refactor: Added Static Methods Back

Engine.Physics2D/Physics2D.cs

@@ -0,0 +1,77 @@
+using System;
+
+using Syntriax.Engine.Core;
+using Syntriax.Engine.Physics2D;
+using Syntriax.Engine.Physics2D.Primitives;
+
+namespace Engine.Physics2D;
+
+public static partial class Physics2D
+{
+    public const float RadianToDegree = 57.29577866666166f;
+    public const float DegreeToRadian = 0.01745329277777778f;
+
+    public static bool Overlaps(this Circle left, Circle right)
+    {
+        float distanceSquared = left.Position.FromTo(right.Position).LengthSquared();
+        float radiusSumSquared = left.RadiusSquared + right.RadiusSquared;
+
+        return distanceSquared < radiusSumSquared;
+    }
+
+    public static bool Overlaps(this Circle left, Circle right, out Vector2D normal, out float depth)
+    {
+        Vector2D distanceVector = left.Position.FromTo(right.Position);
+        float distanceSquared = distanceVector.LengthSquared();
+        float radiusSumSquared = left.RadiusSquared + right.RadiusSquared;
+        bool isOverlapping = distanceSquared < radiusSumSquared;
+
+        depth = 0f;
+        normal = distanceVector.Normalized;
+
+        if (isOverlapping)
+            depth = MathF.Sqrt(radiusSumSquared - distanceSquared);
+
+        return isOverlapping;
+    }
+
+    public static bool Overlaps(this Circle circle, Vector2D point) => circle.Position.FromTo(point).LengthSquared() <= circle.RadiusSquared;
+    public static bool Overlaps(this Circle circle, Vector2D point, out Vector2D normal, out float depth)
+    {
+        Vector2D distanceVector = circle.Position.FromTo(point);
+        float distanceSquared = distanceVector.LengthSquared();
+        float radiusSquared = circle.RadiusSquared;
+        bool isOverlapping = distanceSquared < radiusSquared;
+
+        depth = 0f;
+        normal = distanceVector.Normalized;
+
+        if (isOverlapping)
+            depth = MathF.Sqrt(radiusSquared - distanceSquared);
+
+        return isOverlapping;
+    }
+
+    public static bool Overlaps(this AABB aabb, Vector2D point)
+        => point.X >= aabb.LowerBoundary.X && point.X <= aabb.UpperBoundary.X &&
+            point.Y >= aabb.LowerBoundary.Y && point.Y <= aabb.UpperBoundary.Y;
+
+    public static bool Overlaps(this AABB left, AABB right)
+        => left.LowerBoundary.X <= right.UpperBoundary.X && left.UpperBoundary.X >= right.LowerBoundary.X &&
+            left.LowerBoundary.Y <= right.UpperBoundary.Y && left.UpperBoundary.Y >= right.LowerBoundary.Y;
+
+    public static bool Overlaps(Triangle triangle, Vector2D point)
+    {
+        float originalTriangleArea = triangle.Area;
+
+        float pointTriangleArea1 = new Triangle(point, triangle.B, triangle.C).Area;
+        float pointTriangleArea2 = new Triangle(triangle.A, point, triangle.C).Area;
+        float pointTriangleArea3 = new Triangle(triangle.A, triangle.B, point).Area;
+
+        float pointTriangleAreasSum = pointTriangleArea1 + pointTriangleArea2 + pointTriangleArea3;
+
+        return originalTriangleArea.ApproximatelyEquals(pointTriangleAreasSum, float.Epsilon * 3f);
+    }
+
+    public static bool LaysOn(this Vector2D point, Line line) => Line.Intersects(line, point);
+}

Engine.Physics2D/PhysicsMath.cs

@@ -1,7 +1,6 @@
 using System;
 using System.Collections.Generic;
 
-using Microsoft.Xna.Framework;
 using Syntriax.Engine.Core;
 using Syntriax.Engine.Physics2D.Primitives;
 
@@ -9,52 +8,6 @@ namespace Syntriax.Engine.Physics2D;
 
 public static class PhysicsMath
 {
-    public static Vector2D Scale(this Vector2D original, Vector2D scale)
-        => new Vector2D(original.X * scale.X, original.Y * scale.Y);
-
-    public static Triangle ToSuperTriangle(this IList<Vector2D> vertices)
-    {
-        float minX = float.MaxValue, minY = float.MaxValue;
-        float maxX = float.MinValue, maxY = float.MinValue;
-
-        foreach (Vector2D point in vertices)
-        {
-            minX = MathF.Min(minX, point.X);
-            minY = MathF.Min(minY, point.Y);
-            maxX = MathF.Max(maxX, point.X);
-            maxY = MathF.Max(maxY, point.Y);
-        }
-
-        float dx = maxX - minX;
-        float dy = maxY - minY;
-        float deltaMax = MathF.Max(dx, dy);
-        float midX = (minX + maxX) / 2;
-        float midY = (minY + maxY) / 2;
-
-        Vector2D p1 = new Vector2D((float)midX - 20f * (float)deltaMax, (float)midY - (float)deltaMax);
-        Vector2D p2 = new Vector2D((float)midX, (float)midY + 20 * (float)deltaMax);
-        Vector2D p3 = new Vector2D((float)midX + 20 * (float)deltaMax, (float)midY - (float)deltaMax);
-
-        return new Triangle(p1, p2, p3);
-    }
-
-    public static IList<Line> ToLines(this IList<Vector2D> vertices)
-    {
-        List<Line> lines = new List<Line>(vertices.Count - 1);
-        ToLines(vertices, lines);
-        return lines;
-    }
-
-    public static void ToLines(this IList<Vector2D> vertices, 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]));
-    }
-
-    public static bool LaysOn(this Vector2D point, Line line)
-        => line.Resolve(point.X).ApproximatelyEquals(point);
 
 
     // Given three collinear points p, q, r, the function checks if 
@@ -92,10 +45,6 @@ public static class PhysicsMath
 
     public static bool ApproximatelyEquals(this float a, float b)
         => ApproximatelyEquals(a, b, float.Epsilon);
-    public static bool ApproximatelyEquals(this Vector2 a, Vector2 b)
-        => ApproximatelyEquals(a, b, float.Epsilon);
-    public static bool ApproximatelyEquals(this Vector2 a, Vector2 b, float epsilon)
-        => ApproximatelyEquals(a.X, b.X, epsilon) && ApproximatelyEquals(a.Y, b.Y, epsilon);
     public static bool ApproximatelyEquals(this Vector2D a, Vector2D b)
         => ApproximatelyEquals(a, b, float.Epsilon);
     public static bool ApproximatelyEquals(this Vector2D a, Vector2D b, float epsilon)

Engine.Physics2D/Primitives/Math.cs

@@ -1,9 +0,0 @@
-namespace Syntriax.Engine.Physics2D.Primitives;
-
-public static class Math
-{
-    public const float RadianToDegree = 57.29577866666166f;
-    public const float DegreeToRadian = 0.01745329277777778f;
-
-    public static float Clamp(float value, float min, float max) => (value < min) ? min : (value > max) ? max : value;
-}