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Syntriax 2023-12-06 16:51:27 +03:00
parent 9a92bf8ca6
commit 8f3573100a
2 changed files with 33 additions and 12 deletions
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19
Game/Physics2D/PhysicsEngine2D.cs
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@ -69,6 +69,7 @@ public class PhysicsEngine2D : IPhysicsEngine2D
for (int i = colliders.Count - 1; i >= 0; i--) for (int i = colliders.Count - 1; i >= 0; i--)
CheckCollisions(colliders[i], colliders, (c1, c2, v) => CheckCollisions(colliders[i], colliders, (c1, c2, v) =>
{ {
// Console.WriteLine($"c1: {c1.BehaviourController.GameObject.Name}, c2: {c2.BehaviourController.GameObject.Name}");
NewMethod(c1, c2, v, intervalDeltaTime); NewMethod(c1, c2, v, intervalDeltaTime);
NewMethod(c2, c1, v, intervalDeltaTime); NewMethod(c2, c1, v, intervalDeltaTime);
@ -89,7 +90,7 @@ public class PhysicsEngine2D : IPhysicsEngine2D
if (c1.RigidBody2D is not IRigidBody2D) if (c1.RigidBody2D is not IRigidBody2D)
return; return;
Line vertexTrajectory = new Line(vertex, vertex - c1.RigidBody2D.Velocity); Line vertexTrajectory = new Line(vertex, vertex - c1.RigidBody2D.Velocity * intervalDeltaTime);
if (vertexTrajectory.LengthSquared <= 0.001f) if (vertexTrajectory.LengthSquared <= 0.001f)
return; return;
@ -100,19 +101,22 @@ public class PhysicsEngine2D : IPhysicsEngine2D
foreach (var line in lines) foreach (var line in lines)
{ {
if (!vertexTrajectory.Intersects(line, out Vector2? intersectionPoint) || intersectionPoint is not null) if (!vertexTrajectory.Intersects(line, out Vector2? intersectionPoint))
continue; continue;
t = vertexTrajectory.GetT(vertex); if (intersectionPoint is not Vector2 ip)
continue;
t = vertexTrajectory.GetT(ip);
Vector2 lineDirection = line.Direction; Vector2 lineDirection = line.Direction;
normal = new(lineDirection.Y, lineDirection.X); normal = new(lineDirection.Y, lineDirection.X);
break; break;
} }
StepRigidBody(c1.RigidBody2D, -t); StepRigidBody(c1.RigidBody2D, -t * intervalDeltaTime);
c1.RigidBody2D.Velocity = Vector2.Reflect(c1.RigidBody2D.Velocity, normal); c1.RigidBody2D.Velocity = Vector2.Reflect(c1.RigidBody2D.Velocity, normal);
StepRigidBody(c1.RigidBody2D, intervalDeltaTime - t); StepRigidBody(c1.RigidBody2D, intervalDeltaTime - t * intervalDeltaTime);
} }
private void CheckCollisions(ICollider2D collider2D, List<ICollider2D> collider2Ds, Action<ICollider2D, ICollider2D, Vector2> OnCollisionDetectedAction) private void CheckCollisions(ICollider2D collider2D, List<ICollider2D> collider2Ds, Action<ICollider2D, ICollider2D, Vector2> OnCollisionDetectedAction)
@ -126,11 +130,8 @@ public class PhysicsEngine2D : IPhysicsEngine2D
for (int y = 0; y < collider2D.Vertices.Count; y++) for (int y = 0; y < collider2D.Vertices.Count; y++)
{ {
Vector2 vertex = collider2D.Vertices[y]; Vector2 vertex = collider2D.Vertices[y];
if (collider2D.CheckCollision(vertex)) if (collider2DItem.CheckCollision(vertex))
{
OnCollisionDetectedAction?.Invoke(collider2D, collider2DItem, vertex); OnCollisionDetectedAction?.Invoke(collider2D, collider2DItem, vertex);
y--; // Recheck current vertex
}
} }
} }
} }

26
Game/Physics2D/PhysicsMath.cs
View File

@ -129,7 +129,7 @@ public static class PhysicsMath
} }
public static bool LaysOn(this Vector2 point, Line line) public static bool LaysOn(this Vector2 point, Line line)
=> line.Resolve(point.X) == point; => ApproximatelyEqualEpsilon(line.Resolve(point.X), point, float.Epsilon);
public static LineEquation ToLineEquation(this Line line) public static LineEquation ToLineEquation(this Line line)
{ {
@ -179,8 +179,8 @@ public static class PhysicsMath
public static float GetT(this Line line, Vector2 point) public static float GetT(this Line line, Vector2 point)
{ {
if (!point.LaysOn(line)) // if (!point.LaysOn(line))
throw new Exception("Point does not lay on Line"); // throw new Exception("Point does not lay on Line");
float fromX = MathF.Abs(line.From.X); float fromX = MathF.Abs(line.From.X);
float toX = MathF.Abs(line.To.X); float toX = MathF.Abs(line.To.X);
@ -263,4 +263,24 @@ public static class PhysicsMath
public static bool Inside(this Circle circle, Vector2 point) public static bool Inside(this Circle circle, Vector2 point)
=> (circle.Position - point).LengthSquared() <= circle.Radius * circle.Radius; => (circle.Position - point).LengthSquared() <= circle.Radius * circle.Radius;
public static bool ApproximatelyEqualEpsilon(float a, float b, float epsilon)
{
if (a == b)
return true;
const float floatNormal = (1 << 23) * float.Epsilon;
float absA = Math.Abs(a);
float absB = Math.Abs(b);
float diff = Math.Abs(a - b);
if (a == 0.0f || b == 0.0f || diff < floatNormal)
return diff < (epsilon * floatNormal);
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);
}
} }