BREAKING CHANGE: New ICollider

Engine.Physics2D/Abstract/ICircleCollider2D.cs

@@ -0,0 +1,9 @@
+using Syntriax.Engine.Physics2D.Primitives;
+
+namespace Syntriax.Engine.Physics2D.Abstract;
+
+public interface ICircleCollider2D : ICollider2D
+{
+    Circle CircleLocal { get; set; }
+    Circle CircleWorld { get; }
+}

Engine.Physics2D/Abstract/ICollider2D.cs

@@ -1,6 +1,4 @@
 using System;
-using System.Collections.Generic;
-
 using Syntriax.Engine.Core;
 using Syntriax.Engine.Core.Abstract;
 
@@ -9,11 +7,9 @@ namespace Syntriax.Engine.Physics2D.Abstract;
 public interface ICollider2D : IBehaviour, IAssignableTransform
 {
     Action<ICollider2D, ICollider2D>? OnCollisionPreResolve { get; set; }
+    Action<ICollider2D, ICollider2D>? OnCollisionResolved { get; set; }
 
     IRigidBody2D? RigidBody2D { get; }
 
-    IList<Vector2D> Vertices { get; }
-
-    bool CheckCollision(Vector2D point);
     void Recalculate();
 }

Engine.Physics2D/Abstract/IRigidBody2D.cs

@@ -11,4 +11,5 @@ public interface IRigidBody2D : IBehaviour, IAssignableTransform
     float AngularVelocity { get; set; }
 
     float Mass { get; set; }
+    bool IsStatic { get; set; }
 }

Engine.Physics2D/Abstract/IShapeCollider2D.cs

@@ -0,0 +1,9 @@
+using Syntriax.Engine.Physics2D.Primitives;
+
+namespace Syntriax.Engine.Physics2D.Abstract;
+
+public interface IShapeCollider2D : ICollider2D
+{
+    Shape ShapeLocal { get; set; }
+    Shape ShapeWorld { get; }
+}

Engine.Physics2D/Collider2DAABBBehaviour.cs

@@ -1,67 +0,0 @@
-using System;
-using System.Collections.Generic;
-using Engine.Physics2D;
-using Syntriax.Engine.Core;
-using Syntriax.Engine.Core.Abstract;
-using Syntriax.Engine.Physics2D.Abstract;
-using Syntriax.Engine.Physics2D.Primitives;
-
-namespace Syntriax.Engine.Physics2D;
-
-public class Collider2DAABBBehaviour : BehaviourOverride, ICollider2D
-{
-    public AABB AABBLocal { get; set; } = null!;
-    public AABB AABBWorld { get; private set; } = null!;
-
-    private IRigidBody2D? _rigidBody2D = null;
-    private List<Vector2D> _vertices = new List<Vector2D>(4);
-
-    public IRigidBody2D? RigidBody2D
-    {
-        get
-        {
-            if (_rigidBody2D is null)
-                BehaviourController.TryGetBehaviour(out _rigidBody2D);
-
-            return _rigidBody2D;
-        }
-    }
-
-    public Action<ICollider2D, ICollider2D>? OnCollisionPreResolve { get; set; } = null;
-
-    public Action<IAssignableTransform>? OnTransformAssigned { get => GameObject.OnTransformAssigned; set => GameObject.OnTransformAssigned = value; }
-    ITransform IAssignableTransform.Transform => Transform;
-    public bool Assign(ITransform transform) => GameObject.Assign(transform);
-
-    public IList<Vector2D> Vertices => _vertices;
-
-    public bool CheckCollision(Vector2D point)
-    {
-        return AABBWorld.Overlaps(point);
-    }
-
-    public void Recalculate()
-    {
-        AABBWorld = new AABB(
-            AABBLocal.LowerBoundary.Scale(Transform.Scale) + Transform.Position,
-            AABBLocal.UpperBoundary.Scale(Transform.Scale) + Transform.Position
-        );
-
-        Vertices.Clear();
-        Vertices.Add(AABBWorld.LowerBoundary);
-        Vertices.Add(new Vector2D(AABBWorld.LowerBoundary.X, AABBWorld.UpperBoundary.Y));
-        Vertices.Add(AABBWorld.UpperBoundary);
-        Vertices.Add(new Vector2D(AABBWorld.UpperBoundary.X, AABBWorld.LowerBoundary.Y));
-    }
-    public Collider2DAABBBehaviour(Vector2D lowerBoundary, Vector2D upperBoundary)
-    {
-        AABBLocal = new AABB(lowerBoundary, upperBoundary);
-        AABBWorld = new AABB(lowerBoundary, upperBoundary);
-    }
-
-    public Collider2DAABBBehaviour()
-    {
-        AABBLocal = new(Vector2D.Zero, Vector2D.Zero);
-        AABBWorld = new(Vector2D.Zero, Vector2D.Zero);
-    }
-}

Engine.Physics2D/Collider2DCircleBehaviour.cs

@@ -0,0 +1,28 @@
+using System;
+
+using Syntriax.Engine.Core;
+using Syntriax.Engine.Core.Abstract;
+using Syntriax.Engine.Physics2D.Abstract;
+using Syntriax.Engine.Physics2D.Primitives;
+
+namespace Syntriax.Engine.Physics2D;
+
+public class Collider2DCircleBehaviour : BehaviourOverride, ICircleCollider2D
+{
+    public Action<ICollider2D, ICollider2D>? OnCollisionPreResolve { get; set; } = null;
+    public Action<ICollider2D, ICollider2D>? OnCollisionResolved { get; set; } = null;
+
+    public Action<IAssignableTransform>? OnTransformAssigned { get; set; } = null;
+
+
+    public Circle CircleWorld { get; protected set; } = new(Vector2D.Zero, 1f);
+    public Circle CircleLocal { get; set; } = new(Vector2D.Zero, 1f);
+    public IRigidBody2D? RigidBody2D { get; set; } = null;
+
+
+    ITransform IAssignableTransform.Transform => GameObject.Transform;
+
+    public bool Assign(ITransform transform) => GameObject.Assign(transform);
+
+    public virtual void Recalculate() => CircleWorld = Transform.TransformCircle(CircleLocal).Displace(Transform.Position);
+}

Engine.Physics2D/Collider2DShapeBehaviour.cs

@@ -0,0 +1,29 @@
+using System;
+
+using Syntriax.Engine.Core;
+using Syntriax.Engine.Core.Abstract;
+using Syntriax.Engine.Physics2D.Abstract;
+using Syntriax.Engine.Physics2D.Primitives;
+
+namespace Syntriax.Engine.Physics2D;
+
+public class Collider2DShapeBehaviour : BehaviourOverride, IShapeCollider2D
+{
+    public Action<ICollider2D, ICollider2D>? OnCollisionPreResolve { get; set; } = null;
+    public Action<ICollider2D, ICollider2D>? OnCollisionResolved { get; set; } = null;
+
+    public Action<IAssignableTransform>? OnTransformAssigned { get; set; } = null;
+
+
+    public Shape ShapeWorld => _shapeWorld;
+    public Shape ShapeLocal { get; set; } = new([new(1f, 1f), new(-1f, 1f), new(-1f, -1f), new(1f, -1f)]);
+    public IRigidBody2D? RigidBody2D { get; set; } = null;
+
+    protected Shape _shapeWorld = new([new(1f, 1f), new(-1f, 1f), new(-1f, -1f), new(1f, -1f)]);
+
+    ITransform IAssignableTransform.Transform => GameObject.Transform;
+
+    public bool Assign(ITransform transform) => GameObject.Assign(transform);
+
+    public virtual void Recalculate() => Transform.TransformShape(ShapeLocal, ref _shapeWorld);
+}

Engine.Physics2D/Physics2D.cs

@@ -10,7 +10,7 @@ public static partial class Physics2D
 {
     public static bool Overlaps(this Circle left, Circle right)
     {
-        float distanceSquared = left.Position.FromTo(right.Position).LengthSquared();
+        float distanceSquared = left.Center.FromTo(right.Center).LengthSquared();
         float radiusSumSquared = left.RadiusSquared + right.RadiusSquared;
 
         return distanceSquared < radiusSumSquared;
@@ -18,7 +18,7 @@ public static partial class Physics2D
 
     public static bool Overlaps(this Circle left, Circle right, out Vector2D normal, out float depth)
     {
-        Vector2D distanceVector = left.Position.FromTo(right.Position);
+        Vector2D distanceVector = left.Center.FromTo(right.Center);
         float distanceSquared = distanceVector.LengthSquared();
         float radiusSumSquared = left.RadiusSquared + right.RadiusSquared;
         bool isOverlapping = distanceSquared < radiusSumSquared;
@@ -32,10 +32,10 @@ public static partial class Physics2D
         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) => circle.Center.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);
+        Vector2D distanceVector = circle.Center.FromTo(point);
         float distanceSquared = distanceVector.LengthSquared();
         float radiusSquared = circle.RadiusSquared;
         bool isOverlapping = distanceSquared < radiusSquared;

Engine.Physics2D/Primitives/Circle.cs

@@ -1,4 +1,5 @@
 using Syntriax.Engine.Core;
+using Syntriax.Engine.Core.Abstract;
 
 namespace Syntriax.Engine.Physics2D.Primitives;
 
@@ -7,11 +8,26 @@ public record Circle(Vector2D Center, float Radius)
     public float RadiusSquared => Radius * Radius;
     public float Diameter => 2f * Radius;
 
+    public static Circle SetCenter(Circle circle, Vector2D center) => new(center, circle.Radius);
+    public static Circle SetRadius(Circle circle, float radius) => new(circle.Center, radius);
+
+    public static Circle Displace(Circle circle, Vector2D displaceVector) => new(circle.Center + displaceVector, circle.Radius);
+
+    public static Circle TransformCircle(ITransform transform, Circle circle)
+        => new(transform.TransformVector2D(circle.Center), circle.Radius * transform.Scale.Magnitude);
+
     public static bool ApproximatelyEquals(Circle left, Circle right)
         => left.Center.ApproximatelyEquals(right.Center) && left.Radius.ApproximatelyEquals(right.Radius);
 }
 
 public static class CircleExtensions
 {
+    public static Circle SetCenter(this Circle circle, Vector2D center) => Circle.SetCenter(circle, center);
+    public static Circle SetRadius(this Circle circle, float radius) => Circle.SetRadius(circle, radius);
+
+    public static Circle Displace(this Circle circle, Vector2D displaceVector) => Circle.Displace(circle, displaceVector);
+
+    public static Circle TransformCircle(this ITransform transform, Circle circle) => TransformCircle(transform, circle);
+
     public static bool ApproximatelyEquals(this Circle left, Circle right) => Circle.ApproximatelyEquals(left, right);
 }

Engine.Physics2D/Primitives/Shape.cs

@@ -3,6 +3,7 @@ using System.Collections;
 using System.Collections.Generic;
 
 using Syntriax.Engine.Core;
+using Syntriax.Engine.Core.Abstract;
 
 namespace Syntriax.Engine.Physics2D.Primitives;
 
@@ -51,6 +52,26 @@ public record Shape(IList<Vector2D> Vertices) : IEnumerable<Vector2D>
         return lines;
     }
 
+    public static Shape TransformShape(Shape shape, ITransform transform)
+    {
+        List<Vector2D> vertices = new(shape.Vertices.Count);
+
+        int count = shape.Vertices.Count;
+        for (int i = 0; i < count; i++)
+            vertices.Add(transform.TransformVector2D(shape[i]));
+
+        return new Shape(vertices);
+    }
+
+    public static void TransformShape(Shape from, ITransform transform, ref Shape to)
+    {
+        to.Vertices.Clear();
+
+        int count = from.Vertices.Count;
+        for (int i = 0; i < count; i++)
+            to.Vertices.Add(transform.TransformVector2D(from[i]));
+    }
+
     public static bool ApproximatelyEquals(Shape left, Shape right)
     {
         if (left.Vertices.Count != right.Vertices.Count)
@@ -73,5 +94,8 @@ public static class ShapeExtensions
     public static void ToLines(this Shape shape, IList<Line> lines) => Shape.GetLines(shape, lines);
     public static List<Line> ToLines(this Shape shape) => Shape.GetLines(shape);
 
+    public static Shape TransformShape(this ITransform transform, Shape shape) => Shape.TransformShape(shape, transform);
+    public static void TransformShape(this ITransform transform, Shape from, ref Shape to) => Shape.TransformShape(from, transform, ref to);
+
     public static bool ApproximatelyEquals(this Shape left, Shape right) => Shape.ApproximatelyEquals(left, right);
 }

Engine.Physics2D/RigidBody2D.cs

@@ -15,7 +15,8 @@ public class RigidBody2D : BehaviourOverride, IRigidBody2D
 
     public Vector2D Velocity { get; set; } = Vector2D.Zero;
     public float AngularVelocity { get; set; } = 0f;
-    public float Mass { get; set; } = 0f;
+    public float Mass { get; set; } = 1f;
+    public bool IsStatic { get; set; } = false;
 
     ITransform IAssignableTransform.Transform => Transform;