private static void DummyBoundsFeatures(Manifold manifold, out CollisionFeatures features)
{
var aRect = new AlignedRectangle(manifold.A.Entity.Transform.WorldPosition, manifold.A.AABB.Size / 2);
var bRect = new AlignedRectangle(manifold.B.Entity.Transform.WorldPosition, manifold.B.AABB.Size / 2);
CalculateCollisionFeatures(aRect, bRect, 1, out features);
}
private static void BoxBox(Manifold manifold, PhysShapeAabb a, PhysShapeAabb b, float flip,
out CollisionFeatures features)
{
var aRect = new AlignedRectangle(manifold.A.Entity.Transform.WorldPosition, a.LocalBounds.Size / 2);
var bRect = new AlignedRectangle(manifold.B.Entity.Transform.WorldPosition, b.LocalBounds.Size / 2);
CalculateCollisionFeatures(in aRect, in bRect, flip, out features);
}
private static void RectCircle(Manifold manifold, PhysShapeRect a, PhysShapeCircle b, float flip,
out CollisionFeatures features)
{
var aPos = manifold.A.Entity.Transform.WorldPosition;
var bPos = manifold.B.Entity.Transform.WorldPosition;
var aRot = (float)manifold.A.Entity.Transform.WorldRotation.Theta;
CalculateCollisionFeatures(new OrientedRectangle(aPos, a.Rectangle, aRot), new Circle(bPos, b.Radius), (float)flip, out features);
}
private static void CircleBox(Manifold manifold, PhysShapeCircle a, PhysShapeAabb b, float flip,
out CollisionFeatures features)
{
var aRad = a.Radius;
var aPos = manifold.A.Entity.Transform.WorldPosition;
var bRect = new AlignedRectangle(manifold.B.Entity.Transform.WorldPosition, b.LocalBounds.Size / 2);
CalculateCollisionFeatures(bRect, new Circle(aPos, aRad), (float)flip * -1, out features);
}
private static void CircleCircle(Manifold manifold, PhysShapeCircle a, PhysShapeCircle b, float flip,
out CollisionFeatures features)
{
var aRad = a.Radius;
var bRad = b.Radius;
var aPos = manifold.A.Entity.Transform.WorldPosition;
var bPos = manifold.B.Entity.Transform.WorldPosition;
CalculateCollisionFeatures(new Circle(aPos, aRad), new Circle(bPos, bRad), (float)flip, out features);
}
private static void CircleBBox(Manifold manifold, PhysShapeCircle a, PhysShapeAabb b, bool flip, out CollisionFeatures features)
{
var aRad = a.Radius;
var aPos = manifold.A.Entity.Transform.WorldPosition;
var bBox = b.LocalBounds.Translated(manifold.B.Entity.Transform.WorldPosition);
CalculateCollisionFeatures(in bBox, new Circle(aPos, aRad), flip, out features);
}
public static void CalculateFeatures(Manifold manifold, IPhysShape a, IPhysShape b, out CollisionFeatures features)
{
// 2D table of all possible PhysShape combinations
switch (a)
{
case PhysShapeCircle aCircle:
switch (b)
{
case PhysShapeCircle bCircle:
CircleCircle(manifold, aCircle, bCircle, false, out features);
return;
case PhysShapeAabb bAabb:
CircleBBox(manifold, aCircle, bAabb, false, out features);
return;
case PhysShapeRect bRect:
RectCircle(manifold, bRect, aCircle, true, out features);
return;
case PhysShapeGrid bGrid:
features = default;
return;
}
break;
case PhysShapeAabb aAabb:
switch (b)
{
case PhysShapeCircle bCircle:
features = default;
return;
case PhysShapeAabb bAabb:
features = default;
return;
case PhysShapeRect bRect:
features = default;
return;
case PhysShapeGrid bGrid:
features = default;
return;
}
break;
case PhysShapeRect aRect:
switch (b)
{
case PhysShapeCircle bCircle:
features = default;
return;
case PhysShapeAabb bAabb:
features = default;
return;
case PhysShapeRect bRect:
features = default;
return;
case PhysShapeGrid bGrid:
features = default;
return;
}
break;
case PhysShapeGrid aGrid:
switch (b)
{
case PhysShapeCircle bCircle:
features = default;
return;
case PhysShapeAabb bAabb:
features = default;
return;
case PhysShapeRect bRect:
features = default;
return;
case PhysShapeGrid bGrid:
features = default;
return;
}
break;
}
features = default;
}
