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feat: Basic Shape to Circle Collision Detection

This commit is contained in:
Syntriax 2024-01-26 18:54:53 +03:00
parent ac09b78edd
commit 2bfd391286
1 changed files with 36 additions and 3 deletions
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39
Engine.Physics2D/CollisionDetector.cs
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@ -2,6 +2,7 @@ using System.Diagnostics.CodeAnalysis;
using Syntriax.Engine.Core;
using Syntriax.Engine.Physics2D.Abstract;
using Syntriax.Engine.Physics2D.Primitives;
namespace Syntriax.Engine.Physics2D;
@ -30,9 +31,9 @@ public class CollisionDetector : ICollisionDetector
return false;
}
private bool DetectCircleShape(ICircleCollider2D circleCollider, IShapeCollider2D shapeCollider, out CollisionDetectionInformation? collisionInformation)
private static bool DetectCircleShape(ICircleCollider2D circleCollider, IShapeCollider2D shapeCollider, out CollisionDetectionInformation? collisionInformation)
{
throw new System.NotImplementedException();
return DetectShapeCircle(shapeCollider, circleCollider, out collisionInformation);
}
private static bool DetectShapeShape(IShapeCollider2D left, IShapeCollider2D right, out CollisionDetectionInformation? collisionInformation)
@ -42,7 +43,39 @@ public class CollisionDetector : ICollisionDetector
private static bool DetectShapeCircle(IShapeCollider2D shapeCollider, ICircleCollider2D circleCollider, out CollisionDetectionInformation? collisionInformation)
{
throw new System.NotImplementedException();
collisionInformation = default;
{
Vector2D shapeToCircleProjectionVector = shapeCollider.Transform.Position.FromTo(circleCollider.CircleWorld.Center).Normalized;
Projection shapeProjection = shapeCollider.ShapeWorld.ToProjection(shapeToCircleProjectionVector);
Projection circleProjection = circleCollider.CircleWorld.ToProjection(shapeToCircleProjectionVector);
if (!shapeProjection.Overlaps(circleProjection, out float depth))
return false;
if (collisionInformation == default || Math.Abs(collisionInformation.Penetration) > Math.Abs(depth))
collisionInformation = new(shapeCollider, circleCollider, shapeToCircleProjectionVector, depth);
}
var vertices = shapeCollider.ShapeWorld.Vertices;
int count = vertices.Count;
for (int indexProjection = 0; indexProjection < count; indexProjection++)
{
Vector2D projectionVector = vertices[indexProjection].FromTo(vertices[(indexProjection + 1) % count]).Perpendicular().Normalized;
Projection shapeProjection = shapeCollider.ShapeWorld.ToProjection(projectionVector);
Projection circleProjection = circleCollider.CircleWorld.ToProjection(projectionVector);
if (!shapeProjection.Overlaps(circleProjection, out float depth))
return false;
if (collisionInformation == default || Math.Abs(collisionInformation.Penetration) > Math.Abs(depth))
collisionInformation = new(shapeCollider, circleCollider, projectionVector, depth);
}
return true;
}
private static bool DetectCircleCircle(ICircleCollider2D left, ICircleCollider2D right, out CollisionDetectionInformation? collisionInformation)