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fast AABB transformation

generics
Evan Hemsley 2019-12-29 22:19:10 -08:00
parent d9bc05ee32
commit f9df547302
10 changed files with 136 additions and 120 deletions
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98
Bonk/AABB.cs
View File

@ -1,4 +1,4 @@
using System;
using System;
using System.Collections.Generic;
using System.Numerics;
using MoonTools.Core.Structs;
@ -10,50 +10,74 @@ namespace MoonTools.Core.Bonk
/// </summary>
public struct AABB : IEquatable<AABB>
{
public float MinX { get; private set; }
public float MinY { get; private set; }
public float MaxX { get; private set; }
public float MaxY { get; private set; }
public Vector2 Min { get; private set; }
public Vector2 Max { get; private set; }
public float Width { get { return MaxX - MinX; } }
public float Height { get { return MaxY - MinY; } }
public float Width { get { return Max.X - Min.X; } }
public float Height { get { return Max.Y - Min.Y; } }
public static AABB FromTransformedVertices(IEnumerable<Position2D> vertices, Transform2D transform)
public AABB(float minX, float minY, float maxX, float maxY)
{
float minX = float.MaxValue;
float minY = float.MaxValue;
float maxX = float.MinValue;
float maxY = float.MinValue;
Min = new Vector2(minX, minY);
Max = new Vector2(maxX, maxY);
}
public AABB(Vector2 min, Vector2 max)
{
Min = min;
Max = max;
}
private static Matrix4x4 AbsoluteMatrix(Matrix4x4 matrix)
{
return new Matrix4x4
(
Math.Abs(matrix.M11), Math.Abs(matrix.M12), Math.Abs(matrix.M13), Math.Abs(matrix.M14),
Math.Abs(matrix.M21), Math.Abs(matrix.M22), Math.Abs(matrix.M23), Math.Abs(matrix.M24),
Math.Abs(matrix.M31), Math.Abs(matrix.M32), Math.Abs(matrix.M33), Math.Abs(matrix.M34),
Math.Abs(matrix.M41), Math.Abs(matrix.M42), Math.Abs(matrix.M43), Math.Abs(matrix.M44)
);
}
public static AABB Transformed(AABB aabb, Transform2D transform)
{
var center = (aabb.Min + aabb.Max) / 2f;
var extent = (aabb.Max - aabb.Min) / 2f;
var newCenter = Vector2.Transform(center, transform.TransformMatrix);
var newExtent = Vector2.TransformNormal(extent, AbsoluteMatrix(transform.TransformMatrix));
return new AABB(newCenter - newExtent, newCenter + newExtent);
}
public static AABB FromVertices(IEnumerable<Position2D> vertices)
{
var minX = float.MaxValue;
var minY = float.MaxValue;
var maxX = float.MinValue;
var maxY = float.MinValue;
foreach (var vertex in vertices)
{
var transformedVertex = Vector2.Transform(vertex, transform.TransformMatrix);
if (transformedVertex.X < minX)
if (vertex.X < minX)
{
minX = transformedVertex.X;
minX = vertex.X;
}
if (transformedVertex.Y < minY)
if (vertex.Y < minY)
{
minY = transformedVertex.Y;
minY = vertex.Y;
}
if (transformedVertex.X > maxX)
if (vertex.X > maxX)
{
maxX = transformedVertex.X;
maxX = vertex.X;
}
if (transformedVertex.Y > maxY)
if (vertex.Y > maxY)
{
maxY = transformedVertex.Y;
maxY = vertex.Y;
}
}
return new AABB
{
MinX = minX,
MinY = minY,
MaxX = maxX,
MaxY = maxY
};
return new AABB(minX, minY, maxX, maxY);
}
public override bool Equals(object obj)
@ -63,23 +87,13 @@ namespace MoonTools.Core.Bonk
public bool Equals(AABB other)
{
return MinX == other.MinX &&
MinY == other.MinY &&
MaxX == other.MaxX &&
MaxY == other.MaxY;
return Min == other.Min &&
Max == other.Max;
}
public override int GetHashCode()
{
return HashCode.Combine(MinX, MinY, MaxX, MaxY);
}
public AABB(float minX, float minY, float maxX, float maxY)
{
MinX = minX;
MinY = minY;
MaxX = maxX;
MaxY = maxY;
return HashCode.Combine(Min, Max);
}
public static bool operator ==(AABB left, AABB right)

23
Bonk/BroadPhase/SpatialHash.cs
View File

@ -1,5 +1,6 @@
using System;
using System;
using System.Collections.Generic;
using System.Numerics;
using MoonTools.Core.Structs;
namespace MoonTools.Core.Bonk
@ -20,9 +21,9 @@ namespace MoonTools.Core.Bonk
this.cellSize = cellSize;
}
private (int, int) Hash(float x, float y)
private (int, int) Hash(Vector2 position)
{
return ((int)Math.Floor(x / cellSize), (int)Math.Floor(y / cellSize));
return ((int)Math.Floor(position.X / cellSize), (int)Math.Floor(position.Y / cellSize));
}
/// <summary>
@ -33,13 +34,13 @@ namespace MoonTools.Core.Bonk
/// <param name="transform2D"></param>
public void Insert(T id, IShape2D shape, Transform2D transform2D)
{
var box = shape.AABB(transform2D);
var minHash = Hash(box.MinX, box.MinY);
var maxHash = Hash(box.MaxX, box.MaxY);
var box = shape.TransformedAABB(transform2D);
var minHash = Hash(box.Min);
var maxHash = Hash(box.Max);
for (int i = minHash.Item1; i <= maxHash.Item1; i++)
for (var i = minHash.Item1; i <= maxHash.Item1; i++)
{
for (int j = minHash.Item2; j <= maxHash.Item2; j++)
for (var j = minHash.Item2; j <= maxHash.Item2; j++)
{
if (!hashDictionary.ContainsKey(i))
{
@ -62,9 +63,9 @@ namespace MoonTools.Core.Bonk
/// </summary>
public IEnumerable<(T, IShape2D, Transform2D)> Retrieve(T id, IShape2D shape, Transform2D transform2D)
{
AABB box = shape.AABB(transform2D);
var minHash = Hash(box.MinX, box.MinY);
var maxHash = Hash(box.MaxX, box.MaxY);
AABB box = shape.TransformedAABB(transform2D);
var minHash = Hash(box.Min);
var maxHash = Hash(box.Max);
for (int i = minHash.Item1; i <= maxHash.Item1; i++)
{

4
Bonk/IShape2D.cs
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@ -6,6 +6,8 @@ namespace MoonTools.Core.Bonk
{
public interface IShape2D : 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>
@ -19,6 +21,6 @@ namespace MoonTools.Core.Bonk
/// </summary>
/// <param name="transform">A Transform for transforming the shape vertices.</param>
/// <returns>Returns a bounding box based on the shape.</returns>
AABB AABB(Transform2D transform);
AABB TransformedAABB(Transform2D transform);
}
}

11
Bonk/Shapes/Circle.cs
View File

@ -10,10 +10,12 @@ namespace MoonTools.Core.Bonk
public struct Circle : IShape2D, IEquatable<Circle>
{
public int Radius { get; }
public AABB AABB { get; }
public Circle(int radius)
{
Radius = radius;
AABB = new AABB(-Radius, -Radius, Radius, Radius);
}
public Vector2 Support(Vector2 direction, Transform2D transform)
@ -21,14 +23,9 @@ namespace MoonTools.Core.Bonk
return Vector2.Transform(Vector2.Normalize(direction) * Radius, transform.TransformMatrix);
}
public AABB AABB(Transform2D transform2D)
public AABB TransformedAABB(Transform2D transform2D)
{
return new AABB(
transform2D.Position.X - (Radius * transform2D.Scale.X),
transform2D.Position.Y - (Radius * transform2D.Scale.Y),
transform2D.Position.X + (Radius * transform2D.Scale.X),
transform2D.Position.Y + (Radius * transform2D.Scale.Y)
);
return AABB.Transformed(AABB, transform2D);
}
public override bool Equals(object obj)

34
Bonk/Shapes/Line.cs
View File

@ -10,36 +10,40 @@ namespace MoonTools.Core.Bonk
/// </summary>
public struct Line : IShape2D, IEquatable<Line>
{
private Position2D v0;
private Position2D v1;
private Position2D _v0;
private Position2D _v1;
public AABB AABB { get; }
public IEnumerable<Position2D> Vertices
{
get
{
yield return v0;
yield return v1;
yield return _v0;
yield return _v1;
}
}
public Line(Position2D start, Position2D end)
{
v0 = start;
v1 = end;
_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));
}
public Vector2 Support(Vector2 direction, Transform2D transform)
{
var TransformedStart = Vector2.Transform(v0, transform.TransformMatrix);
var TransformedEnd = Vector2.Transform(v1, transform.TransformMatrix);
return Vector2.Dot(TransformedStart, direction) > Vector2.Dot(TransformedEnd, direction) ?
TransformedStart :
TransformedEnd;
var transformedStart = Vector2.Transform(_v0, transform.TransformMatrix);
var transformedEnd = Vector2.Transform(_v1, transform.TransformMatrix);
return Vector2.Dot(transformedStart, direction) > Vector2.Dot(transformedEnd, direction) ?
transformedStart :
transformedEnd;
}
public AABB AABB(Transform2D Transform2D)
public AABB TransformedAABB(Transform2D transform)
{
return Bonk.AABB.FromTransformedVertices(Vertices, Transform2D);
return AABB.Transformed(AABB, transform);
}
public override bool Equals(object obj)
@ -54,12 +58,12 @@ namespace MoonTools.Core.Bonk
public bool Equals(Line other)
{
return (v0 == other.v0 && v1 == other.v1) || (v1 == other.v0 && v0 == other.v1);
return (_v0 == other._v0 && _v1 == other._v1) || (_v1 == other._v0 && _v0 == other._v1);
}
public override int GetHashCode()
{
return HashCode.Combine(v0, v1);
return HashCode.Combine(_v0, _v1);
}
public static bool operator ==(Line a, Line b)

22
Bonk/Shapes/Point.cs
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@ -1,5 +1,4 @@
using System;
using System.Linq;
using System;
using System.Numerics;
using MoonTools.Core.Structs;
@ -7,26 +6,29 @@ namespace MoonTools.Core.Bonk
{
public struct Point : IShape2D, IEquatable<Point>
{
private Position2D position;
private Position2D _position;
public AABB AABB { get; }
public Point(Position2D position)
{
this.position = position;
_position = position;
AABB = new AABB(position, position);
}
public Point(int x, int y)
{
this.position = new Position2D(x, y);
_position = new Position2D(x, y);
AABB = new AABB(x, y, x, y);
}
public AABB AABB(Transform2D transform)
public AABB TransformedAABB(Transform2D transform)
{
return Bonk.AABB.FromTransformedVertices(Enumerable.Repeat<Position2D>(position, 1), transform);
return AABB.Transformed(AABB, transform);
}
public Vector2 Support(Vector2 direction, Transform2D transform)
{
return Vector2.Transform(position.ToVector2(), transform.TransformMatrix);
return Vector2.Transform(_position.ToVector2(), transform.TransformMatrix);
}
public override bool Equals(object obj)
@ -41,12 +43,12 @@ namespace MoonTools.Core.Bonk
public bool Equals(Point other)
{
return position == other.position;
return _position == other._position;
}
public override int GetHashCode()
{
return HashCode.Combine(position);
return HashCode.Combine(_position);
}
public static bool operator ==(Point a, Point b)

25
Bonk/Shapes/Polygon.cs
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@ -13,27 +13,30 @@ namespace MoonTools.Core.Bonk
/// </summary>
public struct Polygon : IShape2D, IEquatable<Polygon>
{
private ImmutableArray<Position2D> vertices;
private ImmutableArray<Position2D> _vertices;
public AABB AABB { get; }
public IEnumerable<Position2D> Vertices { get { return vertices; } }
public IEnumerable<Position2D> Vertices { get { return _vertices; } }
public int VertexCount { get { return vertices.Length; } }
public int VertexCount { get { return _vertices.Length; } }
// vertices are local to the origin
public Polygon(IEnumerable<Position2D> vertices) // TODO: remove this, params is bad because it allocates an array
public Polygon(IEnumerable<Position2D> vertices)
{
this.vertices = vertices.ToImmutableArray();
_vertices = vertices.ToImmutableArray();
AABB = AABB.FromVertices(vertices);
}
public Polygon(ImmutableArray<Position2D> vertices)
{
this.vertices = vertices;
_vertices = vertices;
AABB = AABB.FromVertices(vertices);
}
public Vector2 Support(Vector2 direction, Transform2D transform)
{
var maxDotProduct = float.NegativeInfinity;
var maxVertex = vertices[0].ToVector2();
var maxVertex = _vertices[0].ToVector2();
foreach (var vertex in Vertices)
{
var transformed = Vector2.Transform(vertex, transform.TransformMatrix);
@ -47,9 +50,9 @@ namespace MoonTools.Core.Bonk
return maxVertex;
}
public AABB AABB(Transform2D Transform2D)
public AABB TransformedAABB(Transform2D transform)
{
return Bonk.AABB.FromTransformedVertices(Vertices, Transform2D);
return AABB.Transformed(AABB, transform);
}
public override bool Equals(object obj)
@ -64,11 +67,11 @@ namespace MoonTools.Core.Bonk
public bool Equals(Polygon other)
{
var q = from a in vertices
var q = from a in _vertices
join b in other.Vertices on a equals b
select a;
return vertices.Length == other.VertexCount && q.Count() == vertices.Length;
return _vertices.Length == other.VertexCount && q.Count() == _vertices.Length;
}
public bool Equals(Rectangle rectangle)

9
Bonk/Shapes/Rectangle.cs
View File

@ -1,6 +1,5 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Numerics;
using MoonTools.Core.Structs;
@ -16,6 +15,8 @@ namespace MoonTools.Core.Bonk
public int MaxX { get; }
public int MaxY { get; }
public AABB AABB { get; }
public IEnumerable<Position2D> Vertices
{
get
@ -33,6 +34,8 @@ namespace MoonTools.Core.Bonk
MinY = minY;
MaxX = maxX;
MaxY = maxY;
AABB = new AABB(minX, minY, maxX, maxY);
}
public Vector2 Support(Vector2 direction, Transform2D transform)
@ -52,9 +55,9 @@ namespace MoonTools.Core.Bonk
return maxVertex;
}
public AABB AABB(Transform2D Transform2D)
public AABB TransformedAABB(Transform2D transform)
{
return Bonk.AABB.FromTransformedVertices(Vertices, Transform2D);
return AABB.Transformed(AABB, transform);
}
public override bool Equals(object obj)

16
Bonk/Shapes/Simplex.cs
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@ -1,4 +1,4 @@
using System.Linq;
using System.Linq;
using System.Collections.Generic;
using System.Numerics;
using MoonTools.Core.Structs;
@ -9,7 +9,7 @@ namespace MoonTools.Core.Bonk
/// <summary>
/// A simplex is a shape with up to n - 2 vertices in the nth dimension.
/// </summary>
public struct Simplex2D : IShape2D, IEquatable<Simplex2D>
public struct Simplex2D : IEquatable<Simplex2D>
{
private Vector2 a;
private Vector2? b;
@ -56,11 +56,6 @@ namespace MoonTools.Core.Bonk
}
}
public AABB AABB(Transform2D transform)
{
return Bonk.AABB.FromTransformedVertices(Vertices, transform);
}
public Vector2 Support(Vector2 direction, Transform2D transform)
{
var maxDotProduct = float.NegativeInfinity;
@ -80,12 +75,7 @@ namespace MoonTools.Core.Bonk
public override bool Equals(object obj)
{
return obj is IShape2D other && Equals(other);
}
public bool Equals(IShape2D other)
{
return other is Simplex2D otherSimplex && Equals(otherSimplex);
return obj is Simplex2D other && Equals(other);
}
public bool Equals(Simplex2D other)

10
Test/Equality.cs
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@ -1,4 +1,4 @@
using NUnit.Framework;
using NUnit.Framework;
using FluentAssertions;
using MoonTools.Core.Bonk;
@ -18,7 +18,7 @@ namespace Tests
var a = new Point(1, 1);
var b = new Point(1, 1);
a.Should().BeEquivalentTo(b);
a.Equals(b).Should().BeTrue();
}
[Test]
@ -27,7 +27,7 @@ namespace Tests
var a = new Point(1, 1);
var b = new Point(-1, 1);
a.Should().NotBeEquivalentTo(b);
a.Equals(b).Should().BeFalse();
}
[Test]
@ -305,7 +305,7 @@ namespace Tests
var b = new Rectangle(-1, -1, 1, 1);
a.Should().BeEquivalentTo(b);
a.Equals(b).Should().BeTrue();
}
[Test]
@ -320,7 +320,7 @@ namespace Tests
var b = new Rectangle(-1, -1, 1, 1);
a.Should().NotBeEquivalentTo(b);
a.Equals(b).Should().BeFalse();
}
[Test]