private static void AdjacentAABBIntersections(AbstractCollider collider, BroadPhase broadPhase, CollisionGroup group, int[] indices, List <AbstractCollider> containedBy, List <AbstractCollider> intersect, List <AbstractCollider> depenetrate)
{
for (int i = 0; indices.Length > i; i++)
{
broadPhase.IntersectAABBs(collider, group.buckets[indices[i]], containedBy, intersect, depenetrate);
}
}
private void AddColliderToLookups(AbstractCollider collider)
{
narrowPhase.depenetrations.Add(collider, float2.zero);
narrowPhase.containedBy.Add(collider, hashSetPool.Get());
narrowPhase.intersections.Add(collider, hashSetPool.Get());
narrowPhase.depenetrationsByCollider.Add(collider, dictionaryPool.Get());
broadPhase.containedByCandidates.Add(collider, listPool.Get());
broadPhase.intersectionCandidates.Add(collider, listPool.Get());
broadPhase.depenetrationCandidates.Add(collider, listPool.Get());
}
private void RemoveColliderFromLookups(AbstractCollider collider)
{
narrowPhase.containedBy.Remove(collider);
narrowPhase.intersections.Remove(collider);
narrowPhase.depenetrations.Remove(collider);
narrowPhase.depenetrationsByCollider.Remove(collider);
broadPhase.containedByCandidates.Remove(collider);
broadPhase.intersectionCandidates.Remove(collider);
broadPhase.depenetrationCandidates.Remove(collider);
}
public void IntersectAABBs(AbstractCollider colliderA, List <AbstractCollider> candidates, List <AbstractCollider> containedBy, List <AbstractCollider> intersect, List <AbstractCollider> depenetrate)
{
foreach (AbstractCollider colliderB in candidates)
{
if (colliderA != colliderB && Collide.Intersects(colliderA.aabb, colliderB.aabb))
{
intersect?.Add(colliderB);
containedBy?.Add(colliderB);
depenetrate?.Add(colliderB);
}
}
}
public void FindDepenetrations(AbstractCollider collider, List<AbstractCollider> candidates, Dictionary<AbstractCollider, float2> lookup)
{
float2 total = float2.zero;
foreach (AbstractCollider candidate in candidates)
{
float2 depenetration = Collide.Depenetrate(collider, candidate);
lookup.Add(candidate, depenetration);
total += depenetration;
}
depenetrations[collider] = total;
}
public void FindIntersections(AbstractCollider colliderA, List<AbstractCollider> candidates, HashSet<AbstractCollider> intersectionsA)
{
foreach (AbstractCollider colliderB in candidates)
{
ColliderPair pair = new ColliderPair(colliderA, colliderB);
if (!checkedPairs.Contains(pair) && Collide.Intersects(colliderA, colliderB))
{
checkedPairs.Add(pair);
intersectionsA.Add(colliderB);
intersections[colliderB].Add(colliderB);
}
}
}
public void RemoveCollider <T>(AbstractCollider collider)
{
groups[typeof(T)].RemoveCollider(collider);
PutCollectionInPool(narrowPhase.containedBy[collider]);
PutCollectionInPool(narrowPhase.intersections[collider]);
PutCollectionInPool(narrowPhase.depenetrationsByCollider[collider]);
PutCollectionInPool(broadPhase.containedByCandidates[collider]);
PutCollectionInPool(broadPhase.intersectionCandidates[collider]);
PutCollectionInPool(broadPhase.depenetrationCandidates[collider]);
RemoveColliderFromLookups(collider);
}
public void Initialize(AbstractCollider collider, BroadPhase broadPhase, NarrowPhase narrowPhase, int index)
{
buckets[index].Add(collider);
UpdateIndices(index, broadPhase.columns);
for (int i = 0; groups.Count > i; i++)
{
AdjacentAABBIntersections(collider, broadPhase, groups[i], indices, containedBy[i] ? broadPhase.containedByCandidates[collider] : null, intersect[i] ? broadPhase.intersectionCandidates[collider] : null, depenetrate[i] ? broadPhase.depenetrationCandidates[collider] : null);
}
narrowPhase.FindContainedBy(collider, broadPhase.containedByCandidates[collider], narrowPhase.containedBy[collider]);
narrowPhase.FindIntersections(collider, broadPhase.intersectionCandidates[collider], narrowPhase.intersections[collider]);
narrowPhase.FindDepenetrations(collider, broadPhase.depenetrationCandidates[collider], narrowPhase.depenetrationsByCollider[collider]);
}
public void AddCollider <T>(AbstractCollider collider)
{
CollisionGroup group = groups[typeof(T)];
group.AddCollider(collider);
AddColliderToLookups(collider);
int index = broadPhase.DeriveIndex(collider);
if (broadPhase.columns > index || index >= group.buckets.Count - broadPhase.columns)
{
Update();
}
else
{
group.Initialize(collider, broadPhase, narrowPhase, index);
}
}
public int DeriveIndex(AbstractCollider collider) => DeriveIndex(DeriveRow(collider), DeriveColumn(collider));
private int DeriveRow(AbstractCollider collider) => (int)math.floor(math.unlerp(minX, maxX, collider.position.x) / gridSize * xRange);
public float2 Depenetrate(AbstractCollider colliderA, AbstractCollider colliderB)
{
Dictionary <AbstractCollider, float2> lookup = narrowPhase.depenetrationsByCollider[colliderA];
return(lookup.ContainsKey(colliderB) ? lookup[colliderB] : float2.zero);
}
public bool Intersects(AbstractCollider colliderA, AbstractCollider colliderB) => narrowPhase.intersections[colliderA].Contains(colliderB);
public bool ContainedBy(AbstractCollider colliderA, AbstractCollider colliderB) => narrowPhase.containedBy[colliderA].Contains(colliderB);
public float2 Depenetrate(AbstractCollider collider) => narrowPhase.depenetrations[collider];
private int DeriveColumn(AbstractCollider collider) => (int)math.floor(math.unlerp(minY, maxY, collider.position.y) / gridSize * yRange);
public void DrawLineToBucket(AbstractCollider collider) => UnityEngine.Debug.DrawLine(new float3(collider.position, 0), new float3(minX + (gridSize * (DeriveRow(collider) + 0.5f)), minY + (gridSize * (DeriveColumn(collider) + 0.5f)), 0), UnityEngine.Color.yellow);
public void FindContainedBy(AbstractCollider colliderA, List<AbstractCollider> candidates, HashSet<AbstractCollider> containedByA)
{
foreach (AbstractCollider colliderB in candidates)
if (Collide.ContainedBy(colliderA, colliderB))
containedByA.Add(colliderB);
}
public void RemoveCollider(AbstractCollider collider) => colliders.Remove(collider);
public void AddCollider(AbstractCollider collider) => colliders.Add(collider);
