forked from MoonsideGames/MoonTools.Bonk
restructure files
parent
20872021fc
commit
a53677ba02
|
@ -2,90 +2,10 @@
|
|||
using MoonTools.Core.Structs;
|
||||
using System;
|
||||
using MoonTools.Core.Bonk.Extensions;
|
||||
using System.Collections.Generic;
|
||||
|
||||
namespace MoonTools.Core.Bonk
|
||||
{
|
||||
public struct MinkowskiDifference : IEquatable<MinkowskiDifference>
|
||||
{
|
||||
private IShape2D shapeA;
|
||||
private Transform2D transformA;
|
||||
private IShape2D shapeB;
|
||||
private Transform2D transformB;
|
||||
|
||||
public MinkowskiDifference(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
|
||||
{
|
||||
this.shapeA = shapeA;
|
||||
this.transformA = transformA;
|
||||
this.shapeB = shapeB;
|
||||
this.transformB = transformB;
|
||||
}
|
||||
|
||||
public bool Equals(MinkowskiDifference other)
|
||||
{
|
||||
return
|
||||
shapeA == other.shapeA &&
|
||||
transformA.Equals(other.transformA) &&
|
||||
shapeB == other.shapeB &&
|
||||
transformB.Equals(other.transformB);
|
||||
}
|
||||
|
||||
public Vector2 Support(Vector2 direction)
|
||||
{
|
||||
return shapeA.Support(direction, transformA) - shapeB.Support(-direction, transformB);
|
||||
}
|
||||
}
|
||||
|
||||
public struct Simplex : IShape2D
|
||||
{
|
||||
MinkowskiDifference minkowskiDifference;
|
||||
Vector2 directionA;
|
||||
Vector2 directionB;
|
||||
|
||||
public Simplex(MinkowskiDifference minkowskiDifference, Vector2 directionA, Vector2 directionB)
|
||||
{
|
||||
this.minkowskiDifference = minkowskiDifference;
|
||||
this.directionA = directionA;
|
||||
this.directionB = directionB;
|
||||
}
|
||||
|
||||
public IEnumerable<Position2D> Vertices
|
||||
{
|
||||
get
|
||||
{
|
||||
yield return (Position2D)Support(directionA);
|
||||
yield return (Position2D)Support(directionB);
|
||||
yield return (Position2D)Support(-(directionB - directionA).Perpendicular());
|
||||
}
|
||||
}
|
||||
|
||||
public AABB AABB(Transform2D transform)
|
||||
{
|
||||
return Bonk.AABB.FromTransformedVertices(Vertices, transform);
|
||||
}
|
||||
|
||||
public bool Equals(IShape2D other)
|
||||
{
|
||||
if (other is Simplex polytope)
|
||||
{
|
||||
return minkowskiDifference.Equals(polytope.minkowskiDifference) &&
|
||||
directionA == polytope.directionA &&
|
||||
directionB == polytope.directionB;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
public Vector2 Support(Vector2 direction)
|
||||
{
|
||||
return minkowskiDifference.Support(direction);
|
||||
}
|
||||
|
||||
public Vector2 Support(Vector2 direction, Transform2D transform)
|
||||
{
|
||||
return Vector2.Transform(Support(direction), transform.TransformMatrix);
|
||||
}
|
||||
}
|
||||
|
||||
public static class GJK2D
|
||||
{
|
||||
|
|
|
@ -0,0 +1,36 @@
|
|||
using System;
|
||||
using Microsoft.Xna.Framework;
|
||||
using MoonTools.Core.Structs;
|
||||
|
||||
namespace MoonTools.Core.Bonk
|
||||
{
|
||||
public struct MinkowskiDifference : IEquatable<MinkowskiDifference>
|
||||
{
|
||||
private IShape2D shapeA;
|
||||
private Transform2D transformA;
|
||||
private IShape2D shapeB;
|
||||
private Transform2D transformB;
|
||||
|
||||
public MinkowskiDifference(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
|
||||
{
|
||||
this.shapeA = shapeA;
|
||||
this.transformA = transformA;
|
||||
this.shapeB = shapeB;
|
||||
this.transformB = transformB;
|
||||
}
|
||||
|
||||
public bool Equals(MinkowskiDifference other)
|
||||
{
|
||||
return
|
||||
shapeA == other.shapeA &&
|
||||
transformA.Equals(other.transformA) &&
|
||||
shapeB == other.shapeB &&
|
||||
transformB.Equals(other.transformB);
|
||||
}
|
||||
|
||||
public Vector2 Support(Vector2 direction)
|
||||
{
|
||||
return shapeA.Support(direction, transformA) - shapeB.Support(-direction, transformB);
|
||||
}
|
||||
}
|
||||
}
|
|
@ -0,0 +1,58 @@
|
|||
using System.Collections.Generic;
|
||||
using Microsoft.Xna.Framework;
|
||||
using MoonTools.Core.Structs;
|
||||
using MoonTools.Core.Bonk.Extensions;
|
||||
|
||||
namespace MoonTools.Core.Bonk
|
||||
{
|
||||
public struct Simplex : IShape2D
|
||||
{
|
||||
MinkowskiDifference minkowskiDifference;
|
||||
Vector2 directionA;
|
||||
Vector2 directionB;
|
||||
|
||||
public Simplex(MinkowskiDifference minkowskiDifference, Vector2 directionA, Vector2 directionB)
|
||||
{
|
||||
this.minkowskiDifference = minkowskiDifference;
|
||||
this.directionA = directionA;
|
||||
this.directionB = directionB;
|
||||
}
|
||||
|
||||
public IEnumerable<Position2D> Vertices
|
||||
{
|
||||
get
|
||||
{
|
||||
yield return (Position2D)Support(directionA);
|
||||
yield return (Position2D)Support(directionB);
|
||||
yield return (Position2D)Support(-(directionB - directionA).Perpendicular());
|
||||
}
|
||||
}
|
||||
|
||||
public AABB AABB(Transform2D transform)
|
||||
{
|
||||
return Bonk.AABB.FromTransformedVertices(Vertices, transform);
|
||||
}
|
||||
|
||||
public bool Equals(IShape2D other)
|
||||
{
|
||||
if (other is Simplex polytope)
|
||||
{
|
||||
return minkowskiDifference.Equals(polytope.minkowskiDifference) &&
|
||||
directionA == polytope.directionA &&
|
||||
directionB == polytope.directionB;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
public Vector2 Support(Vector2 direction)
|
||||
{
|
||||
return minkowskiDifference.Support(direction);
|
||||
}
|
||||
|
||||
public Vector2 Support(Vector2 direction, Transform2D transform)
|
||||
{
|
||||
return Vector2.Transform(Support(direction), transform.TransformMatrix);
|
||||
}
|
||||
}
|
||||
}
|
|
@ -2,15 +2,15 @@ using Microsoft.Xna.Framework;
|
|||
|
||||
namespace MoonTools.Core.Bonk.Extensions
|
||||
{
|
||||
public static class Vector2Extensions
|
||||
internal static class Vector2Extensions
|
||||
{
|
||||
public static Vector2 Cross(this Vector2 a, Vector2 b)
|
||||
internal static Vector2 Cross(this Vector2 a, Vector2 b)
|
||||
{
|
||||
var vec3 = Vector3.Cross(new Vector3(a.X, a.Y, 0), new Vector3(b.X, b.Y, 0));
|
||||
return new Vector2(vec3.X, vec3.Y);
|
||||
}
|
||||
|
||||
public static Vector2 Perpendicular(this Vector2 v)
|
||||
internal static Vector2 Perpendicular(this Vector2 v)
|
||||
{
|
||||
return new Vector2(v.Y, -v.X);
|
||||
}
|
||||
|
|
Loading…
Reference in New Issue