Refactor

Game/Physics2D/Collider2DAABBBehaviour.cs

@@ -6,6 +6,7 @@ using Microsoft.Xna.Framework;
 using Syntriax.Engine.Core;
 using Syntriax.Engine.Core.Abstract;
 using Syntriax.Engine.Physics2D.Abstract;
+using Syntriax.Engine.Physics2D.Primitives;
 
 namespace Syntriax.Engine.Physics2D;
 
@@ -38,7 +39,7 @@ public class Collider2DAABBBehaviour : BehaviourOverride, ICollider2D
 
     public bool CheckCollision(Vector2 point)
     {
-        return AABBWorld.Inside(point);
+        return AABBWorld.Overlaps(point);
     }
 
     public void Recalculate()

Game/Physics2D/PhysicsEngine2D.cs

@@ -5,6 +5,7 @@ using Microsoft.Xna.Framework;
 
 using Syntriax.Engine.Core.Abstract;
 using Syntriax.Engine.Physics2D.Abstract;
+using Syntriax.Engine.Physics2D.Primitives;
 
 namespace Syntriax.Engine.Physics2D;
 

Game/Physics2D/PhysicsMath.cs

@@ -1,76 +1,18 @@
 using System;
 using System.Collections.Generic;
-using System.Diagnostics.CodeAnalysis;
 
 using Microsoft.Xna.Framework;
 
+using Syntriax.Engine.Physics2D.Primitives;
+
 namespace Syntriax.Engine.Physics2D;
 
-public record Line(Vector2 From, Vector2 To)
-{
-    public Vector2 Direction => Vector2.Normalize(To - From);
-    public float Length => (From - To).Length();
-    public float LengthSquared => (From - To).LengthSquared();
-}
-
-public record LineEquation(float Slope, float OffsetY);
-public record Triangle(Vector2 A, Vector2 B, Vector2 C);
-public record Circle(Vector2 Position, float Radius);
-public record AABB(Vector2 LowerBoundary, Vector2 UpperBoundary);
-
 public static class PhysicsMath
 {
     public static Vector2 Scale(this Vector2 original, Vector2 scale)
         => new Vector2(original.X * scale.X, original.Y * scale.Y);
 
-    public static Vector2 ClosestPointTo(this Line line, Vector2 point)
+    public static Triangle ToSuperTriangle(this IList<Vector2> vertices)
-    {
-        // Convert edge points to vectors
-        var edgeVector = new Vector2(line.To.X - line.From.X, line.To.Y - line.From.Y);
-        var pointVector = new Vector2(point.X - line.From.X, point.Y - line.From.Y);
-
-        // Calculate the projection of pointVector onto edgeVector
-        float t = (pointVector.X * edgeVector.X + pointVector.Y * edgeVector.Y) / (edgeVector.X * edgeVector.X + edgeVector.Y * edgeVector.Y);
-
-        // Clamp t to the range [0, 1] to ensure the closest point is on the edge
-        t = Math.Max(0, Math.Min(1, t));
-
-        // Calculate the closest point on the edge
-        float closestX = line.From.X + t * edgeVector.X;
-        float closestY = line.From.Y + t * edgeVector.Y;
-
-        return new Vector2((float)closestX, (float)closestY);
-    }
-
-    public static float GetArea(this Triangle triangle)
-    {
-        return Math.Abs((triangle.A.X * (triangle.B.Y - triangle.C.Y) +
-                         triangle.B.X * (triangle.C.Y - triangle.A.Y) +
-                         triangle.C.X * (triangle.A.Y - triangle.B.Y)) * .5f);
-    }
-
-    public static Circle ToCircumCircle(this Triangle triangle)
-    {
-        Vector2 midAB = (triangle.A + triangle.B) / 2;
-        Vector2 midBC = (triangle.B + triangle.C) / 2;
-
-        float slopeAB = (triangle.B.Y - triangle.A.Y) / (triangle.B.X - triangle.A.X);
-        float slopeBC = (triangle.C.Y - triangle.B.Y) / (triangle.C.X - triangle.B.X);
-
-        Vector2 center;
-        if (Math.Abs(slopeAB - slopeBC) > float.Epsilon)
-        {
-            float x = (slopeAB * slopeBC * (triangle.A.Y - triangle.C.Y) + slopeBC * (triangle.A.X + triangle.B.X) - slopeAB * (triangle.B.X + triangle.C.X)) / (2 * (slopeBC - slopeAB));
-            float y = -(x - (triangle.A.X + triangle.B.X) / 2) / slopeAB + (triangle.A.Y + triangle.B.Y) / 2;
-            center = new Vector2((float)x, (float)y);
-        }
-        else
-            center = (midAB + midBC) * .5f;
-
-        return new(center, Vector2.Distance(center, triangle.A));
-    }
-
-    public static Triangle ToSuperTriangle(IList<Vector2> vertices)
     {
         float minX = float.MaxValue, minY = float.MaxValue;
         float maxX = float.MinValue, maxY = float.MinValue;
@@ -111,35 +53,9 @@ public static class PhysicsMath
         lines.Add(new(vertices[^1], vertices[0]));
     }
 
-    public static bool ExistIn(Line lineToCheck, List<Vector2> vertices)
-    {
-        for (int i = 0; i < vertices.Count - 1; i++)
-        {
-            Vector2 vertexCurrent = vertices[i];
-            Vector2 vertexNext = vertices[i];
-            if (lineToCheck.From == vertexCurrent && lineToCheck.To == vertexNext) return true;
-            if (lineToCheck.From == vertexNext && lineToCheck.To == vertexCurrent) return true;
-        }
-
-        Vector2 vertexFirst = vertices[0];
-        Vector2 vertexLast = vertices[^1];
-        if (lineToCheck.From == vertexFirst && lineToCheck.To == vertexLast) return true;
-        if (lineToCheck.From == vertexLast && lineToCheck.To == vertexFirst) return true;
-        return false;
-    }
-
     public static bool LaysOn(this Vector2 point, Line line)
-        => ApproximatelyEqualEpsilon(line.Resolve(point.X), point, float.Epsilon);
+        => line.Resolve(point.X).ApproximatelyEquals(point);
 
-    public static LineEquation ToLineEquation(this Line line)
-    {
-        Vector2 slopeVector = line.To - line.From;
-        float slope = slopeVector.Y / slopeVector.X;
-
-        float yOffset = line.From.Y - (slope * line.From.X);
-
-        return new LineEquation(slope, yOffset);
-    }
 
     // Given three collinear points p, q, r, the function checks if 
     // point q lies on line segment 'pr' 
@@ -173,98 +89,10 @@ public static class PhysicsMath
         => ((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));
 
-    public static float IntersectionParameterT(this Line l0, Line l1)
-        => ((l1.From.X - l0.From.X) * (l0.To.Y - l0.From.Y) - (l1.From.Y - l0.From.Y) * (l0.To.X - l0.From.X)) /
-            ((l1.To.Y - l1.From.Y) * (l0.To.X - l0.From.X) - (l1.To.X - l1.From.X) * (l0.To.Y - l0.From.Y));
 
-    public static float GetT(this Line line, Vector2 point)
+    public static bool ApproximatelyEquals(this float a, float b)
-    {
+        => ApproximatelyEqualsEpsilon(a, b, float.Epsilon);
-        //     if (!point.LaysOn(line))
+    public static bool ApproximatelyEqualsEpsilon(this float a, float b, float epsilon)
-        //         throw new Exception("Point does not lay on Line");
-
-        float fromX = MathF.Abs(line.From.X);
-        float toX = MathF.Abs(line.To.X);
-        float pointX = MathF.Abs(point.X);
-
-        float min = MathF.Min(fromX, toX);
-        float max = MathF.Max(fromX, toX) - min;
-
-        pointX -= min;
-
-        return pointX / max;
-    }
-
-    public static Vector2 Resolve(this Line line, float x)
-    {
-        LineEquation lineEquation = line.ToLineEquation();
-
-        // y = mx + b
-        float y = lineEquation.Slope * x + lineEquation.OffsetY;
-        return new Vector2(x, y);
-    }
-
-    public static Vector2 IntersectionPoint(this Line l1, Line l2)
-        => Vector2.Lerp(l1.From, l1.To, IntersectionParameterT(l1, l2));
-
-    public static bool Intersects(this Line l1, Line l2)
-    {
-        int o1 = Orientation(l1.From, l1.To, l2.From);
-        int o2 = Orientation(l1.From, l1.To, l2.To);
-        int o3 = Orientation(l2.From, l2.To, l1.From);
-        int o4 = Orientation(l2.From, l2.To, l1.To);
-
-        if (o1 != o2 && o3 != o4)
-            return true;
-
-        if (o1 == 0 && OnSegment(l1.From, l2.From, l1.To)) return true;
-        if (o2 == 0 && OnSegment(l1.From, l2.To, l1.To)) return true;
-        if (o3 == 0 && OnSegment(l2.From, l1.From, l2.To)) return true;
-        if (o4 == 0 && OnSegment(l2.From, l1.To, l2.To)) return true;
-
-        return false;
-    }
-
-    public static bool Intersects(this Line l1, Line l2, [NotNullWhen(returnValue: true)] out Vector2? point)
-    {
-        point = null;
-
-        bool result = Intersects(l1, l2);
-
-        if (result)
-            point = IntersectionPoint(l1, l2);
-
-        return result;
-    }
-
-    public static bool Intersects(this Circle circle, Circle circleOther)
-    {
-        float distanceSquared = (circle.Position - circleOther.Position).LengthSquared();
-        float radiusSumSquared = circle.Radius * circle.Radius + circleOther.Radius * circleOther.Radius;
-
-        return distanceSquared < radiusSumSquared;
-    }
-
-    public static bool Inside(this Triangle triangle, Vector2 point)
-    {
-        float originalTriangleArea = GetArea(triangle);
-
-        float pointTriangleArea1 = GetArea(new Triangle(point, triangle.B, triangle.C));
-        float pointTriangleArea2 = GetArea(new Triangle(triangle.A, point, triangle.C));
-        float pointTriangleArea3 = GetArea(new Triangle(triangle.A, triangle.B, point));
-
-        float pointTriangleAreasSum = pointTriangleArea1 + pointTriangleArea2 + pointTriangleArea3;
-
-        return originalTriangleArea >= pointTriangleAreasSum;
-    }
-
-    public static bool Inside(this AABB aabb, Vector2 point)
-        => point.X >= aabb.LowerBoundary.X && point.X <= aabb.UpperBoundary.X &&
-            point.Y >= aabb.LowerBoundary.Y && point.Y <= aabb.UpperBoundary.Y;
-
-    public static bool Inside(this Circle circle, Vector2 point)
-        => (circle.Position - point).LengthSquared() <= circle.Radius * circle.Radius;
-
-    public static bool ApproximatelyEqualEpsilon(float a, float b, float epsilon)
     {
         if (a == b)
             return true;
@@ -277,10 +105,11 @@ public static class PhysicsMath
         if (a == 0.0f || b == 0.0f || diff < floatNormal)
             return diff < (epsilon * floatNormal);
 
-        return diff / Math.Min((absA + absB), float.MaxValue) < epsilon;
+        return diff / Math.Min(absA + absB, float.MaxValue) < epsilon;
-    }
-    public static bool ApproximatelyEqualEpsilon(Vector2 a, Vector2 b, float epsilon)
-    {
-        return ApproximatelyEqualEpsilon(a.X, b.X, epsilon) && ApproximatelyEqualEpsilon(a.Y, b.Y, epsilon);
     }
+
+    public static bool ApproximatelyEquals(this Vector2 a, Vector2 b)
+        => ApproximatelyEqualEpsilon(a, b, float.Epsilon);
+    public static bool ApproximatelyEqualEpsilon(this Vector2 a, Vector2 b, float epsilon)
+        => ApproximatelyEqualsEpsilon(a.X, b.X, epsilon) && ApproximatelyEqualsEpsilon(a.Y, b.Y, epsilon);
 }

Game/Physics2D/Primitives/AABB.cs

@@ -0,0 +1,10 @@
+using Microsoft.Xna.Framework;
+
+namespace Syntriax.Engine.Physics2D.Primitives;
+
+public record AABB(Vector2 LowerBoundary, Vector2 UpperBoundary)
+{
+    public bool Overlaps(Vector2 point)
+        => point.X >= LowerBoundary.X && point.X <= UpperBoundary.X &&
+            point.Y >= LowerBoundary.Y && point.Y <= UpperBoundary.Y;
+}

Game/Physics2D/Primitives/Circle.cs

@@ -0,0 +1,16 @@
+using Microsoft.Xna.Framework;
+
+namespace Syntriax.Engine.Physics2D.Primitives;
+
+public record Circle(Vector2 Position, float Radius)
+{
+    public bool Intersects(Circle circleOther)
+    {
+        float distanceSquared = (Position - circleOther.Position).LengthSquared();
+        float radiusSumSquared = Radius * Radius + circleOther.Radius * circleOther.Radius;
+
+        return distanceSquared < radiusSumSquared;
+    }
+
+    public bool Overlaps(Vector2 point) => (Position - point).LengthSquared() <= Radius * Radius;
+}

Game/Physics2D/Primitives/Line.cs

@@ -0,0 +1,121 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics.CodeAnalysis;
+
+using Microsoft.Xna.Framework;
+
+namespace Syntriax.Engine.Physics2D.Primitives;
+
+public record Line(Vector2 From, Vector2 To)
+{
+    public Vector2 Direction => Vector2.Normalize(To - From);
+    public float Length => (From - To).Length();
+    public float LengthSquared => (From - To).LengthSquared();
+
+    public LineEquation LineEquation
+    {
+        get
+        {
+            Vector2 slopeVector = To - From;
+            float slope = slopeVector.Y / slopeVector.X;
+
+            float yOffset = From.Y - (slope * From.X);
+
+            return new LineEquation(slope, yOffset);
+        }
+    }
+
+    public bool Intersects(Vector2 point)
+        => Resolve(point.X).ApproximatelyEquals(point);
+
+    public float GetT(Vector2 point)
+    {
+        float fromX = MathF.Abs(From.X);
+        float toX = MathF.Abs(To.X);
+        float pointX = MathF.Abs(point.X);
+
+        float min = MathF.Min(fromX, toX);
+        float max = MathF.Max(fromX, toX) - min;
+
+        pointX -= min;
+
+        return pointX / max;
+    }
+
+    public bool Exist(List<Vector2> vertices)
+    {
+        for (int i = 0; i < vertices.Count - 1; i++)
+        {
+            Vector2 vertexCurrent = vertices[i];
+            Vector2 vertexNext = vertices[i];
+            if (From == vertexCurrent && To == vertexNext) return true;
+            if (From == vertexNext && To == vertexCurrent) return true;
+        }
+
+        Vector2 vertexFirst = vertices[0];
+        Vector2 vertexLast = vertices[^1];
+        if (From == vertexFirst && To == vertexLast) return true;
+        if (From == vertexLast && To == vertexFirst) return true;
+        return false;
+    }
+
+    public float IntersectionParameterT(Line other)
+        => ((other.From.X - From.X) * (To.Y - From.Y) - (other.From.Y - From.Y) * (To.X - From.X)) /
+            ((other.To.Y - other.From.Y) * (To.X - From.X) - (other.To.X - other.From.X) * (To.Y - From.Y));
+
+
+    public Vector2 Resolve(float x)
+        => new Vector2(x, LineEquation.Resolve(x));
+
+    public Vector2 ClosestPointTo(Vector2 point)
+    {
+        // Convert edge points to vectors
+        var edgeVector = new Vector2(To.X - From.X, To.Y - From.Y);
+        var pointVector = new Vector2(point.X - From.X, point.Y - From.Y);
+
+        // Calculate the projection of pointVector onto edgeVector
+        float t = (pointVector.X * edgeVector.X + pointVector.Y * edgeVector.Y) / (edgeVector.X * edgeVector.X + edgeVector.Y * edgeVector.Y);
+
+        // Clamp t to the range [0, 1] to ensure the closest point is on the edge
+        t = Math.Max(0, Math.Min(1, t));
+
+        // Calculate the closest point on the edge
+        float closestX = From.X + t * edgeVector.X;
+        float closestY = From.Y + t * edgeVector.Y;
+
+        return new Vector2((float)closestX, (float)closestY);
+    }
+
+    public Vector2 IntersectionPoint(Line other)
+        => Vector2.Lerp(From, To, IntersectionParameterT(other));
+
+    public bool Intersects(Line other)
+    {
+        int o1 = PhysicsMath.Orientation(From, To, other.From);
+        int o2 = PhysicsMath.Orientation(From, To, other.To);
+        int o3 = PhysicsMath.Orientation(other.From, other.To, From);
+        int o4 = PhysicsMath.Orientation(other.From, other.To, To);
+
+        if (o1 != o2 && o3 != o4)
+            return true;
+
+        if (o1 == 0 && PhysicsMath.OnSegment(From, other.From, To)) return true;
+        if (o2 == 0 && PhysicsMath.OnSegment(From, other.To, To)) return true;
+        if (o3 == 0 && PhysicsMath.OnSegment(other.From, From, other.To)) return true;
+        if (o4 == 0 && PhysicsMath.OnSegment(other.From, To, other.To)) return true;
+
+        return false;
+    }
+
+    public bool Intersects(Line other, [NotNullWhen(returnValue: true)] out Vector2? point)
+    {
+        point = null;
+
+        bool result = Intersects(other);
+
+        if (result)
+            point = IntersectionPoint(other);
+
+        return result;
+    }
+}

Game/Physics2D/Primitives/LineEquation.cs

@@ -0,0 +1,6 @@
+namespace Syntriax.Engine.Physics2D.Primitives;
+
+public record LineEquation(float Slope, float OffsetY)
+{
+    public float Resolve(float x) => Slope * x + OffsetY; // y = mx + b
+}

Game/Physics2D/Primitives/Shape.cs

@@ -0,0 +1,56 @@
+using System;
+using System.Collections.Generic;
+
+using Microsoft.Xna.Framework;
+
+namespace Syntriax.Engine.Physics2D.Primitives;
+
+public record Shape(IList<Vector2> Vertices)
+{
+    public Triangle SuperTriangle
+    {
+        get
+        {
+            float minX = float.MaxValue, minY = float.MaxValue;
+            float maxX = float.MinValue, maxY = float.MinValue;
+
+            foreach (Vector2 point in Vertices)
+            {
+                minX = Math.Min(minX, point.X);
+                minY = Math.Min(minY, point.Y);
+                maxX = Math.Max(maxX, point.X);
+                maxY = Math.Max(maxY, point.Y);
+            }
+
+            float dx = maxX - minX;
+            float dy = maxY - minY;
+            float deltaMax = Math.Max(dx, dy);
+            float midX = (minX + maxX) / 2;
+            float midY = (minY + maxY) / 2;
+
+            Vector2 p1 = new Vector2((float)midX - 20f * (float)deltaMax, (float)midY - (float)deltaMax);
+            Vector2 p2 = new Vector2((float)midX, (float)midY + 20 * (float)deltaMax);
+            Vector2 p3 = new Vector2((float)midX + 20 * (float)deltaMax, (float)midY - (float)deltaMax);
+
+            return new Triangle(p1, p2, p3);
+        }
+    }
+
+    public IList<Line> Lines
+    {
+        get
+        {
+            List<Line> lines = new List<Line>(Vertices.Count - 1);
+            GetLinesNonAlloc(lines);
+            return lines;
+        }
+    }
+
+    public void GetLinesNonAlloc(IList<Line> lines)
+    {
+        lines.Clear();
+        for (int i = 0; i < Vertices.Count - 1; i++)
+            lines.Add(new(Vertices[i], Vertices[i + 1]));
+        lines.Add(new(Vertices[^1], Vertices[0]));
+    }
+}

Game/Physics2D/Primitives/Triangle.cs

@@ -0,0 +1,51 @@
+using System;
+
+using Microsoft.Xna.Framework;
+
+namespace Syntriax.Engine.Physics2D.Primitives;
+
+public record Triangle(Vector2 A, Vector2 B, Vector2 C)
+{
+    public float Area => Math.Abs((
+            A.X * (B.Y - C.Y) +
+            B.X * (C.Y - A.Y) +
+            C.X * (A.Y - B.Y)
+            ) * .5f);
+
+    public Circle CircumCircle
+    {
+        get
+        {
+            Vector2 midAB = (A + B) / 2;
+            Vector2 midBC = (B + C) / 2;
+
+            float slopeAB = (B.Y - A.Y) / (B.X - A.X);
+            float slopeBC = (C.Y - B.Y) / (C.X - B.X);
+
+            Vector2 center;
+            if (Math.Abs(slopeAB - slopeBC) > float.Epsilon)
+            {
+                float x = (slopeAB * slopeBC * (A.Y - C.Y) + slopeBC * (A.X + B.X) - slopeAB * (B.X + C.X)) / (2 * (slopeBC - slopeAB));
+                float y = -(x - (A.X + B.X) / 2) / slopeAB + (A.Y + B.Y) / 2;
+                center = new Vector2((float)x, (float)y);
+            }
+            else
+                center = (midAB + midBC) * .5f;
+
+            return new(center, Vector2.Distance(center, A));
+        }
+    }
+
+    public bool Overlaps(Vector2 point)
+    {
+        float originalTriangleArea = Area;
+
+        float pointTriangleArea1 = new Triangle(point, B, C).Area;
+        float pointTriangleArea2 = new Triangle(A, point, C).Area;
+        float pointTriangleArea3 = new Triangle(A, B, point).Area;
+
+        float pointTriangleAreasSum = pointTriangleArea1 + pointTriangleArea2 + pointTriangleArea3;
+
+        return originalTriangleArea >= pointTriangleAreasSum;
+    }
+}