コード例 #1
0
ファイル: Collision.cs プロジェクト: Nukepayload2/Box2D
        public Vector2 upperBound; ///< the upper vertex

        #endregion Fields

        #region Methods

        public static bool TestOverlap(ref AABB a, ref AABB b)
        {
            Vector2 d1, d2;
            d1 = b.lowerBound - a.upperBound;
            d2 = a.lowerBound - b.upperBound;

            if (d1.X > 0.0f || d1.Y > 0.0f)
                return false;

            if (d2.X > 0.0f || d2.Y > 0.0f)
                return false;

            return true;
        }
コード例 #2
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ファイル: PolygonShape.cs プロジェクト: Nukepayload2/Box2D
        /// @see Shape.ComputeAABB
        public override void ComputeAABB(out AABB aabb, ref XForm xf)
        {
            Vector2 lower = MathUtils.Multiply(ref xf, _vertices[0]);
            Vector2 upper = lower;

            for (int i = 1; i < _vertexCount; ++i)
            {
                Vector2 v = MathUtils.Multiply(ref xf, _vertices[i]);
                lower = Vector2.Min(lower, v);
                upper = Vector2.Max(upper, v);
            }

            Vector2 r = new Vector2(_radius, _radius);
            aabb.lowerBound = lower - r;
            aabb.upperBound = upper + r;
        }
コード例 #3
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ファイル: CircleShape.cs プロジェクト: Nukepayload2/Box2D
 /// @see Shape.ComputeAABB
 public override void ComputeAABB(out AABB aabb, ref XForm transform)
 {
     Vector2 p = transform.Position + MathUtils.Multiply(ref transform.R, _p);
     aabb.lowerBound = new Vector2(p.X - _radius, p.Y - _radius);
     aabb.upperBound = new Vector2(p.X + _radius, p.Y + _radius);
 }
コード例 #4
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ファイル: Fixture.cs プロジェクト: Nukepayload2/Box2D
        internal void Synchronize(BroadPhase broadPhase, ref XForm transform1, ref XForm transform2)
        {
            if (_proxyId == BroadPhase.NullProxy)
            {
                return;
            }

            // Compute an AABB that covers the swept shape (may miss some rotation effect).
            AABB aabb1, aabb2;
            _shape.ComputeAABB(out aabb1, ref transform1);
            _shape.ComputeAABB(out aabb2, ref transform2);

            AABB aabb = new AABB();
            aabb.Combine(ref aabb1, ref aabb2);
            broadPhase.MoveProxy(_proxyId, ref aabb);
        }
コード例 #5
0
ファイル: Collision.cs プロジェクト: Nukepayload2/Box2D
 /// Does this aabb contain the provided AABB.
 public bool Contains(ref AABB aabb)
 {
     bool result = true;
     result = result && lowerBound.X <= aabb.lowerBound.X;
     result = result && lowerBound.Y <= aabb.lowerBound.Y;
     result = result && aabb.upperBound.X <= upperBound.X;
     result = result && aabb.upperBound.Y <= upperBound.Y;
     return result;
 }
コード例 #6
0
ファイル: Collision.cs プロジェクト: Nukepayload2/Box2D
 /// Combine two AABBs into this one.
 public void Combine(ref AABB aabb1, ref AABB aabb2)
 {
     lowerBound = Vector2.Min(aabb1.lowerBound, aabb2.lowerBound);
     upperBound = Vector2.Max(aabb1.upperBound, aabb2.upperBound);
 }
コード例 #7
0
ファイル: DynamicTree.cs プロジェクト: Nukepayload2/Box2D
        /// Ray-cast against the proxies in the tree. This relies on the callback
        /// to perform a exact ray-cast in the case were the proxy contains a shape.
        /// The callback also performs the any collision filtering. This has performance
        /// roughly equal to k * log(n), where k is the number of collisions and n is the
        /// number of proxies in the tree.
        /// @param input the ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
        /// @param callback a callback class that is called for each proxy that is hit by the ray.
        public void RayCast(RayCastCallback callback, ref RayCastInput input)
        {
            Vector2 p1 = input.p1;
            Vector2 p2 = input.p2;
            Vector2 r = p2 - p1;
            Debug.Assert(r.LengthSquared() > 0.0f);
            r.Normalize();

            // v is perpendicular to the segment.
            Vector2 v = MathUtils.Cross(1.0f, r);
            Vector2 abs_v = MathUtils.Abs(v);

            // Separating axis for segment (Gino, p80).
            // |dot(v, p1 - c)| > dot(|v|, h)

            float maxFraction = input.maxFraction;

            // Build a bounding box for the segment.
            AABB segmentAABB = new AABB();
            {
                Vector2 t = p1 + maxFraction * (p2 - p1);
                segmentAABB.lowerBound = Vector2.Min(p1, t);
                segmentAABB.upperBound = Vector2.Max(p1, t);
            }

            int count = 0;
            stack[count++] = _root;

            while (count > 0)
            {
                int nodeId = stack[--count];
                if (nodeId == NullNode)
                {
                    continue;
                }

                DynamicTreeNode node = _nodes[nodeId];

                if (AABB.TestOverlap(ref node.aabb, ref segmentAABB) == false)
                {
                    continue;
                }

                // Separating axis for segment (Gino, p80).
                // |dot(v, p1 - c)| > dot(|v|, h)
                Vector2 c = node.aabb.GetCenter();
                Vector2 h = node.aabb.GetExtents();
                float separation = Math.Abs(Vector2.Dot(v, p1 - c)) - Vector2.Dot(abs_v, h);
                if (separation > 0.0f)
                {
                    continue;
                }

                if (node.IsLeaf())
                {
                    RayCastInput subInput;
                    subInput.p1 = input.p1;
                    subInput.p2 = input.p2;
                    subInput.maxFraction = maxFraction;

                    RayCastOutput output;

                    callback(out output, ref subInput, node.userData);

                    if (output.hit)
                    {
                        // Early exit.
                        if (output.fraction == 0.0f)
                        {
                            return;
                        }

                        maxFraction = output.fraction;

                        // Update segment bounding box.
                        {
                            Vector2 t = p1 + maxFraction * (p2 - p1);
                            segmentAABB.lowerBound = Vector2.Min(p1, t);
                            segmentAABB.upperBound = Vector2.Max(p1, t);
                        }
                    }
                }
                else
                {
                    Debug.Assert(count + 1 < k_stackSize);
                    stack[count++] = node.child1;
                    stack[count++] = node.child2;
                }
            }
        }
コード例 #8
0
ファイル: World.cs プロジェクト: Nukepayload2/Box2D
 /// Query the world for all fixtures that potentially overlap the
 /// provided AABB.
 /// @param callback a user implemented callback class.
 /// @param aabb the query box.
 public void Query(Func<Fixture, bool> callback, ref AABB aabb)
 {
     _contactManager._broadPhase.Query(callback, ref aabb);
 }
コード例 #9
0
ファイル: DynamicTree.cs プロジェクト: Nukepayload2/Box2D
        /// Query an AABB for overlapping proxies. The callback class
        /// is called for each proxy that overlaps the supplied AABB.
        public void Query(Action<int> callback, ref AABB aabb)
        {
            int count = 0;
            stack[count++] = _root;

            while (count > 0)
            {
                int nodeId = stack[--count];
                if (nodeId == NullNode)
                {
                    continue;
                }

                DynamicTreeNode node = _nodes[nodeId];

                if (AABB.TestOverlap(ref node.aabb, ref aabb))
                {
                    if (node.IsLeaf())
                    {
                        callback(node.userData);
                    }
                    else
                    {
                        Debug.Assert(count + 1 < k_stackSize);
                        stack[count++] = node.child1;
                        stack[count++] = node.child2;
                    }
                }
            }
        }
コード例 #10
0
ファイル: DynamicTree.cs プロジェクト: Nukepayload2/Box2D
        /// Move a proxy. If the proxy has moved outside of its fattened AABB,
        /// then the proxy is removed from the tree and re-inserted. Otherwise
        /// the function returns immediately.
        public void MoveProxy(int proxyId, ref AABB aabb)
        {
            Debug.Assert(0 <= proxyId && proxyId < _nodeCapacity);

            Debug.Assert(_nodes[proxyId].IsLeaf());

            if (_nodes[proxyId].aabb.Contains(ref aabb))
            {
                return;
            }

            RemoveLeaf(proxyId);

            Vector2 r = new Vector2(Settings.b2_aabbExtension, Settings.b2_aabbExtension);
            _nodes[proxyId].aabb.lowerBound = aabb.lowerBound - r;
            _nodes[proxyId].aabb.upperBound = aabb.upperBound + r;

            InsertLeaf(proxyId);
        }
コード例 #11
0
ファイル: DynamicTree.cs プロジェクト: Nukepayload2/Box2D
        /// Create a proxy. Provide a tight fitting AABB and a userData pointer.
        public int CreateProxy(ref AABB aabb, int userData)
        {
            int proxyId = AllocateNode();

            // Fatten the aabb.
            Vector2 r = new Vector2(Settings.b2_aabbExtension, Settings.b2_aabbExtension);
            _nodes[proxyId].aabb.lowerBound = aabb.lowerBound - r;
            _nodes[proxyId].aabb.upperBound = aabb.upperBound + r;
            _nodes[proxyId].userData = userData;

            InsertLeaf(proxyId);

            return proxyId;
        }
コード例 #12
0
ファイル: Shape.cs プロジェクト: Nukepayload2/Box2D
 /// Given a transform, compute the associated axis aligned bounding box for this shape.
 /// @param aabb returns the axis aligned box.
 /// @param xf the world transform of the shape.
 public abstract void ComputeAABB(out AABB aabb, ref XForm xf);
コード例 #13
0
        internal void Collide()
        {
            // Update awake contacts.
            Contact c = _contactList;

            while (c != null)
            {
                Fixture fixtureA = c.GetFixtureA();
                Fixture fixtureB = c.GetFixtureB();
                Body    bodyA    = fixtureA.GetBody();
                Body    bodyB    = fixtureB.GetBody();

                if (bodyA.IsSleeping && bodyB.IsSleeping)
                {
                    c = c.GetNext();
                    continue;
                }

                // Is this contact flagged for filtering?
                if ((c._flags & ContactFlags.Filter) == ContactFlags.Filter)
                {
                    // Are both bodies static?
                    if (bodyA.IsStatic && bodyB.IsStatic)
                    {
                        Contact cNuke = c;
                        c = cNuke.GetNext();
                        Destroy(cNuke);
                        continue;
                    }

                    // Does a joint override collision?
                    if (bodyB.IsConnected(bodyA))
                    {
                        Contact cNuke = c;
                        c = cNuke.GetNext();
                        Destroy(cNuke);
                        continue;
                    }

                    // Check user filtering.
                    if (ContactFilter.ShouldCollide(fixtureA, fixtureB) == false)
                    {
                        Contact cNuke = c;
                        c = cNuke.GetNext();
                        Destroy(cNuke);
                        continue;
                    }

                    // Clear the filtering flag.
                    c._flags &= ~ContactFlags.Filter;
                }

                int  proxyIdA = fixtureA._proxyId;
                int  proxyIdB = fixtureB._proxyId;
                AABB aabbA;
                _broadPhase.GetAABB(proxyIdA, out aabbA);
                AABB aabbB;
                _broadPhase.GetAABB(proxyIdB, out aabbB);

                // Here we cull out contacts that cease to overlap.
                if (AABB.TestOverlap(ref aabbA, ref aabbB) == false)
                {
                    Contact cNuke = c;
                    c = cNuke.GetNext();
                    Destroy(cNuke);
                    continue;
                }

                // The contact persists.
                c.Update(ContactListener);
                c = c.GetNext();
            }
        }