/// <summary>
/// Workhorse for circle-circle collisions, compares origin distance
/// to the sum of the two circles' radii, returns a Manifold.
/// </summary>
///
private static Manifold TestCircles(
VoltWorld world,
VoltCircle shapeA,
VoltShape shapeB,
Vector2 overrideBCenter, // For testing vertices in circles
float overrideBRadius)
{
Vector2 r = overrideBCenter - shapeA.worldSpaceOrigin;
float min = shapeA.radius + overrideBRadius;
float distSq = r.sqrMagnitude;
if (distSq >= min * min)
{
return(null);
}
float dist = Mathf.Sqrt(distSq);
float distInv = 1.0f / dist;
Vector2 pos =
shapeA.worldSpaceOrigin +
(0.5f + distInv * (shapeA.radius - min / 2.0f)) * r;
// Build the collision Manifold
Manifold manifold =
world.AllocateManifold().Assign(world, shapeA, shapeB);
manifold.AddContact(pos, distInv * r, dist - min);
return(manifold);
}
private static Manifold Polygon_Polygon(
VoltWorld world,
VoltPolygon polyA,
VoltPolygon polyB)
{
Axis a1, a2;
if (Collision.FindMinSepAxis(polyA, polyB, out a1) == false)
{
return(null);
}
if (Collision.FindMinSepAxis(polyB, polyA, out a2) == false)
{
return(null);
}
// We will use poly1's axis, so we may need to swap
if (a2.Width > a1.Width)
{
VoltUtil.Swap(ref polyA, ref polyB);
VoltUtil.Swap(ref a1, ref a2);
}
// Build the collision Manifold
Manifold manifold =
world.AllocateManifold().Assign(world, polyA, polyB);
Collision.FindVerts(polyA, polyB, a1.Normal, a1.Width, manifold);
return(manifold);
}
/// <summary>
/// Workhorse for circle-circle collisions, compares origin distance
/// to the sum of the two circles' radii, returns a Manifold.
/// </summary>
///
private static Manifold TestCircles(
VoltWorld world,
VoltCircle shapeA,
VoltShape shapeB,
VoltVector2 overrideBCenter, // For testing vertices in circles
Fix64 overrideBRadius)
{
VoltVector2 r = overrideBCenter - shapeA.worldSpaceOrigin;
Fix64 min = shapeA.radius + overrideBRadius;
Fix64 distSq = r.sqrMagnitude;
if (distSq >= min * min)
{
return(null);
}
Fix64 dist = VoltMath.Sqrt(distSq);
// 최소값을 지정하여 divide by zero 방지
Fix64 distInv = Fix64.One / VoltMath.Max(dist, min / (Fix64)10);
VoltVector2 pos =
shapeA.worldSpaceOrigin +
(Fix64.One / (Fix64)2 + distInv * (shapeA.radius - min / (Fix64)2)) * r;
// Build the collision Manifold
Manifold manifold =
world.AllocateManifold().Assign(world, shapeA, shapeB);
manifold.AddContact(pos, distInv * r, dist - min);
return(manifold);
}
private static Manifold Circle_Polygon(
VoltWorld world,
VoltCircle circ,
VoltPolygon poly)
{
// Get the axis on the polygon closest to the circle's origin
float penetration;
int index =
Collision.FindAxisMaxPenetration(
circ.worldSpaceOrigin,
circ.radius,
poly,
out penetration);
if (index < 0)
{
return(null);
}
Vector2 a, b;
poly.GetEdge(index, out a, out b);
Axis axis = poly.GetWorldAxis(index);
// If the circle is past one of the two vertices, check it like
// a circle-circle intersection where the vertex has radius 0
float d = VoltMath.Cross(axis.Normal, circ.worldSpaceOrigin);
if (d > VoltMath.Cross(axis.Normal, a))
{
return(Collision.TestCircles(world, circ, poly, a, 0.0f));
}
if (d < VoltMath.Cross(axis.Normal, b))
{
return(Collision.TestCircles(world, circ, poly, b, 0.0f));
}
// Build the collision Manifold
Manifold manifold = world.AllocateManifold().Assign(world, circ, poly);
Vector2 pos =
circ.worldSpaceOrigin - (circ.radius + penetration / 2) * axis.Normal;
manifold.AddContact(pos, -axis.Normal, penetration);
return(manifold);
}
/// <summary>
/// Workhorse for circle-circle collisions, compares origin distance
/// to the sum of the two circles' radii, returns a Manifold.
/// </summary>
///
private static Manifold TestCircles(
VoltWorld world,
VoltCircle shapeA,
VoltShape shapeB,
Vector2 overrideBCenter, // For testing vertices in circles
float overrideBRadius)
{
Vector2 r = overrideBCenter - shapeA.worldSpaceOrigin;
float min = shapeA.radius + overrideBRadius;
float distSq = r.sqrMagnitude;
if (distSq >= min * min)
return null;
float dist = Mathf.Sqrt(distSq);
float distInv = 1.0f / dist;
Vector2 pos =
shapeA.worldSpaceOrigin +
(0.5f + distInv * (shapeA.radius - min / 2.0f)) * r;
// Build the collision Manifold
Manifold manifold =
world.AllocateManifold().Assign(world, shapeA, shapeB);
manifold.AddContact(pos, distInv * r, dist - min);
return manifold;
}
private static Manifold Polygon_Polygon(
VoltWorld world,
VoltPolygon polyA,
VoltPolygon polyB)
{
Axis a1, a2;
if (Collision.FindMinSepAxis(polyA, polyB, out a1) == false)
return null;
if (Collision.FindMinSepAxis(polyB, polyA, out a2) == false)
return null;
// We will use poly1's axis, so we may need to swap
if (a2.Width > a1.Width)
{
VoltUtil.Swap(ref polyA, ref polyB);
VoltUtil.Swap(ref a1, ref a2);
}
// Build the collision Manifold
Manifold manifold =
world.AllocateManifold().Assign(world, polyA, polyB);
Collision.FindVerts(polyA, polyB, a1.Normal, a1.Width, manifold);
return manifold;
}
private static Manifold Circle_Polygon(
VoltWorld world,
VoltCircle circ,
VoltPolygon poly)
{
// Get the axis on the polygon closest to the circle's origin
float penetration;
int index =
Collision.FindAxisMaxPenetration(
circ.worldSpaceOrigin,
circ.radius,
poly,
out penetration);
if (index < 0)
return null;
Vector2 a, b;
poly.GetEdge(index, out a, out b);
Axis axis = poly.GetWorldAxis(index);
// If the circle is past one of the two vertices, check it like
// a circle-circle intersection where the vertex has radius 0
float d = VoltMath.Cross(axis.Normal, circ.worldSpaceOrigin);
if (d > VoltMath.Cross(axis.Normal, a))
return Collision.TestCircles(world, circ, poly, a, 0.0f);
if (d < VoltMath.Cross(axis.Normal, b))
return Collision.TestCircles(world, circ, poly, b, 0.0f);
// Build the collision Manifold
Manifold manifold = world.AllocateManifold().Assign(world, circ, poly);
Vector2 pos =
circ.worldSpaceOrigin - (circ.radius + penetration / 2) * axis.Normal;
manifold.AddContact(pos, -axis.Normal, penetration);
return manifold;
}
