Esempio n. 1
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        public cpShape PointQueryNearest(cpVect point, float maxDistance, cpShapeFilter filter, ref cpPointQueryInfo output)
        {
            cpPointQueryInfo info = new cpPointQueryInfo(null, cpVect.Zero, maxDistance, cpVect.Zero);

            if (output == null)
            {
                output = info;
            }

            PointQueryContext context = new PointQueryContext(
                point, maxDistance,
                filter,
                null
                );

            cpBB bb = cpBB.cpBBNewForCircle(point, cp.cpfmax(maxDistance, 0.0f));

            object outp = (object)output;

            this.dynamicShapes.Query(context, bb,
                                     (o1, o2, s, o3) => NearestPointQueryNearest(o1, (cpShape)o2, s, ref outp)
                                     , null);

            this.staticShapes.Query(context, bb,
                                    (o1, o2, s, o3) => NearestPointQueryNearest(o1, (cpShape)o2, s, ref outp)
                                    , null);

            output = (cpPointQueryInfo)outp;

            return(output.shape);
        }
Esempio n. 2
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 public void Set(cpPointQueryInfo newPointInfo)
 {
     /// The nearest shape, NULL if no shape was within range.
     shape    = newPointInfo.shape;
     point    = newPointInfo.point;
     distance = newPointInfo.distance;
     gradient = newPointInfo.gradient;
     // g = newPointInfo.g;
 }
Esempio n. 3
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 public void Set(cpPointQueryInfo newPointInfo)
 {
     /// The nearest shape, NULL if no shape was within range.
     shape = newPointInfo.shape;
     point = newPointInfo.point;
     distance = newPointInfo.distance;
     gradient = newPointInfo.gradient;
     // g = newPointInfo.g;
 }
Esempio n. 4
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        public float PointQuery(cpVect p, ref cpPointQueryInfo info)
        {
            if (info == null)
            {
                info = new cpPointQueryInfo(null, cpVect.Zero, cp.Infinity, cpVect.Zero);
            }

            pointQuery(p, ref info);

            return(info.distance);
        }
Esempio n. 5
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        protected override void pointQuery(cpVect p, ref cpPointQueryInfo info)
        {
            //	base.pointQuery(p, ref info);
            cpVect delta = cpVect.cpvsub(p, this.tc);
            float  d     = cpVect.cpvlength(delta);
            float  r     = this.r;

            info.shape    = this;
            info.point    = cpVect.cpvadd(this.tc, cpVect.cpvmult(delta, r / d));          // TODO: div/0
            info.distance = d - r;

            // Use up for the gradient if the distance is very small.
            info.gradient = (d > cp.MAGIC_EPSILON ? cpVect.cpvmult(delta, 1.0f / d) : new cpVect(0.0f, 1.0f));
        }
Esempio n. 6
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        public ulong NearestPointQuery(PointQueryContext context, cpShape shape, ulong id, object data)
        {
            if (
                !cpShapeFilter.Reject(shape.filter, context.filter)
                )
            {
                cpPointQueryInfo info = null;
                shape.PointQuery(context.point, ref info);

                if (info.shape != null && info.distance < context.maxDistance)
                {
                    context.func(shape, info.point, info.distance, info.gradient, data);
                }
            }
            return(id);
        }
Esempio n. 7
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        protected override void pointQuery(cpVect p, ref cpPointQueryInfo info)
        {
            cpVect closest = cp.closestPointOnSegment(p, this.ta, this.tb);

            cpVect delta = cpVect.cpvsub(p, closest);
            float  d     = cpVect.cpvlength(delta);
            float  r     = this.r;
            cpVect g     = cpVect.cpvmult(delta, 1.0f / d);

            info.shape    = (cpShape)this;
            info.point    = (d != 0 ? cpVect.cpvadd(closest, cpVect.cpvmult(g, r)) : closest);
            info.distance = d - r;

            // Use the segment's normal if the distance is very small.
            info.gradient = (d > cp.MAGIC_EPSILON ? g : this.n);
        }
Esempio n. 8
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        protected override void pointQuery(cpVect p, ref cpPointQueryInfo info)
        {
            int count = Count;

            cpSplittingPlane[] planes = this.planes;
            float r = this.r;

            cpVect v0            = planes[count - 1].v0;
            float  minDist       = cp.Infinity;
            cpVect closestPoint  = cpVect.Zero;
            cpVect closestNormal = cpVect.Zero;
            bool   outside       = false;

            for (int i = 0; i < count; i++)
            {
                cpVect v1 = planes[i].v0;
                if (cpVect.cpvdot(planes[i].n, cpVect.cpvsub(p, v1)) > 0.0f)
                {
                    outside = true;
                }

                cpVect closest = cp.closestPointOnSegment(p, v0, v1);

                {
                    float dista = cpVect.cpvdist(p, closest);
                    if (dista < minDist)
                    {
                        minDist       = dista;
                        closestPoint  = closest;
                        closestNormal = planes[i].n;
                    }
                }

                v0 = v1;
            }

            float  dist = (outside ? minDist : -minDist);
            cpVect g    = cpVect.cpvmult(cpVect.cpvsub(p, closestPoint), 1.0f / dist);

            info.shape    = this;
            info.point    = cpVect.cpvadd(closestPoint, cpVect.cpvmult(g, r));
            info.distance = dist - r;

            // Use the normal of the closest segment if the distance is small.
            info.gradient = (minDist > cp.MAGIC_EPSILON ? g : closestNormal);
        }
Esempio n. 9
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        public ulong NearestPointQueryNearest(object ctx, cpShape shape, ulong id, ref object outp)
        {
            PointQueryContext context = (PointQueryContext)ctx;
            cpPointQueryInfo  output  = (cpPointQueryInfo)outp;

            if (
                !cpShapeFilter.Reject(shape.filter, context.filter) && !shape.sensor
                )
            {
                cpPointQueryInfo info = null;
                shape.PointQuery(context.point, ref info);

                if (info.distance < output.distance)
                {
                    outp = (object)info;
                }
            }

            return(id);
        }
Esempio n. 10
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        public bool SegmentQuery(cpVect a, cpVect b, float radius, ref cpSegmentQueryInfo info)
        {
            if (info == null)
            {
                info = new cpSegmentQueryInfo(null, b, cpVect.Zero, 1.0f);
            }

            cpPointQueryInfo nearest = null;

            PointQuery(a, ref nearest);

            if (nearest.distance <= radius)
            {
                info.shape  = this;
                info.alpha  = 0.0f;
                info.normal = cpVect.cpvnormalize(cpVect.cpvsub(a, nearest.point));
            }
            else
            {
                segmentQuery(a, b, radius, ref info);
            }

            return(info.shape != null);
        }
Esempio n. 11
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 protected virtual void pointQuery(cpVect p, ref cpPointQueryInfo info)
 {
     throw new NotImplementedException();
 }
Esempio n. 12
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        public float PointQuery(cpVect p, ref cpPointQueryInfo info)
        {
            if (info == null)
                info = new cpPointQueryInfo(null, cpVect.Zero, cp.Infinity, cpVect.Zero);

            pointQuery(p, ref info);

            return info.distance;
        }
Esempio n. 13
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        protected override void pointQuery(cpVect p, ref cpPointQueryInfo info)
        {
            cpVect closest = cp.closestPointOnSegment(p, this.ta, this.tb);

            cpVect delta = cpVect.cpvsub(p, closest);
            float d = cpVect.cpvlength(delta);
            float r = this.r;
            cpVect g = cpVect.cpvmult(delta, 1.0f / d);

            info.shape = (cpShape)this;
            info.point = (d != 0 ? cpVect.cpvadd(closest, cpVect.cpvmult(g, r)) : closest);
            info.distance = d - r;

            // Use the segment's normal if the distance is very small.
            info.gradient = (d > cp.MAGIC_EPSILON ? g : this.n);
        }
Esempio n. 14
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        protected override void pointQuery(cpVect p, ref cpPointQueryInfo info)
        {
            //	base.pointQuery(p, ref info);
            cpVect delta = cpVect.cpvsub(p, this.tc);
            float d = cpVect.cpvlength(delta);
            float r = this.r;

            info.shape = this;
            info.point = cpVect.cpvadd(this.tc, cpVect.cpvmult(delta, r / d)); // TODO: div/0
            info.distance = d - r;

            // Use up for the gradient if the distance is very small.
            info.gradient = (d > cp.MAGIC_EPSILON ? cpVect.cpvmult(delta, 1.0f / d) : new cpVect(0.0f, 1.0f));
        }
Esempio n. 15
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        protected override void pointQuery(cpVect p, ref cpPointQueryInfo info)
        {
            int count = Count;
            cpSplittingPlane[] planes = this.planes;
            float r = this.r;

            cpVect v0 = planes[count - 1].v0;
            float minDist = cp.Infinity;
            cpVect closestPoint = cpVect.Zero;
            cpVect closestNormal = cpVect.Zero;
            bool outside = false;

            for (int i = 0; i < count; i++)
            {
                cpVect v1 = planes[i].v0;
                if (cpVect.cpvdot(planes[i].n, cpVect.cpvsub(p, v1)) > 0.0f)
                    outside = true;

                cpVect closest = cp.closestPointOnSegment(p, v0, v1);

                {
                    float dista = cpVect.cpvdist(p, closest);
                    if (dista < minDist)
                    {
                        minDist = dista;
                        closestPoint = closest;
                        closestNormal = planes[i].n;
                    }
                }

                v0 = v1;
            }

            float dist = (outside ? minDist : -minDist);
            cpVect g = cpVect.cpvmult(cpVect.cpvsub(p, closestPoint), 1.0f / dist);

            info.shape = this;
            info.point = cpVect.cpvadd(closestPoint, cpVect.cpvmult(g, r));
            info.distance = dist - r;

            // Use the normal of the closest segment if the distance is small.
            info.gradient = (minDist > cp.MAGIC_EPSILON ? g : closestNormal);
        }
Esempio n. 16
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        public cpShape PointQueryNearest(cpVect point, float maxDistance, cpShapeFilter filter, ref cpPointQueryInfo output)
        {
            cpPointQueryInfo info = new cpPointQueryInfo(null, cpVect.Zero, maxDistance, cpVect.Zero);
            if (output == null)
                output = info;

            PointQueryContext context = new PointQueryContext(
            point, maxDistance,
            filter,
            null
            );

            cpBB bb = cpBB.cpBBNewForCircle(point, cp.cpfmax(maxDistance, 0.0f));

            object outp = (object)output;

            this.dynamicShapes.Query(context, bb,
                (o1, o2, s, o3) => NearestPointQueryNearest(o1, (cpShape)o2, s, ref outp)
            , null);

            this.staticShapes.Query(context, bb,
                (o1, o2, s, o3) => NearestPointQueryNearest(o1, (cpShape)o2, s, ref outp)
            , null);

            output = (cpPointQueryInfo)outp;

            return output.shape;
        }
Esempio n. 17
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 protected virtual void pointQuery(cpVect p, ref cpPointQueryInfo info)
 {
     throw new NotImplementedException();
 }