/// Implement Shape.
public override Shape Clone()
{
var edge = new EdgeShape();
edge._hasVertex0 = _hasVertex0;
edge._hasVertex3 = _hasVertex3;
edge._radius = _radius;
edge._vertex0 = _vertex0;
edge._vertex1 = _vertex1;
edge._vertex2 = _vertex2;
edge._vertex3 = _vertex3;
return edge;
}
/// <summary> Get a child edge.
/// </summary>
public void GetChildEdge(ref EdgeShape edge, int index)
{
Debug.Assert(2 <= _count);
Debug.Assert(0 <= index && index < _count);
edge.ShapeType = ShapeType.Edge;
edge._radius = _radius;
edge._hasVertex0 = true;
edge._hasVertex3 = true;
int i0 = index - 1 >= 0 ? index - 1 : _count - 1;
int i1 = index;
int i2 = index + 1 < _count ? index + 1 : 0;
int i3 = index + 2;
while (i3 >= _count)
{
i3 -= _count;
}
edge._vertex0 = _vertices[i0];
edge._vertex1 = _vertices[i1];
edge._vertex2 = _vertices[i2];
edge._vertex3 = _vertices[i3];
}
public EdgeTest()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
Vector2 v1 = new Vector2(-10.0f, 0.0f);
Vector2 v2 = new Vector2(-7.0f, -1.0f);
Vector2 v3 = new Vector2(-4.0f, 0.0f);
Vector2 v4 = new Vector2(0.0f, 0.0f);
Vector2 v5 = new Vector2(4.0f, 0.0f);
Vector2 v6 = new Vector2(7.0f, 1.0f);
Vector2 v7 = new Vector2(10.0f, 0.0f);
EdgeShape shape = new EdgeShape();
shape.Set(v1, v2);
//shape._index1 = 0;
//shape._index2 = 1;
shape._hasVertex3 = true;
shape._vertex3 = v3;
ground.CreateFixture(shape, 0.0f);
shape.Set(v2, v3);
//shape._index1 = 1;
//shape._index2 = 2;
shape._hasVertex0 = true;
shape._hasVertex3 = true;
shape._vertex0 = v1;
shape._vertex3 = v4;
ground.CreateFixture(shape, 0.0f);
shape.Set(v3, v4);
//shape._index1 = 2;
//shape._index2 = 3;
shape._hasVertex0 = true;
shape._hasVertex3 = true;
shape._vertex0 = v2;
shape._vertex3 = v5;
ground.CreateFixture(shape, 0.0f);
shape.Set(v4, v5);
//shape._index1 = 3;
//shape._index2 = 4;
shape._hasVertex0 = true;
shape._hasVertex3 = true;
shape._vertex0 = v3;
shape._vertex3 = v6;
ground.CreateFixture(shape, 0.0f);
shape.Set(v5, v6);
//shape._index1 = 4;
//shape._index2 = 5;
shape._hasVertex0 = true;
shape._hasVertex3 = true;
shape._vertex0 = v4;
shape._vertex3 = v7;
ground.CreateFixture(shape, 0.0f);
shape.Set(v6, v7);
//shape._index1 = 5;
//shape._index2 = 6;
shape._hasVertex0 = true;
shape._vertex0 = v5;
ground.CreateFixture(shape, 0.0f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-0.5f, 0.5f);
bd.allowSleep = false;
Body body = _world.CreateBody(bd);
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
body.CreateFixture(shape, 1.0f);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.5f, 0.5f);
bd.allowSleep = false;
Body body = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
body.CreateFixture(shape, 1.0f);
}
}
public static void CollideEdgeAndPolygon(ref Manifold manifold,
EdgeShape edgeA, ref Transform xfA,
PolygonShape polygonB_in, ref Transform xfB)
{
manifold._pointCount = 0;
Transform xf;
MathUtils.MultiplyT(ref xfA, ref xfB, out xf);
// Create a polygon for edge shape A
s_polygonA.SetAsEdge(edgeA._vertex1, edgeA._vertex2);
// Build polygonB in frame A
s_polygonB._radius = polygonB_in._radius;
s_polygonB._vertexCount = polygonB_in._vertexCount;
s_polygonB._centroid = MathUtils.Multiply(ref xf, polygonB_in._centroid);
for (int i = 0; i < s_polygonB._vertexCount; ++i)
{
s_polygonB._vertices[i] = MathUtils.Multiply(ref xf, polygonB_in._vertices[i]);
s_polygonB._normals[i] = MathUtils.Multiply(ref xf.R, polygonB_in._normals[i]);
}
float totalRadius = s_polygonA._radius + s_polygonB._radius;
// Edge geometry
Vector2 v1 = edgeA._vertex1;
Vector2 v2 = edgeA._vertex2;
Vector2 e = v2 - v1;
Vector2 edgeNormal = new Vector2(e.Y, -e.X);
edgeNormal.Normalize();
// Determine side
bool isFrontSide = Vector2.Dot(edgeNormal, s_polygonB._centroid - v1) >= 0.0f;
if (isFrontSide == false)
{
edgeNormal = -edgeNormal;
}
// Compute primary separating axis
EPAxis edgeAxis = ComputeEdgeSeperation(v1, v2, edgeNormal, s_polygonB, totalRadius);
if (edgeAxis.separation > totalRadius)
{
// Shapes are separated
return;
}
// Classify adjacent edges
FixedArray2<EdgeType> types = new FixedArray2<EdgeType>();
//types[0] = EdgeType.Isolated;
//types[1] = EdgeType.Isolated;
if (edgeA._hasVertex0)
{
Vector2 v0 = edgeA._vertex0;
float s = Vector2.Dot(edgeNormal, v0 - v1);
if (s > 0.1f * Settings.b2_linearSlop)
{
types[0] = EdgeType.Concave;
}
else if (s >= -0.1f * Settings.b2_linearSlop)
{
types[0] = EdgeType.Flat;
}
else
{
types[0] = EdgeType.Convex;
}
}
if (edgeA._hasVertex3)
{
Vector2 v3 = edgeA._vertex3;
float s = Vector2.Dot(edgeNormal, v3 - v2);
if (s > 0.1f * Settings.b2_linearSlop)
{
types[1] = EdgeType.Concave;
}
else if (s >= -0.1f * Settings.b2_linearSlop)
{
types[1] = EdgeType.Flat;
}
else
{
types[1] = EdgeType.Convex;
}
}
if (types[0] == EdgeType.Convex)
{
// Check separation on previous edge.
Vector2 v0 = edgeA._vertex0;
Vector2 e0 = v1 - v0;
Vector2 n0 = new Vector2(e0.Y, -e0.X);
n0.Normalize();
if (isFrontSide == false)
{
n0 = -n0;
}
EPAxis axis1 = ComputeEdgeSeperation(v0, v1, n0, s_polygonB, totalRadius);
if (axis1.separation > edgeAxis.separation)
{
// The polygon should collide with previous edge
return;
}
}
if (types[1] == EdgeType.Convex)
{
// Check separation on next edge.
Vector2 v3 = edgeA._vertex3;
Vector2 e2 = v3 - v2;
Vector2 n2 = new Vector2(e2.Y, -e2.X);
n2.Normalize();
if (isFrontSide == false)
{
n2 = -n2;
}
EPAxis axis2 = ComputeEdgeSeperation(v2, v3, n2, s_polygonB, totalRadius);
if (axis2.separation > edgeAxis.separation)
{
// The polygon should collide with the next edge
return;
}
}
EPAxis polygonAxis = ComputePolygonSeperation(v1, v2, edgeNormal, s_polygonB, totalRadius);
if (polygonAxis.separation > totalRadius)
{
return;
}
// Use hysteresis for jitter reduction.
float k_relativeTol = 0.98f;
float k_absoluteTol = 0.001f;
EPAxis primaryAxis;
if (polygonAxis.separation > k_relativeTol * edgeAxis.separation + k_absoluteTol)
{
primaryAxis = polygonAxis;
}
else
{
primaryAxis = edgeAxis;
}
PolygonShape poly1;
PolygonShape poly2;
if (primaryAxis.type == EPAxisType.EdgeA)
{
poly1 = s_polygonA;
poly2 = s_polygonB;
if (isFrontSide == false)
{
primaryAxis.index = 1;
}
manifold._type = ManifoldType.FaceA;
}
else
{
poly1 = s_polygonB;
poly2 = s_polygonA;
manifold._type = ManifoldType.FaceB;
}
int edge1 = primaryAxis.index;
FixedArray2<ClipVertex> incidentEdge = new FixedArray2<ClipVertex>();
FindIncidentEdge(ref incidentEdge, poly1, primaryAxis.index, poly2);
int count1 = poly1._vertexCount;
int iv1 = edge1;
int iv2 = edge1 + 1 < count1 ? edge1 + 1 : 0;
Vector2 v11 = poly1._vertices[iv1];
Vector2 v12 = poly1._vertices[iv2];
Vector2 tangent = v12 - v11;
tangent.Normalize();
Vector2 normal = MathUtils.Cross(tangent, 1.0f);
Vector2 planePoint = 0.5f * (v11 + v12);
// Face offset.
float frontOffset = Vector2.Dot(normal, v11);
// Side offsets, extended by polytope skin thickness.
float sideOffset1 = -Vector2.Dot(tangent, v11) + totalRadius;
float sideOffset2 = Vector2.Dot(tangent, v12) + totalRadius;
// Clip incident edge against extruded edge1 side edges.
FixedArray2<ClipVertex> clipPoints1;
FixedArray2<ClipVertex> clipPoints2;
int np;
// Clip to box side 1
np = ClipSegmentToLine(out clipPoints1, ref incidentEdge, -tangent, sideOffset1, iv1);
if (np < Settings.b2_maxManifoldPoints)
{
return;
}
// Clip to negative box side 1
np = ClipSegmentToLine(out clipPoints2, ref clipPoints1, tangent, sideOffset2, iv2);
if (np < Settings.b2_maxManifoldPoints)
{
return;
}
// Now clipPoints2 contains the clipped points.
if (primaryAxis.type == EPAxisType.EdgeA)
{
manifold._localNormal = normal;
manifold._localPoint = planePoint;
}
else
{
manifold._localNormal = MathUtils.MultiplyT(ref xf.R, normal);
manifold._localPoint = MathUtils.MultiplyT(ref xf, planePoint);
}
int pointCount = 0;
for (int i = 0; i < Settings.b2_maxManifoldPoints; ++i)
{
float separation;
separation = Vector2.Dot(normal, clipPoints2[i].v) - frontOffset;
if (separation <= totalRadius)
{
ManifoldPoint cp = manifold._points[pointCount];
if (primaryAxis.type == EPAxisType.EdgeA)
{
cp.LocalPoint = MathUtils.MultiplyT(ref xf, clipPoints2[i].v);
cp.Id = clipPoints2[i].id;
}
else
{
cp.LocalPoint = clipPoints2[i].v;
cp.Id.Features.typeA = clipPoints2[i].id.Features.typeB;
cp.Id.Features.typeB = clipPoints2[i].id.Features.typeA;
cp.Id.Features.indexA = clipPoints2[i].id.Features.indexB;
cp.Id.Features.indexB = clipPoints2[i].id.Features.indexA;
}
manifold._points[pointCount] = cp;
if (cp.Id.Features.typeA == (byte)ContactFeatureType.Vertex && types[cp.Id.Features.indexA] == EdgeType.Flat)
{
continue;
}
++pointCount;
}
}
manifold._pointCount = pointCount;
}
// Compute contact points for edge versus circle.
// This accounts for edge connectivity.
public static void CollideEdgeAndCircle(ref Manifold manifold,
EdgeShape edgeA, ref Transform xfA,
CircleShape circleB, ref Transform xfB)
{
manifold._pointCount = 0;
// Compute circle in frame of edge
Vector2 Q = MathUtils.MultiplyT(ref xfA, MathUtils.Multiply(ref xfB, circleB._p));
Vector2 A = edgeA._vertex1, B = edgeA._vertex2;
Vector2 e = B - A;
// Barycentric coordinates
float u = Vector2.Dot(e, B - Q);
float v = Vector2.Dot(e, Q - A);
float radius = edgeA._radius + circleB._radius;
ContactFeature cf;
cf.indexB = 0;
cf.typeB = (byte)ContactFeatureType.Vertex;
Vector2 P, d;
// Region A
if (v <= 0.0f)
{
P = A;
d = Q - P;
float dd = Vector2.Dot(d, d);
if (dd > radius * radius)
{
return;
}
// Is there an edge connected to A?
if (edgeA._hasVertex0)
{
Vector2 A1 = edgeA._vertex0;
Vector2 B1 = A;
Vector2 e1 = B1 - A1;
float u1 = Vector2.Dot(e1, B1 - Q);
// Is the circle in Region AB of the previous edge?
if (u1 > 0.0f)
{
return;
}
}
cf.indexA = 0;
cf.typeA = (byte)ContactFeatureType.Vertex;
manifold._pointCount = 1;
manifold._type = ManifoldType.Circles;
manifold._localNormal = Vector2.Zero;
manifold._localPoint = P;
var mp = new ManifoldPoint();
mp.Id.Key = 0;
mp.Id.Features = cf;
mp.LocalPoint = circleB._p;
manifold._points[0] = mp;
return;
}
// Region B
if (u <= 0.0f)
{
P = B;
d = Q - P;
float dd = Vector2.Dot(d, d);
if (dd > radius * radius)
{
return;
}
// Is there an edge connected to B?
if (edgeA._hasVertex3)
{
Vector2 B2 = edgeA._vertex3;
Vector2 A2 = B;
Vector2 e2 = B2 - A2;
float v2 = Vector2.Dot(e2, Q - A2);
// Is the circle in Region AB of the next edge?
if (v2 > 0.0f)
{
return;
}
}
cf.indexA = 1;
cf.typeA = (byte)ContactFeatureType.Vertex;
manifold._pointCount = 1;
manifold._type = ManifoldType.Circles;
manifold._localNormal = Vector2.Zero;
manifold._localPoint = P;
var mp = new ManifoldPoint();
mp.Id.Key = 0;
mp.Id.Features = cf;
mp.LocalPoint = circleB._p;
manifold._points[0] = mp;
return;
}
// Region AB
float den = Vector2.Dot(e, e);
Debug.Assert(den > 0.0f);
P = (1.0f / den) * (u * A + v * B);
d = Q - P;
float dd2 = Vector2.Dot(d, d);
if (dd2 > radius * radius)
{
return;
}
Vector2 n = new Vector2(-e.Y, e.X);
if (Vector2.Dot(n, Q - A) < 0.0f)
{
n = new Vector2(-n.X, -n.Y);
}
n.Normalize();
cf.indexA = 0;
cf.typeA = (byte)ContactFeatureType.Face;
manifold._pointCount = 1;
manifold._type = ManifoldType.FaceA;
manifold._localNormal = n;
manifold._localPoint = A;
var mp2 = new ManifoldPoint();
mp2.Id.Key = 0;
mp2.Id.Features = cf;
mp2.LocalPoint = circleB._p;
manifold._points[0] = mp2;
}
private bool IsLegalPosition()
{
EdgeShape shape = new EdgeShape();
bool isLegal = false;
if (mBuildingObjectType == PlayerData.ObjectType.Gun)
{
isLegal = true;
}
else
{
isLegal = true;
List<Box> boxes = mGameObjectCollection.Boxes;
Body buildingBlockBody = ((Box)mBuildingBlock).mBody;
Shape shape1 = buildingBlockBody.GetFixtureList().GetShape();
Transform transform1, transform2;
buildingBlockBody.GetTransform(out transform1);
for (int i = 0; i < boxes.Count; i++)
{
Body body = boxes[i].mBody;
Shape shape2 = body.GetFixtureList().GetShape();
body.GetTransform(out transform2);
bool isOverlap = AABB.TestOverlap(shape1, 0, shape2, 0, ref transform1, ref transform2);
if (isOverlap)
{
isLegal = false;
break;
}
}
}
return isLegal;
}
/// Get a child edge.
public void GetChildEdge(ref EdgeShape edge, int index)
{
Debug.Assert(2 <= _count);
Debug.Assert(0 <= index && index < _count);
edge.ShapeType = ShapeType.Edge;
edge._radius = _radius;
edge._hasVertex0 = true;
edge._hasVertex3 = true;
int i0 = index - 1 >= 0 ? index - 1 : _count - 1;
int i1 = index;
int i2 = index + 1 < _count ? index + 1 : 0;
int i3 = index + 2;
while (i3 >= _count)
{
i3 -= _count;
}
edge._vertex0 = _vertices[i0];
edge._vertex1 = _vertices[i1];
edge._vertex2 = _vertices[i2];
edge._vertex3 = _vertices[i3];
}
private Body CreatePhysicalViewBounds()
{
var bodyDef = new BodyDef();
bodyDef.type = BodyType.Static;
var body = World.CreateBody(bodyDef);
var edges = new EdgeShape[]{new EdgeShape(), new EdgeShape(), new EdgeShape(), new EdgeShape()};
var viewport = game.GraphicsDevice.Viewport;
var X = ConvertToBox2D(viewport.Width / 2);
var Y = ConvertToBox2D(viewport.Height / 2);
edges[0].Set(new Vector2(-X, -Y), new Vector2(+X, -Y));
edges[1].Set(new Vector2(+X, -Y), new Vector2(+X, +Y));
edges[2].Set(new Vector2(+X, +Y), new Vector2(-X, +Y));
edges[3].Set(new Vector2(-X, +Y), new Vector2(-X, -Y));
foreach (var edge in edges)
{
var fixtureDef = new FixtureDef();
fixtureDef.shape = edge;
fixtureDef.friction = 0.0f;
body.CreateFixture(fixtureDef);
}
return body;
}
