From 1e8cc82dc4ce3954171520c3ca30d71f24bc000b Mon Sep 17 00:00:00 2001 From: Syntriax Date: Mon, 4 Dec 2023 23:55:43 +0300 Subject: [PATCH] Testset --- Game/Game1.cs | 2 +- Game/Physics2D/PhysicsEngine2D.cs | 63 +++++++++++++++---------------- 2 files changed, 31 insertions(+), 34 deletions(-) diff --git a/Game/Game1.cs b/Game/Game1.cs index 9d822d4..b7db248 100644 --- a/Game/Game1.cs +++ b/Game/Game1.cs @@ -152,7 +152,7 @@ public class Game1 : Game seconds += gameTime.ElapsedGameTime.Milliseconds * .0005f; // TODO: Add your update logic here - while (physicsTimer + 0.01f < gameTime.TotalGameTime.TotalMilliseconds * .001f) + while (physicsTimer + 0.01f < seconds) { Console.WriteLine($"Physics Timer: {physicsTimer}"); physicsTimer += 0.01f; diff --git a/Game/Physics2D/PhysicsEngine2D.cs b/Game/Physics2D/PhysicsEngine2D.cs index 3ea7922..2b1997c 100644 --- a/Game/Physics2D/PhysicsEngine2D.cs +++ b/Game/Physics2D/PhysicsEngine2D.cs @@ -42,12 +42,7 @@ public class PhysicsEngine2D : IPhysicsEngine2D for (int i = 0; i < IterationCount; i++) { foreach (var rigidBody in rigidBodies) - { - Vector2 nextPosition = rigidBody.Transform.Position; - nextPosition += rigidBody.Velocity * intervalDeltaTime; - - rigidBody.Transform.Position = nextPosition; - } + StepRigidBody(rigidBody, intervalDeltaTime); foreach (var collider in colliders) @@ -57,47 +52,49 @@ public class PhysicsEngine2D : IPhysicsEngine2D { ICollider2D colliderX = colliders[colliderIX]; for (int colliderIY = colliderIX + 1; colliderIY < colliders.Count; colliderIY++) - for (int i1 = 0; i1 < colliderX.Vertices.Count; i1++) + for (int verticesIndex = 0; verticesIndex < colliderX.Vertices.Count; verticesIndex++) { - Vector2 vertex = colliderX.Vertices[i1]; - if (!colliders[colliderIY].CheckCollision(vertex, colliderX, out var collisionInformation)) + if (!colliders[colliderIY].CheckCollision(colliderX.Vertices[verticesIndex], colliderX, out var collisionInformation)) continue; - Console.WriteLine($"normal = {collisionInformation.Normal}"); - // // if (colliders[colliderIX].BehaviourController.TryGetBehaviour(out IRigidBody2D? rigidX)) - // // rigidX.Velocity = Vector2.Reflect(rigidX.Velocity, collisionInformation.Normal); - if (colliders[colliderIX].BehaviourController.TryGetBehaviour(out IRigidBody2D? rigidX)) + ICollider2D colliderY = colliders[colliderIY]; + if (colliderX.BehaviourController.TryGetBehaviour(out IRigidBody2D? rigidX)) { - Vector2 toContact = colliderX.Transform.Position - collisionInformation.ContactPosition; - Vector2 mirrored = Vector2.Reflect(toContact, new Vector2(collisionInformation.Normal.X, collisionInformation.Normal.Y)); - Console.WriteLine($"rigidX.Velocity = {rigidX.Velocity}"); + Vector2 xVertex = colliderX.Vertices[verticesIndex]; + Vector2 edgeDirection = new Vector2(collisionInformation.Normal.Y, collisionInformation.Normal.X); + Vector2 p1 = xVertex - rigidX.Velocity * intervalDeltaTime; + float t = IntersectionParameterT(collisionInformation.ContactPosition - edgeDirection * 100f, collisionInformation.ContactPosition + edgeDirection * 100f, xVertex, p1); + Vector2 vertexNewPosition = Vector2.Lerp(xVertex, p1, t); rigidX.Velocity = Vector2.Reflect(rigidX.Velocity, collisionInformation.Normal); + rigidX.Transform.Position -= xVertex - vertexNewPosition; - Vector2 vector2 = -new Vector2(collisionInformation.Normal.X * rigidX.Velocity.X, collisionInformation.Normal.Y * rigidX.Velocity.Y); - Console.WriteLine($"Displacement = {vector2}"); - rigidX.Transform.Position -= mirrored * 2; - Console.WriteLine($"rigidX.Velocity = {rigidX.Velocity}"); + StepRigidBody(rigidX, intervalDeltaTime * (1f - t)); + colliders[colliderIX].RecalculateVertices(); } - // if (colliders[colliderIY].BehaviourController.TryGetBehaviour(out IRigidBody2D? rigidY)) - // { - // Console.WriteLine($"rigidY.Velocity = {rigidY.Velocity}"); - // rigidY.Velocity = Vector2.Reflect(rigidY.Velocity, collisionInformation.Normal); - // rigidY.Velocity = Vector2.Reflect(rigidY.Velocity, collisionInformation.Normal); - // Vector2 vector2 = -new Vector2(collisionInformation.Normal.X * rigidY.Velocity.X, collisionInformation.Normal.Y * rigidY.Velocity.Y); - // Console.WriteLine($"Displacement = {vector2}"); - // rigidY.Transform.Position += vector2 * intervalDeltaTime * 2; - // Console.WriteLine($"rigidY.Velocity = {rigidY.Velocity}"); - // } - Console.WriteLine($"/////////////////////////////////////////////"); - colliders[colliderIY].RecalculateVertices(); - colliders[colliderIX].RecalculateVertices(); + Console.WriteLine($"/////////////////////////////////////////////"); // Console.WriteLine($"Collision"); } } } } + private static void StepRigidBody(IRigidBody2D rigidBody, float intervalDeltaTime) + { + Vector2 nextPosition = rigidBody.Transform.Position; + nextPosition += rigidBody.Velocity * intervalDeltaTime; + + rigidBody.Transform.Position = nextPosition; + } + + private float IntersectionParameterT(Vector2 p0, Vector2 p1, Vector2 q0, Vector2 q1) + { + // Solve the linear interpolation equation for 't' + float t = ((q0.X - p0.X) * (p1.Y - p0.Y) - (q0.Y - p0.Y) * (p1.X - p0.X)) / + ((q1.Y - q0.Y) * (p1.X - p0.X) - (q1.X - q0.X) * (p1.Y - p0.Y)); + + return t; + } private void OnBehaviourAdded(IBehaviourController controller, IBehaviour behaviour) {