/// Create a loop. This automatically adjusts connectivity.
/// @param vertices an array of vertices, these are copied
/// @param count the vertex count
public void CreateLoop(Vector2[] vertices, int count = -1)
{
if (count == -1)
{
count = vertices.Length;
}
Debug.Assert(Vertices == null && Count == 0);
Debug.Assert(count >= 3);
if (count < 3)
{
return;
}
for (var i = 1; i < count; ++i)
{
var v1 = vertices[i - 1];
var v2 = vertices[i];
// If the code crashes here, it means your vertices are too close together.
Debug.Assert(Vector2.DistanceSquared(v1, v2) > Settings.LinearSlop * Settings.LinearSlop);
}
Count = count + 1;
Vertices = new Vector2[Count];
Array.Copy(vertices, Vertices, count);
Vertices[count] = Vertices[0];
PrevVertex = Vertices[Count - 2];
NextVertex = Vertices[1];
}
/// <summary>
/// Create a chain with ghost vertices to connect multiple chains together.
/// </summary>
/// <param name="vertices">an array of vertices, these are copied</param>
/// <param name="count">the vertex count</param>
/// <param name="prevVertex">previous vertex from chain that connects to the start</param>
/// <param name="nextVertex">next vertex from chain that connects to the end</param>
public void CreateChain(Vector2[] vertices, int count, Vector2 prevVertex, Vector2 nextVertex)
{
Debug.Assert(Vertices == null && Count == 0);
Debug.Assert(count >= 2);
for (var i = 1; i < count; ++i)
{
// If the code crashes here, it means your vertices are too close together.
Debug.Assert(
Vector2.DistanceSquared(vertices[i - 1], vertices[i])
> Settings.LinearSlop * Settings.LinearSlop);
}
Count = count;
Vertices = new Vector2[count];
Array.Copy(vertices, Vertices, count);
PrevVertex = prevVertex;
NextVertex = nextVertex;
}
/// Create a convex hull from the given array of local points.
/// The count must be in the range [3, b2_maxPolygonVertices].
/// @warning the points may be re-ordered, even if they form a convex polygon
/// @warning collinear points are handled but not removed. Collinear points
/// may lead to poor stacking behavior.
public void Set(Vector2[] vertices, int count = -1)
{
if (count == -1)
{
count = vertices.Length;
}
Debug.Assert(3 <= count && count <= MaxPolygonVertices);
// 顶点数小于3,视为盒子
if (count < 3)
{
SetAsBox(1.0f, 1.0f);
return;
}
// 顶点数最大为 MaxPolygonVertices
var n = Math.Min(count, MaxPolygonVertices);
// Perform welding and copy vertices into local buffer.
Span <Vector2> ps = stackalloc Vector2[MaxPolygonVertices];
var tempCount = 0;
for (var i = 0; i < n; ++i)
{
var v = vertices[i];
var unique = true;
for (var j = 0; j < tempCount; ++j)
{
if (Vector2.DistanceSquared(v, ps[j])
< 0.5f * Settings.LinearSlop * (0.5f * Settings.LinearSlop))
{
unique = false;
break;
}
}
if (unique)
{
ps[tempCount] = v;
tempCount++;
}
}
n = tempCount;
if (n < 3)
{
// Polygon is degenerate.
throw new InvalidOperationException("Invalid polygon shape");
}
// Create the convex hull using the Gift wrapping algorithm
// http://en.wikipedia.org/wiki/Gift_wrapping_algorithm
// Find the right most point on the hull
var i0 = 0;
var x0 = ps[0].x;
for (var i = 1; i < n; ++i)
{
var x = ps[i].x;
if (x > x0 || x.Equals(x0) && ps[i].y < ps[i0].y)
{
i0 = i;
x0 = x;
}
}
Span <int> hull = stackalloc int[MaxPolygonVertices];
var m = 0;
var ih = i0;
for (;;)
{
Debug.Assert(m < MaxPolygonVertices);
hull[m] = ih;
var ie = 0;
for (var j = 1; j < n; ++j)
{
if (ie == ih)
{
ie = j;
continue;
}
var r = ps[ie] - ps[hull[m]];
var v = ps[j] - ps[hull[m]];
var c = MathUtils.Cross(r, v);
if (c < 0.0f)
{
ie = j;
}
// Collinearity check
if (c.Equals(0.0f) && v.LengthSquared() > r.LengthSquared())
{
ie = j;
}
}
++m;
ih = ie;
if (ie == i0)
{
break;
}
}
if (m < 3)
{
// Polygon is degenerate.
throw new InvalidOperationException("Invalid polygon shape");
}
Count = m;
// Copy vertices.
for (var i = 0; i < m; ++i)
{
Vertices[i] = ps[hull[i]];
}
// Compute normals. Ensure the edges have non-zero length.
for (var i = 0; i < m; ++i)
{
var i1 = i;
var i2 = i + 1 < m ? i + 1 : 0;
var edge = Vertices[i2] - Vertices[i1];
Debug.Assert(edge.LengthSquared() > Settings.Epsilon * Settings.Epsilon);
Normals[i] = MathUtils.Cross(edge, 1.0f);
Normals[i].Normalize();
}
// Compute the polygon centroid.
Centroid = ComputeCentroid(Vertices, m);
}
