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This commit is contained in:
Syntriax 2023-12-06 15:56:46 +03:00
parent a7b1c7cb4c
commit 9a92bf8ca6
5 changed files with 99 additions and 30 deletions
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3
Game/Game1.cs
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@ -155,7 +155,6 @@ public class Game1 : Game
if (Keyboard.GetState().IsKeyDown(Keys.E))
gameManager.Camera.Rotation -= gameTime.ElapsedGameTime.Nanoseconds * 0.000025f;
Console.WriteLine(gameObjectBall.Transform.Position);
// if (Keyboard.GetState().IsKeyDown(Keys.N))
// seconds = 39.12f;
// if (Keyboard.GetState().IsKeyDown(Keys.Space))
@ -174,7 +173,7 @@ public class Game1 : Game
while (physicsTimer + 0.01f < gameTime.TotalGameTime.TotalMilliseconds * .001f)//seconds)
{
Console.WriteLine($"Physics Timer: {physicsTimer}");
// Console.WriteLine($"Physics Timer: {physicsTimer}");
physicsTimer += 0.01f;
engine.Step(.01f);
}

2
Game/Physics2D/Abstract/ICollider2D.cs
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@ -13,7 +13,7 @@ public interface ICollider2D : IBehaviour, IAssignableTransform
IRigidBody2D? RigidBody2D { get; }
IReadOnlyList<Vector2> Vertices { get; }
IList<Vector2> Vertices { get; }
bool CheckCollision(Vector2 point);
void Recalculate();

16
Game/Physics2D/Collider2DAABBBehaviour.cs
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@ -15,8 +15,7 @@ public class Collider2DAABBBehaviour : BehaviourOverride, ICollider2D
public AABB AABBWorld { get; private set; } = null!;
private IRigidBody2D? _rigidBody2D = null;
private List<Vector2> vertices = new List<Vector2>(4);
private IReadOnlyList<Vector2>? _verticesReadOnly = null;
private List<Vector2> _vertices = new List<Vector2>(4);
public IRigidBody2D? RigidBody2D
{
@ -35,7 +34,7 @@ public class Collider2DAABBBehaviour : BehaviourOverride, ICollider2D
ITransform IAssignableTransform.Transform => Transform;
public bool Assign(ITransform transform) => GameObject.Assign(transform);
public IReadOnlyList<Vector2> Vertices { get { if (_verticesReadOnly is null) _verticesReadOnly = vertices.AsReadOnly(); return _verticesReadOnly; } }
public IList<Vector2> Vertices => _vertices;
public bool CheckCollision(Vector2 point)
{
@ -49,13 +48,12 @@ public class Collider2DAABBBehaviour : BehaviourOverride, ICollider2D
AABBLocal.UpperBoundary.Scale(Transform.Scale) + Transform.Position
);
vertices.Clear();
vertices.Add(AABBWorld.LowerBoundary);
vertices.Add(new Vector2(AABBWorld.LowerBoundary.X, AABBWorld.UpperBoundary.Y));
vertices.Add(AABBWorld.UpperBoundary);
vertices.Add(new Vector2(AABBWorld.UpperBoundary.X, AABBWorld.LowerBoundary.Y));
Vertices.Clear();
Vertices.Add(AABBWorld.LowerBoundary);
Vertices.Add(new Vector2(AABBWorld.LowerBoundary.X, AABBWorld.UpperBoundary.Y));
Vertices.Add(AABBWorld.UpperBoundary);
Vertices.Add(new Vector2(AABBWorld.UpperBoundary.X, AABBWorld.LowerBoundary.Y));
}
public Collider2DAABBBehaviour(Vector2 lowerBoundary, Vector2 upperBoundary)
{
AABBLocal = new AABB(lowerBoundary, upperBoundary);

61
Game/Physics2D/PhysicsEngine2D.cs
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@ -38,6 +38,7 @@ public class PhysicsEngine2D : IPhysicsEngine2D
}
// List<IGameObject> gameObjects = new List<IGameObject>();
private List<Line> lines = new List<Line>(32);
public void Step(float deltaTime)
{
@ -66,15 +67,55 @@ public class PhysicsEngine2D : IPhysicsEngine2D
// }
for (int i = colliders.Count - 1; i >= 0; i--)
CheckCollisions(colliders[i], colliders, (c1, c2) =>
CheckCollisions(colliders[i], colliders, (c1, c2, v) =>
{
if (c1.RigidBody2D is IRigidBody2D c1RigidBody) { c1RigidBody.Velocity = -c1RigidBody.Velocity; StepRigidBody(c1RigidBody, intervalDeltaTime); c1.Recalculate(); }
if (c2.RigidBody2D is IRigidBody2D c2RigidBody) { c2RigidBody.Velocity = -c2RigidBody.Velocity; StepRigidBody(c2RigidBody, intervalDeltaTime); c2.Recalculate(); }
NewMethod(c1, c2, v, intervalDeltaTime);
NewMethod(c2, c1, v, intervalDeltaTime);
// if (c2.RigidBody2D is IRigidBody2D)
// {
// c2.RigidBody2D.Velocity = -c2.RigidBody2D.Velocity;
// StepRigidBody(c2.RigidBody2D, intervalDeltaTime);
// }
c1.Recalculate();
c2.Recalculate();
});
}
}
private void CheckCollisions(ICollider2D collider2D, List<ICollider2D> collider2Ds, Action<ICollider2D, ICollider2D> OnCollisionDetectedAction)
private void NewMethod(ICollider2D c1, ICollider2D c2, Vector2 vertex, float intervalDeltaTime)
{
if (c1.RigidBody2D is not IRigidBody2D)
return;
Line vertexTrajectory = new Line(vertex, vertex - c1.RigidBody2D.Velocity);
if (vertexTrajectory.LengthSquared <= 0.001f)
return;
c2.Vertices.ToLines(lines);
Vector2 normal = Vector2.UnitY;
float t = 0f;
foreach (var line in lines)
{
if (!vertexTrajectory.Intersects(line, out Vector2? intersectionPoint) || intersectionPoint is not null)
continue;
t = vertexTrajectory.GetT(vertex);
Vector2 lineDirection = line.Direction;
normal = new(lineDirection.Y, lineDirection.X);
break;
}
StepRigidBody(c1.RigidBody2D, -t);
c1.RigidBody2D.Velocity = Vector2.Reflect(c1.RigidBody2D.Velocity, normal);
StepRigidBody(c1.RigidBody2D, intervalDeltaTime - t);
}
private void CheckCollisions(ICollider2D collider2D, List<ICollider2D> collider2Ds, Action<ICollider2D, ICollider2D, Vector2> OnCollisionDetectedAction)
{
for (int i = 0; i < collider2Ds.Count; i++)
{
@ -82,9 +123,15 @@ public class PhysicsEngine2D : IPhysicsEngine2D
if (collider2DItem == collider2D)
continue;
for (int y = 0; y < collider2DItem.Vertices.Count; y++)
if (collider2D.CheckCollision(collider2DItem.Vertices[y]))
OnCollisionDetectedAction?.Invoke(collider2D, collider2DItem);
for (int y = 0; y < collider2D.Vertices.Count; y++)
{
Vector2 vertex = collider2D.Vertices[y];
if (collider2D.CheckCollision(vertex))
{
OnCollisionDetectedAction?.Invoke(collider2D, collider2DItem, vertex);
y--; // Recheck current vertex
}
}
}
}

47
Game/Physics2D/PhysicsMath.cs
View File

@ -6,7 +6,13 @@ using Microsoft.Xna.Framework;
namespace Syntriax.Engine.Physics2D;
public record Line(Vector2 From, Vector2 To);
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);
@ -90,14 +96,14 @@ public static class PhysicsMath
return new Triangle(p1, p2, p3);
}
public static List<Line> ToLines(IList<Vector2> vertices)
public static IList<Line> ToLines(this IList<Vector2> vertices)
{
List<Line> lines = new List<Line>(vertices.Count - 1);
ToLines(vertices, lines);
return lines;
}
public static void ToLines(IList<Vector2> vertices, IList<Line> lines)
public static void ToLines(this IList<Vector2> vertices, IList<Line> lines)
{
lines.Clear();
for (int i = 0; i < vertices.Count - 1; i++)
@ -123,14 +129,7 @@ public static class PhysicsMath
}
public static bool LaysOn(this Vector2 point, Line line)
{
LineEquation lineEquation = line.ToLineEquation();
// y = mx + b
float y = lineEquation.Slope * point.X + lineEquation.OffsetY;
return y == point.Y;
}
=> line.Resolve(point.X) == point;
public static LineEquation ToLineEquation(this Line line)
{
@ -178,6 +177,32 @@ public static class PhysicsMath
=> ((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)
{
if (!point.LaysOn(line))
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));