public static bool detectCircleEdge(scTransform circleTransform, scCircleShape circle, scTransform edgeTransform, scEdgeShape edge)
{
var transformedEdgeVertices = new List<Vector2>();
transformedEdgeVertices.Add(scTransformUtils.applyTransform(edgeTransform, edge.start));
transformedEdgeVertices.Add(scTransformUtils.applyTransform(edgeTransform, edge.end));
var transformedCircleCenter = scTransformUtils.applyTransform(circleTransform, circle.localPosition);
//get nearest edge vertex to circle center
var distanceToFirstVertex = transformedEdgeVertices[0] - transformedCircleCenter;
var distanceToSecondVertex = transformedEdgeVertices[1] - transformedCircleCenter;
var circleAxis = distanceToFirstVertex.Length() <= distanceToSecondVertex.Length() ? distanceToFirstVertex : distanceToSecondVertex;
circleAxis.Normalize();
var edgeAxis = scCollisionHelpers.getNormal(transformedEdgeVertices[0], transformedEdgeVertices[1]);
{
var lineSegmentCircle = scCollisionHelpers.projectCircleOnAxis(transformedCircleCenter, circle.radius, circleAxis);
var lineSegmentEdge = scCollisionHelpers.projectShapeOnAxis(transformedEdgeVertices, circleAxis);
if (!scCollisionHelpers.overlapsOnSameAxis(lineSegmentCircle, lineSegmentEdge))
{
return false;
}
}
{
var lineSegmentCircle = scCollisionHelpers.projectCircleOnAxis(transformedCircleCenter, circle.radius, edgeAxis);
var lineSegmentEdge = scCollisionHelpers.projectShapeOnAxis(transformedEdgeVertices, edgeAxis);
if (!scCollisionHelpers.overlapsOnSameAxis(lineSegmentCircle, lineSegmentEdge))
{
return false;
}
}
return true;
}
public static bool detectCircleCircle(scTransform aTransform, scCircleShape aShape, scTransform bTransform, scCircleShape bShape)
{
var aCenter = aTransform.position + aShape.localPosition;
var bCenter = bTransform.position + bShape.localPosition;
var deltaVector = aCenter - bCenter;
return deltaVector.Length() < aShape.radius + bShape.radius;
}
public static bool detectCircleRectangle(scTransform circleTransform, scCircleShape circle, scTransform rectangleTransform, scRectangleShape rectangle)
{
var transformedRectangleVertices = new List<Vector2>();
foreach (var vertex in rectangle.vertices)
{
transformedRectangleVertices.Add(scTransformUtils.applyTransform(rectangleTransform, vertex));
}
var axes = new List<Vector2>();
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVertices[0], transformedRectangleVertices[1]));
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVertices[1], transformedRectangleVertices[2]));
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVertices[2], transformedRectangleVertices[3]));
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVertices[3], transformedRectangleVertices[0]));
var transformedCircleCenter = scTransformUtils.applyTransform(circleTransform, circle.localPosition);
//get nearest edge vertex to circle center
var distancesToVertices = new List<Vector2>();
distancesToVertices.Add(transformedRectangleVertices[0] - transformedCircleCenter);
distancesToVertices.Add(transformedRectangleVertices[1] - transformedCircleCenter);
distancesToVertices.Add(transformedRectangleVertices[2] - transformedCircleCenter);
distancesToVertices.Add(transformedRectangleVertices[3] - transformedCircleCenter);
var circleAxis = distancesToVertices[0];
foreach (var distance in distancesToVertices)
{
if (distance.Length() < circleAxis.Length())
{
circleAxis = distance;
}
}
circleAxis.Normalize();
axes.Add(circleAxis);
foreach (var axis in axes)
{
var lineSegmentRectangleA = scCollisionHelpers.projectCircleOnAxis(transformedCircleCenter, circle.radius, axis);
var lineSegmentRectangleB = scCollisionHelpers.projectShapeOnAxis(transformedRectangleVertices, axis);
if (!scCollisionHelpers.overlapsOnSameAxis(lineSegmentRectangleA, lineSegmentRectangleB))
{
return false;
}
}
return true;
}
public scBoundingBox getBoundingBox(scTransform transform)
{
var transformedStart = scTransformUtils.applyTransform(transform, start);
var transformedEnd = scTransformUtils.applyTransform(transform, end);
return scBoundingUtils.createFromBoundingVertices(transformedStart, transformedEnd);
}
public scBoundingBox getBoundingBox(scTransform transform)
{
return new scBoundingBox() { position = localPosition + transform.position, halfExtents = new Vector2(radius) };
}
public scBoundingBox getBoundingBox(scTransform transform)
{
var lower = new Vector2();
var upper = new Vector2();
var rotated = new Vector2[4];
rotated[0] = transform.position + vertices[0].Rotate(transform.rotation.radians);
rotated[1] = transform.position + vertices[1].Rotate(transform.rotation.radians);
rotated[2] = transform.position + vertices[2].Rotate(transform.rotation.radians);
rotated[3] = transform.position + vertices[3].Rotate(transform.rotation.radians);
lower.X = rotated.Min(v => v.X);
lower.Y = rotated.Min(v => v.Y);
upper.X = rotated.Max(v => v.X);
upper.Y = rotated.Max(v => v.Y);
return scBoundingUtils.createFromBoundingVertices(lower, upper);
}
public void DrawShape(scDebugData debugData, SpriteBatch spriteBatch, scShape shape, scTransform transform)
{
switch (shape.ShapeType)
{
case scShapeType.Circle:
{
var circle = (scCircleShape)shape;
spriteBatch.DrawCircle(transform.position + circle.localPosition, circle.radius, debugData.CircleShapeSides, debugData.CircleShapeColor);
break;
}
case scShapeType.Rectangle:
{
var rectangle = (scRectangleShape)shape;
var A = transform.position + rectangle.vertices[0].Rotate(transform.rotation.radians);
var B = transform.position + rectangle.vertices[1].Rotate(transform.rotation.radians);
var C = transform.position + rectangle.vertices[2].Rotate(transform.rotation.radians);
var D = transform.position + rectangle.vertices[3].Rotate(transform.rotation.radians);
spriteBatch.DrawLine(A, B, debugData.RectangleShapeColor);
spriteBatch.DrawLine(B, C, debugData.RectangleShapeColor);
spriteBatch.DrawLine(C, D, debugData.RectangleShapeColor);
spriteBatch.DrawLine(D, A, debugData.RectangleShapeColor);
break;
}
case scShapeType.Edge:
{
var edge = (scEdgeShape)shape;
var start = scTransformUtils.applyTransform(transform, edge.start);
var end = scTransformUtils.applyTransform(transform, edge.end);
spriteBatch.DrawLine(start, end, debugData.EdgeShapeColor);
break;
}
}
}
public static bool detectRectangleRectangle(scTransform aTransform, scRectangleShape aShape, scTransform bTransform, scRectangleShape bShape)
{
var transformedRectangleVerticesA = new List<Vector2>();
var transformedRectangleVerticesB = new List<Vector2>();
foreach (var vertex in aShape.vertices)
{
transformedRectangleVerticesA.Add(scTransformUtils.applyTransform(aTransform, vertex));
}
foreach (var vertex in bShape.vertices)
{
transformedRectangleVerticesB.Add(scTransformUtils.applyTransform(bTransform, vertex));
}
var axes = new List<Vector2>();
// add axes of aShape
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVerticesA[0], transformedRectangleVerticesA[1]));
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVerticesA[1], transformedRectangleVerticesA[2]));
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVerticesA[2], transformedRectangleVerticesA[3]));
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVerticesA[3], transformedRectangleVerticesA[0]));
// add axes of bShape
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVerticesB[0], transformedRectangleVerticesB[1]));
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVerticesB[1], transformedRectangleVerticesB[2]));
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVerticesB[2], transformedRectangleVerticesB[3]));
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVerticesB[3], transformedRectangleVerticesB[0]));
foreach (var axis in axes)
{
var lineSegmentRectangleA = scCollisionHelpers.projectShapeOnAxis(transformedRectangleVerticesA, axis);
var lineSegmentRectangleB = scCollisionHelpers.projectShapeOnAxis(transformedRectangleVerticesB, axis);
if (!scCollisionHelpers.overlapsOnSameAxis(lineSegmentRectangleA, lineSegmentRectangleB))
{
return false;
}
}
return true;
}
public static bool detectRectangleEdge(scTransform rectangleTransform, scRectangleShape rectangle, scTransform edgeTransform, scEdgeShape edge)
{
var transformedRectangleVertices = new List<Vector2>();
foreach (var vertex in rectangle.vertices)
{
transformedRectangleVertices.Add(scTransformUtils.applyTransform(rectangleTransform, vertex));
}
var edgeStart = scTransformUtils.applyTransform(edgeTransform, edge.start);
var edgeEnd = scTransformUtils.applyTransform(edgeTransform, edge.end);
var transformedEdgeVertices = new List<Vector2>();
transformedEdgeVertices.Add(edgeStart);
transformedEdgeVertices.Add(edgeEnd);
var axes = new List<Vector2>();
axes.Add(scCollisionHelpers.getNormal(edgeStart, edgeEnd));
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVertices[0], transformedRectangleVertices[1]));
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVertices[1], transformedRectangleVertices[2]));
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVertices[2], transformedRectangleVertices[3]));
axes.Add(scCollisionHelpers.getNormal(transformedRectangleVertices[3], transformedRectangleVertices[0]));
foreach (var axis in axes)
{
var lineSegmentRectangle = scCollisionHelpers.projectShapeOnAxis(transformedRectangleVertices, axis);
var lineSegmentEdge = scCollisionHelpers.projectShapeOnAxis(transformedEdgeVertices, axis);
if (!scCollisionHelpers.overlapsOnSameAxis(lineSegmentRectangle, lineSegmentEdge))
{
return false;
}
}
return true;
}
public static bool detectEdgeEdge(scTransform aTransform, scEdgeShape aShape, scTransform bTransform, scEdgeShape bShape)
{
return false;
}
public static Vector2 applyTransform(scTransform transform, Vector2 vector)
{
return transform.position + vector.Rotate(transform.rotation.radians);
}