public RigidBodyWithColliderBuilder SetBoxCollider(FixedPointVector2 size, FixedPointVector2?centre = null)
{
_boxColliderSize = size;
_boxColliderCentre = centre ?? FixedPointVector2.Zero;
_colliderType = ColliderType.Box;
return(this);
}
public static CollisionManifold?CalculateManifold(AABB a, AABB b)
{
// First, calculate the Minkowski difference. a maps to red, and b maps to blue from our example (though it doesn't matter!)
var top = a.Max.Y - b.Min.Y;
var bottom = a.Min.Y - b.Max.Y;
var left = a.Min.X - b.Max.X;
var right = a.Max.X - b.Min.X;
// If the Minkowski difference intersects the origin, there's a collision
if (right < FixedPoint.Zero || left > FixedPoint.Zero || top < FixedPoint.Zero || bottom > FixedPoint.Zero)
{
return(null);
}
// The pen vector is the shortest vector from the origin of the MD to an edge.
// You know this has to be a vertical or horizontal line from the origin (these are by def. the shortest)
var min = FixedPoint.MaxValue;
FixedPointVector2?penetration = null;
if (MathFixedPoint.Abs(left) < min)
{
min = MathFixedPoint.Abs(left);
penetration = FixedPointVector2.From(left, FixedPoint.Zero);
}
if (MathFixedPoint.Abs(right) < min)
{
min = MathFixedPoint.Abs(right);
penetration = FixedPointVector2.From(right, FixedPoint.Zero);
}
if (MathFixedPoint.Abs(top) < min)
{
min = MathFixedPoint.Abs(top);
penetration = FixedPointVector2.From(FixedPoint.Zero, top);
}
if (MathFixedPoint.Abs(bottom) < min)
{
min = MathFixedPoint.Abs(bottom);
penetration = FixedPointVector2.From(FixedPoint.Zero, bottom);
}
if (penetration.HasValue)
{
return(new CollisionManifold(min, penetration.Value.Normalize()));
}
return(null);
}
public CircleColliderEntityComponent(FixedPoint radius, FixedPointVector2 center)
{
Radius = radius;
Center = center;
}
public CollisionManifold(FixedPoint penetration, FixedPointVector2 normal)
{
Penetration = penetration;
Normal = normal;
}
public AABB(FixedPointVector2 min, FixedPointVector2 max)
{
Min = min;
Max = max;
}
public RigidBodyWithColliderBuilder SetPosition(FixedPointVector2 value)
{
_position = value;
return(this);
}
