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feat: IPhysicsEngine2D.StepIndividual method for individual object simulation

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Syntriax 2025-05-27 15:54:07 +03:00
parent 4213b3f8b5
commit a3b03efd47
3 changed files with 190 additions and 76 deletions
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7
Engine.Physics2D/Abstract/IPhysicsEngine2D.cs
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@ -26,6 +26,13 @@ public interface IPhysicsEngine2D
/// <param name="deltaTime">The time step.</param>
void Step(float deltaTime);
/// <summary>
/// Advances the physics simulation by the specified time on a single <see cref="IRigidBody2D"/>.
/// </summary>
/// <param name="rigidBody">The <see cref="IRigidBody2D"/> to be progressed individually.</param>
/// <param name="deltaTime">The time step.</param>
void StepIndividual(IRigidBody2D rigidBody, float deltaTime);
delegate void PhysicsIterationEventHandler(IPhysicsEngine2D sender, float iterationDeltaTime);
delegate void PhysicsStepEventHandler(IPhysicsEngine2D sender, float stepDeltaTime);
}

128
Engine.Physics2D/PhysicsEngine2D.cs
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@ -58,43 +58,7 @@ public class PhysicsEngine2D : UniverseObject, IPhysicsEngine2D
if (!colliderY.IsActive)
continue;
if (colliderX.RigidBody2D == colliderY.RigidBody2D)
continue;
bool bothCollidersAreTriggers = colliderX.IsTrigger && colliderX.IsTrigger == colliderY.IsTrigger;
if (bothCollidersAreTriggers)
continue;
bool bothCollidersAreStatic = (colliderX.RigidBody2D?.IsStatic ?? true) && (colliderY.RigidBody2D?.IsStatic ?? true);
if (bothCollidersAreStatic)
continue;
if (collisionDetector.TryDetect(colliderX, colliderY, out CollisionDetectionInformation information))
{
if (colliderX.IsTrigger)
{
colliderX.Trigger(colliderY);
continue;
}
else if (colliderY.IsTrigger)
{
colliderY.Trigger(colliderX);
continue;
}
if (information.Detector == colliderX)
{
colliderX.Detect(information);
colliderY.Detect(information.Reverse());
}
else
{
colliderX.Detect(information.Reverse());
colliderY.Detect(information);
}
collisionResolver?.Resolve(information);
}
ResolveColliders(colliderX, colliderY);
}
}
@ -107,6 +71,96 @@ public class PhysicsEngine2D : UniverseObject, IPhysicsEngine2D
OnPhysicsStep?.InvokeSafe(this, deltaTime);
}
public void StepIndividual(IRigidBody2D rigidBody, float deltaTime)
{
float intervalDeltaTime = deltaTime / IterationPerStep;
System.Collections.Generic.List<ICollider2D> childColliders = [];
System.Collections.Generic.List<IPrePhysicsUpdate> physicsPreUpdates = [];
System.Collections.Generic.List<IPhysicsUpdate> physicsUpdates = [];
System.Collections.Generic.List<IPostPhysicsUpdate> physicsPostUpdates = [];
rigidBody.BehaviourController.GetBehavioursInChildren(childColliders);
rigidBody.BehaviourController.GetBehavioursInChildren(physicsPreUpdates);
rigidBody.BehaviourController.GetBehavioursInChildren(physicsUpdates);
rigidBody.BehaviourController.GetBehavioursInChildren(physicsPostUpdates);
foreach (IPrePhysicsUpdate physicsPreUpdate in physicsPreUpdates)
physicsPreUpdate.PrePhysicsUpdate(deltaTime);
foreach (IPhysicsUpdate physicsUpdate in physicsUpdates)
physicsUpdate.PhysicsUpdate(deltaTime);
for (int iterationIndex = 0; iterationIndex < IterationPerStep; iterationIndex++)
{
StepRigidBody(rigidBody, intervalDeltaTime);
foreach (ICollider2D collider in childColliders)
collider.Recalculate();
for (int x = 0; x < childColliders.Count; x++)
{
ICollider2D? colliderX = childColliders[x];
if (!colliderX.IsActive)
continue;
for (int y = 0; y < colliderCollector.Behaviours.Count; y++)
{
ICollider2D? colliderY = colliderCollector.Behaviours[y];
if (!colliderY.IsActive)
continue;
ResolveColliders(colliderX, colliderY);
}
}
}
foreach (IPostPhysicsUpdate physicsPostUpdate in physicsPostUpdates)
physicsPostUpdate.PostPhysicsUpdate(deltaTime);
}
private void ResolveColliders(ICollider2D colliderX, ICollider2D colliderY)
{
if (colliderX.RigidBody2D == colliderY.RigidBody2D)
return;
bool bothCollidersAreTriggers = colliderX.IsTrigger && colliderX.IsTrigger == colliderY.IsTrigger;
if (bothCollidersAreTriggers)
return;
bool bothCollidersAreStatic = (colliderX.RigidBody2D?.IsStatic ?? true) && (colliderY.RigidBody2D?.IsStatic ?? true);
if (bothCollidersAreStatic)
return;
if (!collisionDetector.TryDetect(colliderX, colliderY, out CollisionDetectionInformation information))
return;
if (colliderX.IsTrigger)
{
colliderX.Trigger(colliderY);
return;
}
else if (colliderY.IsTrigger)
{
colliderY.Trigger(colliderX);
return;
}
if (information.Detector == colliderX)
{
colliderX.Detect(information);
colliderY.Detect(information.Reverse());
}
else
{
colliderX.Detect(information.Reverse());
colliderY.Detect(information);
}
collisionResolver?.Resolve(information);
}
private static void StepRigidBody(IRigidBody2D rigidBody, float intervalDeltaTime)
{
if (rigidBody.IsStatic || !rigidBody.IsActive)

131
Engine.Physics2D/PhysicsEngine2DStandalone.cs
View File

@ -62,47 +62,10 @@ public class PhysicsEngine2DStandalone : IPhysicsEngine2D
for (int y = x + 1; y < colliders.Count; y++)
{
ICollider2D? colliderY = colliders[y];
if (!colliderY.IsActive)
continue;
return;
if (colliderX.RigidBody2D == colliderY.RigidBody2D)
continue;
bool bothCollidersAreTriggers = colliderX.IsTrigger && colliderX.IsTrigger == colliderY.IsTrigger;
if (bothCollidersAreTriggers)
continue;
bool bothCollidersAreStatic = (colliderX.RigidBody2D?.IsStatic ?? true) && (colliderY.RigidBody2D?.IsStatic ?? true);
if (bothCollidersAreStatic)
continue;
if (collisionDetector.TryDetect(colliderX, colliderY, out CollisionDetectionInformation information))
{
if (colliderX.IsTrigger)
{
colliderX.Trigger(colliderY);
continue;
}
else if (colliderY.IsTrigger)
{
colliderY.Trigger(colliderX);
continue;
}
if (information.Detector == colliderX)
{
colliderX.Detect(information);
colliderY.Detect(information.Reverse());
}
else
{
colliderX.Detect(information.Reverse());
colliderY.Detect(information);
}
collisionResolver?.Resolve(information);
}
ResolveColliders(colliderX, colliderY);
}
}
OnPhysicsIteration?.InvokeSafe(this, intervalDeltaTime);
@ -110,6 +73,96 @@ public class PhysicsEngine2DStandalone : IPhysicsEngine2D
OnPhysicsStep?.InvokeSafe(this, deltaTime);
}
public void StepIndividual(IRigidBody2D rigidBody, float deltaTime)
{
float intervalDeltaTime = deltaTime / IterationPerStep;
List<ICollider2D> childColliders = [];
List<IPrePhysicsUpdate> physicsPreUpdates = [];
List<IPhysicsUpdate> physicsUpdates = [];
List<IPostPhysicsUpdate> physicsPostUpdates = [];
rigidBody.BehaviourController.GetBehavioursInChildren(childColliders);
rigidBody.BehaviourController.GetBehavioursInChildren(physicsPreUpdates);
rigidBody.BehaviourController.GetBehavioursInChildren(physicsUpdates);
rigidBody.BehaviourController.GetBehavioursInChildren(physicsPostUpdates);
foreach (IPrePhysicsUpdate physicsPreUpdate in physicsPreUpdates)
physicsPreUpdate.PrePhysicsUpdate(deltaTime);
foreach (IPhysicsUpdate physicsUpdate in physicsUpdates)
physicsUpdate.PhysicsUpdate(deltaTime);
for (int iterationIndex = 0; iterationIndex < IterationPerStep; iterationIndex++)
{
StepRigidBody(rigidBody, intervalDeltaTime);
foreach (ICollider2D collider in childColliders)
collider.Recalculate();
for (int x = 0; x < childColliders.Count; x++)
{
ICollider2D? colliderX = childColliders[x];
if (!colliderX.IsActive)
continue;
for (int y = 0; y < colliders.Count; y++)
{
ICollider2D? colliderY = colliders[y];
if (!colliderY.IsActive)
continue;
ResolveColliders(colliderX, colliderY);
}
}
}
foreach (IPostPhysicsUpdate physicsPostUpdate in physicsPostUpdates)
physicsPostUpdate.PostPhysicsUpdate(deltaTime);
}
private void ResolveColliders(ICollider2D colliderX, ICollider2D colliderY)
{
if (colliderX.RigidBody2D == colliderY.RigidBody2D)
return;
bool bothCollidersAreTriggers = colliderX.IsTrigger && colliderX.IsTrigger == colliderY.IsTrigger;
if (bothCollidersAreTriggers)
return;
bool bothCollidersAreStatic = (colliderX.RigidBody2D?.IsStatic ?? true) && (colliderY.RigidBody2D?.IsStatic ?? true);
if (bothCollidersAreStatic)
return;
if (!collisionDetector.TryDetect(colliderX, colliderY, out CollisionDetectionInformation information))
return;
if (colliderX.IsTrigger)
{
colliderX.Trigger(colliderY);
return;
}
else if (colliderY.IsTrigger)
{
colliderY.Trigger(colliderX);
return;
}
if (information.Detector == colliderX)
{
colliderX.Detect(information);
colliderY.Detect(information.Reverse());
}
else
{
colliderX.Detect(information.Reverse());
colliderY.Detect(information);
}
collisionResolver?.Resolve(information);
}
private static void StepRigidBody(IRigidBody2D rigidBody, float intervalDeltaTime)
{
if (rigidBody.IsStatic || !rigidBody.IsActive)