sdaSDA
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21b7a0b2f6
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@ -90,22 +90,26 @@ public class Game1 : Game
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goPlayAreaTop.Transform.Position = new Vector2(0f, 288f + 20f);
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goPlayAreaTop.Transform.Scale = new Vector2(10240f, 40f);
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// goPlayAreaTop.BehaviourController.AddBehaviour<DisplayableSpriteBehaviour>().Assign(spriteBox);
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goPlayAreaTop.BehaviourController.AddBehaviour<Collider2DAABBBehaviour>().AABBLocal = new AABB(-Vector2.One, Vector2.One);
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engine.AddRigidBody(goPlayAreaTop.BehaviourController.AddBehaviour<RigidBody2D>());
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IGameObject goPlayAreaBottom = gameManager.InstantiateGameObject<GameObject>();
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goPlayAreaBottom.Transform.Position = new Vector2(0f, -(288f + 20f));
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goPlayAreaBottom.Transform.Scale = new Vector2(10240f, 40f);
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// goPlayAreaBottom.BehaviourController.AddBehaviour<DisplayableSpriteBehaviour>().Assign(spriteBox);
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goPlayAreaBottom.BehaviourController.AddBehaviour<Collider2DAABBBehaviour>().AABBLocal = new AABB(-Vector2.One, Vector2.One);
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engine.AddRigidBody(goPlayAreaBottom.BehaviourController.AddBehaviour<RigidBody2D>());
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IGameObject goPlayAreaRight = gameManager.InstantiateGameObject<GameObject>();
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goPlayAreaRight.Transform.Position = new Vector2(512f + 20f, 0f);
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goPlayAreaRight.Transform.Scale = new Vector2(40f, 5760f);
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// goPlayAreaRight.BehaviourController.AddBehaviour<DisplayableSpriteBehaviour>().Assign(spriteBox);
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goPlayAreaRight.BehaviourController.AddBehaviour<Collider2DAABBBehaviour>().AABBLocal = new AABB(-Vector2.One, Vector2.One);
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engine.AddRigidBody(goPlayAreaRight.BehaviourController.AddBehaviour<RigidBody2D>());
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IGameObject goPlayAreaLeft = gameManager.InstantiateGameObject<GameObject>();
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goPlayAreaLeft.Transform.Position = new Vector2(-(512f + 20f), 0f);
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goPlayAreaLeft.Transform.Scale = new Vector2(40f, 5760f);
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// goPlayAreaLeft.BehaviourController.AddBehaviour<DisplayableSpriteBehaviour>().Assign(spriteBox);
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goPlayAreaLeft.BehaviourController.AddBehaviour<Collider2DAABBBehaviour>().AABBLocal = new AABB(-Vector2.One, Vector2.One);
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engine.AddRigidBody(goPlayAreaLeft.BehaviourController.AddBehaviour<RigidBody2D>());
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// IGameObject goPlayAreaCenter = gameManager.InstantiateGameObject<GameObject>();
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@ -1,6 +1,5 @@
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using System;
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using System.Collections.Generic;
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using System.Diagnostics.CodeAnalysis;
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using Microsoft.Xna.Framework;
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@ -10,10 +9,12 @@ namespace Syntriax.Engine.Physics2D.Abstract;
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public interface ICollider2D : IBehaviour, IAssignableTransform
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{
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IRigidBody2D? RigidBody2D { get; }
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Action<ICollider2D, ICollider2D>? OnCollisionPreResolve { get; set; }
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bool CheckCollision(Vector2 point, ICollider2D otherCollider);
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IRigidBody2D? RigidBody2D { get; }
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IReadOnlyList<Vector2> Vertices { get; }
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bool CheckCollision(Vector2 point);
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void Recalculate();
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}
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@ -9,17 +9,14 @@ using Syntriax.Engine.Physics2D.Abstract;
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namespace Syntriax.Engine.Physics2D;
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public class Collider2DAABBBehaviour(Vector2 lowerBound, Vector2 upperBound) : BehaviourOverride, ICollider2D
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public class Collider2DAABBBehaviour : BehaviourOverride, ICollider2D
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{
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public Vector2 LowerBound { get; } = lowerBound;
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public Vector2 UpperBound { get; } = upperBound;
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private Vector2 worldLowerBound = lowerBound;
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private Vector2 worldUpperBound = upperBound;
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public AABB AABBLocal { get; set; } = null!;
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public AABB AABBWorld { get; private set; } = null!;
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private IRigidBody2D? _rigidBody2D = null;
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private List<Vector2> vertices = new List<Vector2>(4);
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private IReadOnlyList<Vector2>? _verticesReadOnly = null;
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public IRigidBody2D? RigidBody2D
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{
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@ -38,18 +35,36 @@ public class Collider2DAABBBehaviour(Vector2 lowerBound, Vector2 upperBound) : B
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ITransform IAssignableTransform.Transform => Transform;
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public bool Assign(ITransform transform) => GameObject.Assign(transform);
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public bool CheckCollision(Vector2 point, ICollider2D otherCollider)
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{
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if (point.X >= worldLowerBound.X && point.X <= worldUpperBound.X &&
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point.Y >= worldLowerBound.Y && point.Y <= worldUpperBound.Y)
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return true;
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public IReadOnlyList<Vector2> Vertices { get { if (_verticesReadOnly is null) _verticesReadOnly = vertices.AsReadOnly(); return _verticesReadOnly; } }
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return false;
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public bool CheckCollision(Vector2 point)
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{
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return AABBWorld.Inside(point);
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}
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public void Recalculate()
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{
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worldLowerBound = LowerBound + Transform.Position;
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worldUpperBound = UpperBound + Transform.Position;
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AABBWorld = new AABB(
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AABBLocal.LowerBoundary + Transform.Position,
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AABBLocal.UpperBoundary + Transform.Position
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);
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vertices.Clear();
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vertices.Add(AABBWorld.LowerBoundary);
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vertices.Add(new(AABBWorld.LowerBoundary.X, AABBWorld.UpperBoundary.Y));
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vertices.Add(AABBWorld.UpperBoundary);
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vertices.Add(new(AABBWorld.LowerBoundary.Y, AABBWorld.UpperBoundary.X));
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}
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public Collider2DAABBBehaviour(Vector2 lowerBoundary, Vector2 upperBoundary)
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{
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AABBLocal = new AABB(lowerBoundary, upperBoundary);
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AABBWorld = new AABB(lowerBoundary, upperBoundary);
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}
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public Collider2DAABBBehaviour()
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{
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AABBLocal = new(Vector2.Zero, Vector2.Zero);
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AABBWorld = new(Vector2.Zero, Vector2.Zero);
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}
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}
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@ -14,8 +14,8 @@ namespace Syntriax.Engine.Physics2D;
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public class PhysicsEngine2D : IPhysicsEngine2D
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{
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private IList<IRigidBody2D> rigidBodies = new List<IRigidBody2D>(32);
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private IList<ICollider2D> colliders = new List<ICollider2D>(64);
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private List<IRigidBody2D> rigidBodies = new List<IRigidBody2D>(32);
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private List<ICollider2D> colliders = new List<ICollider2D>(64);
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private int _iterationCount = 1;
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@ -54,19 +54,30 @@ public class PhysicsEngine2D : IPhysicsEngine2D
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foreach (var collider in colliders)
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collider.Recalculate();
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for (int ix = colliders.Count - 1; ix >= 0; ix--)
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{
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ICollider2D colliderX = colliders[ix];
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for (int iy = colliders.Count - 1; iy >= ix + 1; iy--)
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for (int i = colliders.Count - 1; i >= 0; i--)
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CheckCollisions(colliders[i], colliders, (c1, c2) =>
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{
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ICollider2D colliderY = colliders[iy];
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}
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}
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if (c1.RigidBody2D is IRigidBody2D c1RigidBody) c1RigidBody.Velocity = -c1RigidBody.Velocity;
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if (c2.RigidBody2D is IRigidBody2D c2RigidBody) c2RigidBody.Velocity = -c2RigidBody.Velocity;
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});
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}
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}
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private static void StepRigidBody(IRigidBody2D rigidBody, float intervalDeltaTime)
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private void CheckCollisions(ICollider2D collider2D, List<ICollider2D> collider2Ds, Action<ICollider2D, ICollider2D> OnCollisionDetectedAction)
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{
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for (int i = collider2Ds.Count - 1; i >= 0; i--)
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{
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ICollider2D collider2DItem = collider2Ds[i];
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if (collider2DItem == collider2D)
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continue;
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foreach (var vertex in collider2DItem.Vertices)
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if (collider2D.CheckCollision(vertex))
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OnCollisionDetectedAction?.Invoke(collider2D, collider2DItem);
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}
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}
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private void StepRigidBody(IRigidBody2D rigidBody, float intervalDeltaTime)
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{
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Vector2 nextPosition = rigidBody.Transform.Position;
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nextPosition += rigidBody.Velocity * intervalDeltaTime;
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@ -9,21 +9,11 @@ namespace Syntriax.Engine.Physics2D;
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public record Line(Vector2 From, Vector2 To);
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public record LineEquation(float Slope, float OffsetY);
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public record Triangle(Vector2 A, Vector2 B, Vector2 C);
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public record Circle(Vector2 Center, double Radius);
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public record Circle(Vector2 Position, float Radius);
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public record AABB(Vector2 LowerBoundary, Vector2 UpperBoundary);
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public static class PhysicsMath
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{
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public static float IntersectionParameterT(Vector2 p0, Vector2 p1, Vector2 q0, Vector2 q1)
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=> ((q0.X - p0.X) * (p1.Y - p0.Y) - (q0.Y - p0.Y) * (p1.X - p0.X)) /
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((q1.Y - q0.Y) * (p1.X - p0.X) - (q1.X - q0.X) * (p1.Y - p0.Y));
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public static float IntersectionParameterT(this Line l1, Line l2)
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=> ((l2.From.X - l1.From.X) * (l1.To.Y - l1.From.Y) - (l2.From.Y - l1.From.Y) * (l1.To.X - l1.From.X)) /
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((l2.To.Y - l2.From.Y) * (l1.To.X - l1.From.X) - (l2.To.X - l2.From.X) * (l1.To.Y - l1.From.Y));
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public static Vector2 IntersectionPoint(this Line l1, Line l2)
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=> Vector2.Lerp(l1.From, l1.To, IntersectionParameterT(l1, l2));
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public static Vector2 ClosestPointTo(this Line line, Vector2 point)
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{
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// Convert edge points to vectors
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@ -31,118 +21,38 @@ public static class PhysicsMath
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var pointVector = new Vector2(point.X - line.From.X, point.Y - line.From.Y);
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// Calculate the projection of pointVector onto edgeVector
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double t = (pointVector.X * edgeVector.X + pointVector.Y * edgeVector.Y) / (edgeVector.X * edgeVector.X + edgeVector.Y * edgeVector.Y);
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float t = (pointVector.X * edgeVector.X + pointVector.Y * edgeVector.Y) / (edgeVector.X * edgeVector.X + edgeVector.Y * edgeVector.Y);
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// Clamp t to the range [0, 1] to ensure the closest point is on the edge
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t = Math.Max(0, Math.Min(1, t));
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// Calculate the closest point on the edge
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double closestX = line.From.X + t * edgeVector.X;
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double closestY = line.From.Y + t * edgeVector.Y;
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float closestX = line.From.X + t * edgeVector.X;
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float closestY = line.From.Y + t * edgeVector.Y;
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return new Vector2((float)closestX, (float)closestY);
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}
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public static double GetArea(this Triangle triangle)
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public static float GetArea(this Triangle triangle)
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{
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return Math.Abs((triangle.A.X * (triangle.B.Y - triangle.C.Y) +
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triangle.B.X * (triangle.C.Y - triangle.A.Y) +
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triangle.C.X * (triangle.A.Y - triangle.B.Y)) * .5f);
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}
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public static bool IsPointInside(this Triangle triangle, Vector2 point)
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{
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double A = GetArea(triangle);
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/* Calculate area of triangle ABC */
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// double A = area(x1, y1, x2, y2, x3, y3);
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double A1 = GetArea(new Triangle(point, triangle.B, triangle.C));
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/* Calculate area of triangle PBC */
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// double A1 = area(x, y, x2, y2, x3, y3);
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/* Calculate area of triangle PAC */
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double A2 = GetArea(new Triangle(triangle.A, point, triangle.C));
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// double A2 = area(x1, y1, x, y, x3, y3);
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/* Calculate area of triangle PAB */
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double A3 = GetArea(new Triangle(triangle.A, triangle.B, point));
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// double A3 = area(x1, y1, x2, y2, x, y);
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/* Check if sum of A1, A2 and A3 is same as A */
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return A >= A1 + A2 + A3;
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}
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// Given three collinear points p, q, r, the function checks if
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// point q lies on line segment 'pr'
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public static bool OnSegment(Vector2 p, Vector2 q, Vector2 r)
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{
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if (q.X <= Math.Max(p.X, r.X) && q.X >= Math.Min(p.X, r.X) &&
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q.Y <= Math.Max(p.Y, r.Y) && q.Y >= Math.Min(p.Y, r.Y))
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return true;
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return false;
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}
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// To find orientation of ordered triplet (p, q, r).
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// The function returns following values
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// 0 --> p, q and r are collinear
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// 1 --> Clockwise
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// 2 --> Counterclockwise
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public static int Orientation(Vector2 p, Vector2 q, Vector2 r)
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{
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// See https://www.geeksforgeeks.org/orientation-3-ordered-points/
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// for details of below formula.
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double val = (q.Y - p.Y) * (r.X - q.X) -
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(q.X - p.X) * (r.Y - q.Y);
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if (val == 0) return 0; // collinear
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return (val > 0) ? 1 : 2; // clock or counterclock wise
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}
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public static bool Intersects(this Line l1, Line l2)
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{
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int o1 = Orientation(l1.From, l1.To, l2.From);
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int o2 = Orientation(l1.From, l1.To, l2.To);
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int o3 = Orientation(l2.From, l2.To, l1.From);
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int o4 = Orientation(l2.From, l2.To, l1.To);
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if (o1 != o2 && o3 != o4)
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return true;
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if (o1 == 0 && OnSegment(l1.From, l2.From, l1.To)) return true;
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if (o2 == 0 && OnSegment(l1.From, l2.To, l1.To)) return true;
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if (o3 == 0 && OnSegment(l2.From, l1.From, l2.To)) return true;
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if (o4 == 0 && OnSegment(l2.From, l1.To, l2.To)) return true;
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return false;
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}
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public static bool Intersects(this Line l1, Line l2, [NotNullWhen(returnValue: true)] out Vector2? point)
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{
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point = null;
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bool result = Intersects(l1, l2);
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if (result)
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point = IntersectionPoint(l1, l2);
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return result;
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}
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public static Circle ToCircumCircle(this Triangle triangle)
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{
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Vector2 midAB = (triangle.A + triangle.B) / 2;
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Vector2 midBC = (triangle.B + triangle.C) / 2;
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double slopeAB = (triangle.B.Y - triangle.A.Y) / (triangle.B.X - triangle.A.X);
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double slopeBC = (triangle.C.Y - triangle.B.Y) / (triangle.C.X - triangle.B.X);
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float slopeAB = (triangle.B.Y - triangle.A.Y) / (triangle.B.X - triangle.A.X);
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float slopeBC = (triangle.C.Y - triangle.B.Y) / (triangle.C.X - triangle.B.X);
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Vector2 center;
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if (Math.Abs(slopeAB - slopeBC) > double.Epsilon)
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if (Math.Abs(slopeAB - slopeBC) > float.Epsilon)
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{
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double 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));
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double y = -(x - (triangle.A.X + triangle.B.X) / 2) / slopeAB + (triangle.A.Y + triangle.B.Y) / 2;
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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));
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float y = -(x - (triangle.A.X + triangle.B.X) / 2) / slopeAB + (triangle.A.Y + triangle.B.Y) / 2;
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center = new Vector2((float)x, (float)y);
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}
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else
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@ -153,8 +63,8 @@ public static class PhysicsMath
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public static Triangle ToSuperTriangle(IList<Vector2> vertices)
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{
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double minX = double.MaxValue, minY = double.MaxValue;
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double maxX = double.MinValue, maxY = double.MinValue;
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float minX = float.MaxValue, minY = float.MaxValue;
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float maxX = float.MinValue, maxY = float.MinValue;
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foreach (Vector2 point in vertices)
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{
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@ -164,11 +74,11 @@ public static class PhysicsMath
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maxY = Math.Max(maxY, point.Y);
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}
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double dx = maxX - minX;
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double dy = maxY - minY;
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double deltaMax = Math.Max(dx, dy);
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double midX = (minX + maxX) / 2;
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double midY = (minY + maxY) / 2;
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float dx = maxX - minX;
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float dy = maxY - minY;
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float deltaMax = Math.Max(dx, dy);
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float midX = (minX + maxX) / 2;
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float midY = (minY + maxY) / 2;
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Vector2 p1 = new Vector2((float)midX - 20f * (float)deltaMax, (float)midY - (float)deltaMax);
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Vector2 p2 = new Vector2((float)midX, (float)midY + 20 * (float)deltaMax);
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@ -228,4 +138,101 @@ public static class PhysicsMath
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return new LineEquation(slope, yOffset);
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}
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// Given three collinear points p, q, r, the function checks if
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// point q lies on line segment 'pr'
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public static bool OnSegment(Vector2 p, Vector2 q, Vector2 r)
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{
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if (q.X <= Math.Max(p.X, r.X) && q.X >= Math.Min(p.X, r.X) &&
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q.Y <= Math.Max(p.Y, r.Y) && q.Y >= Math.Min(p.Y, r.Y))
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return true;
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return false;
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}
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// To find orientation of ordered triplet (p, q, r).
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// The function returns following values
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// 0 --> p, q and r are collinear
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// 1 --> Clockwise
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// 2 --> Counterclockwise
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public static int Orientation(Vector2 p, Vector2 q, Vector2 r)
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{
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// See https://www.geeksforgeeks.org/orientation-3-ordered-points/
|
||||
// for details of below formula.
|
||||
float val = (q.Y - p.Y) * (r.X - q.X) -
|
||||
(q.X - p.X) * (r.Y - q.Y);
|
||||
|
||||
if (val == 0) return 0; // collinear
|
||||
|
||||
return (val > 0) ? 1 : 2; // clock or counterclock wise
|
||||
}
|
||||
|
||||
public static float IntersectionParameterT(Vector2 p0, Vector2 p1, Vector2 q0, Vector2 q1)
|
||||
=> ((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 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;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue