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BREAKING CHANGE: New ICollider

This commit is contained in:
Syntriax 2024-01-24 19:21:53 +03:00
parent 350ef030ac
commit ed15238dcd
11 changed files with 123 additions and 77 deletions
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9
Engine.Physics2D/Abstract/ICircleCollider2D.cs Normal file
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@ -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; }
}

6
Engine.Physics2D/Abstract/ICollider2D.cs
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@ -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();
}

1
Engine.Physics2D/Abstract/IRigidBody2D.cs
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@ -11,4 +11,5 @@ public interface IRigidBody2D : IBehaviour, IAssignableTransform
float AngularVelocity { get; set; }
float Mass { get; set; }
bool IsStatic { get; set; }
}

9
Engine.Physics2D/Abstract/IShapeCollider2D.cs Normal file
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@ -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; }
}

67
Engine.Physics2D/Collider2DAABBBehaviour.cs
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@ -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);
}
}

28
Engine.Physics2D/Collider2DCircleBehaviour.cs Normal file
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@ -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);
}

29
Engine.Physics2D/Collider2DShapeBehaviour.cs Normal file
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@ -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);
}

8
Engine.Physics2D/Physics2D.cs
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@ -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;

16
Engine.Physics2D/Primitives/Circle.cs
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@ -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);
}

24
Engine.Physics2D/Primitives/Shape.cs
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@ -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);
}

3
Engine.Physics2D/RigidBody2D.cs
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@ -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;