 value)
-        {
-            for (var i = Length; i > index; i--)
-            {
-                this[i] = this[i - 1];
-            }
-            this[index] = value;
-            Length++;
-        }
-
-        private fixed float _simplexXBuffer[Size];
-        private fixed float _simplexYBuffer[Size];
-    }
-
     public static class NarrowPhase
     {
         private enum PolygonWinding
@@ -57,7 +12,7 @@ namespace MoonTools.Core.Bonk
         }
 
         /// <summary>
-        /// Tests if the two shape-transform pairs are overlapping.
+        /// Tests if two shape-transform pairs are overlapping. Automatically detects fast-path optimizations.
         /// </summary>
         public static bool TestCollision(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
         {

Bonk/NarrowPhase/SimplexVertexBuffer.cs

@@ -0,0 +1,47 @@
+using System.Collections.Generic;
+using System.Numerics;
+using MoonTools.Core.Structs;
+
+internal unsafe struct SimplexVertexBuffer
+{
+    private const int Size = 35;
+
+    public int Length { get; private set; }
+
+    public SimplexVertexBuffer(IEnumerable<Position2D> positions)
+    {
+        var i = 0;
+        foreach (var position in positions)
+        {
+            if (i == Size) { break; }
+            var vertex = position.ToVector2();
+            _simplexXBuffer[i] = vertex.X;
+            _simplexYBuffer[i] = vertex.Y;
+            i++;
+        }
+        Length = i;
+    }
+
+    public Vector2 this[int key]
+    {
+        get => new Vector2(_simplexXBuffer[key], _simplexYBuffer[key]);
+        private set
+        {
+            _simplexXBuffer[key] = value.X;
+            _simplexYBuffer[key] = value.Y;
+        }
+    }
+
+    public void Insert(int index, Vector2 value)
+    {
+        for (var i = Length; i > index; i--)
+        {
+            this[i] = this[i - 1];
+        }
+        this[index] = value;
+        Length++;
+    }
+
+    private fixed float _simplexXBuffer[Size];
+    private fixed float _simplexYBuffer[Size];
+}

Bonk/Shapes/Point.cs

@@ -6,7 +6,6 @@ namespace MoonTools.Core.Bonk
 {
     public struct Point : IShape2D, IEquatable<Point>
     {
-        private Position2D Position { get; }
         public AABB AABB { get; }
 
         public AABB TransformedAABB(Transform2D transform)
@@ -16,7 +15,7 @@ namespace MoonTools.Core.Bonk
 
         public Vector2 Support(Vector2 direction, Transform2D transform)
         {
-            return Vector2.Transform(Position.ToVector2(), transform.TransformMatrix);
+            return Vector2.Transform(Vector2.Zero, transform.TransformMatrix);
         }
 
         public override bool Equals(object obj)
@@ -31,12 +30,12 @@ namespace MoonTools.Core.Bonk
 
         public bool Equals(Point other)
         {
-            return Position == other.Position;
+            return true;
         }
 
         public override int GetHashCode()
         {
-            return HashCode.Combine(Position);
+            return 0;
         }
 
         public static bool operator ==(Point a, Point b)