public bool IsCollide(RigidCircle circle)
{
var firstCollision = CollisionDetector.GetCollisionInfo(Sector, circle);
var secondCollision = CollisionDetector.GetCollisionInfo(Triangle, circle);
return(firstCollision != null || secondCollision != null);
}
private static CollisionInfo GetCollisionInfo(RigidCircle circle, RigidCircleQuarter circleQuarter)
{
var info = GetCollisionInfo(circle, circleQuarter.WholeCircle);
if (info == null)
{
return(null);
}
var vector = info.Start - circleQuarter.Center;
var vertical = Vector.ScalarProduct(vector, circleQuarter.Direction);
var horizontal = Vector.ScalarProduct(vector, circleQuarter.DirectionNormal);
switch (circleQuarter.QuarterIndex)
{
case 1 when vertical >= 0 && horizontal >= 0: return(info);
case 2 when vertical >= 0 && horizontal <= 0: return(info);
case 3 when vertical <= 0 && horizontal <= 0: return(info);
case 4 when vertical <= 0 && horizontal >= 0: return(info);
default: return(null);
}
}
public void TestTwoCirclesAreInTouchOnEdge()
{
var first = new RigidCircle(new Vector(40, 0), 10, true, true);
var expected = new CollisionInfo(0, new Vector(1, 0), new Vector(30, 0));
Assert.AreEqual(expected, CollisionDetector.GetCollisionInfo(first, MainCircle));
}
private static CollisionInfo GetCollisionInfo(RigidCircle first, RigidCircle second)
{
var vFromFirstToSecond = second.Center - first.Center;
var vLengthSqrt = Vector.ScalarProduct(vFromFirstToSecond, vFromFirstToSecond);
var sumRadii = first.Radius + second.Radius;
if (sumRadii * sumRadii < vLengthSqrt)
{
return(null);
}
if (Math.Abs(vLengthSqrt) > 0.01)
{
return(new CollisionInfo(
sumRadii - vFromFirstToSecond.Length,
-vFromFirstToSecond.Normalize(),
first.Center + vFromFirstToSecond.Normalize() * first.Radius));
}
var maxRadius = Math.Max(first.Radius, second.Radius);
return(new CollisionInfo(
maxRadius,
new Vector(0, -1),
first.Center + new Vector(0, 1) * maxRadius));
}
public void TestTwoCirclesHaveTheSameCenters()
{
var first = new RigidCircle(Vector.ZeroVector, 10, true, true);
var expected = new CollisionInfo(MainCircle.Radius, new Vector(0, -1), new Vector(0, 30));
Assert.AreEqual(expected, CollisionDetector.GetCollisionInfo(first, MainCircle));
}
public void TestOneCircleIsInAnother()
{
var first = new RigidCircle(new Vector(15, 0), 10, true, true);
var expected = new CollisionInfo(25, new Vector(1, 0), new Vector(5, 0));
Assert.AreEqual(expected, CollisionDetector.GetCollisionInfo(first, MainCircle));
}
public void TestCircleAndAABBAreInTouch()
{
var circle = new RigidCircle(new Vector(0, -5), 20, true, true);
var expected = new CollisionInfo(15, new Vector(0, -1), Vector.ZeroVector);
Assert.AreEqual(expected, CollisionDetector.GetCollisionInfo(circle, MainAABB));
}
private static float[] GetPenetrationTimeWithMovingCircle(
Vector objectPosition, Vector objectVelocity, RigidCircle circle, Vector circleVelocity)
{
var dX = objectPosition.X - circle.Center.X;
var dY = objectPosition.Y - circle.Center.Y;
var dVx = objectVelocity.X - circleVelocity.X;
var dVy = objectVelocity.Y - circleVelocity.Y;
// t^2 * (dVx^2 + dVy^2) + 2t(dX * dVx + dY * dVy) + (dX^2 + dY^2 - R^2) = 0
var a = dVx * dVx + dVy * dVy;
var b = dX * dVx + dY * dVy;
var D = 4 * (b * b - a * (dX * dX + dY * dY - circle.Radius * circle.Radius));
if (D < 0)
{
return(null);
}
var delA = 1 / (2 * a);
var sqrtD = (float)Math.Sqrt(D);
return(new[]
{
(-2 * b - sqrtD) * delA,
(-2 * b + sqrtD) * delA
});
}
public void TestCircleAndAABBAreInTouchOnEdge()
{
var circle = new RigidCircle(new Vector(5, -10), 10, true, true);
var expected = new CollisionInfo(0, new Vector(0, -1), new Vector(5, 0));
Assert.AreEqual(expected, CollisionDetector.GetCollisionInfo(circle, MainAABB));
}
public static Vector IsInView(RigidCircle circle, VisibilityRegion region)
{
CollisionInfo info;
var size = region.VisibilityRegionPoints.Count;
var visibilityPolygonPoints = region.VisibilityRegionPoints;
var lightSourcePosition = region.LightSourcePosition;
for (var i = 0; i < size - 1; i++)
{
info = CollisionDetector.GetCollisionInfo(
circle,
lightSourcePosition,
visibilityPolygonPoints[i].Position,
visibilityPolygonPoints[i + 1].Position);
if (info != null)
{
return(info.Start);
}
}
info = CollisionDetector.GetCollisionInfo(
circle,
lightSourcePosition,
visibilityPolygonPoints[visibilityPolygonPoints.Count - 1].Position,
visibilityPolygonPoints[0].Position);
return(info?.Start);
}
public void TestTwoCirclesAreInTouchCircleCenterIsInMainCircle()
{
var circle = new RigidCircle(new Vector(20, 0), 15, true, true);
var expected = new CollisionInfo(25, new Vector(1, 0), new Vector(5, 0));
Assert.AreEqual(expected, CollisionDetector.GetCollisionInfo(circle, MainCircle));
}
private void AddWalls(List <RigidShape> staticShapes, Size levelSizeInTiles)
{
var circle = new RigidCircle(Vector.ZeroVector, 32, true, true);
for (var j = 1; j < levelSizeInTiles.Width - 1; ++j)
{
for (var i = 1; i < levelSizeInTiles.Height - 1; ++i)
{
circle.MoveTo(new Vector(j, i) * 32);
var canWalk = true;
foreach (var staticShape in staticShapes)
{
if (CollisionDetector.GetCollisionInfo(circle, staticShape) == null)
{
continue;
}
canWalk = false;
break;
}
if (!canWalk)
{
walls.Add(new Point(j, i));
}
}
}
}
private static void DrawCircle(RigidCircle shape, Vector cameraPosition, Pen strokePen, Graphics g)
{
var inCameraPosition = shape.Center.ConvertFromWorldToCamera(cameraPosition);
g.DrawEllipse(strokePen,
inCameraPosition.X - shape.Radius, inCameraPosition.Y - shape.Radius,
shape.Diameter, shape.Diameter);
}
public CustomCursor(Vector position)
{
var bmpCursor = LevelManager.GetTileMap("crosshair.png");
var sprite = new Sprite(bmpCursor, 3, 0, 9, new Size(64, 64));
shape = new RigidCircle(position, 3, false, true);
SpriteContainer = new SpriteContainer(sprite, position, 0);
}
public static CollisionInfo GetCollisionInfo(RigidCircle circle, Vector a, Vector b, Vector c)
{
var q = GetClosestPoint(circle.Center, a, b, c);
var v = q - circle.Center;
return(Vector.ScalarProduct(v, v) <= circle.Radius * circle.Radius
? new CollisionInfo(v.Length, v, q)
: null);
}
private static CollisionInfo GetCollisionInfo(RigidAABB rectangle, RigidCircle circle)
{
var closestPoint = GetClosestPoint(circle.Center, rectangle);
var v = closestPoint - circle.Center;
return(Vector.ScalarProduct(v, v) <= circle.Radius * circle.Radius
? new CollisionInfo(circle.Radius - v.Length, -v.Normalize(), closestPoint)
: null);
}
private static CollisionInfo GetCollisionInfo(RigidCircle circle, RigidTriangle triangle)
{
var a = triangle.Points[0]; var b = triangle.Points[1]; var c = triangle.Points[2];
var q = GetClosestPoint(circle.Center, a, b, c);
var v = q - circle.Center;
return(Vector.ScalarProduct(v, v) <= circle.Radius * circle.Radius
? new CollisionInfo(v.Length, v, q)
: null);
}
public Bot(
int health, int armor, SpriteContainer legsContainer, SpriteContainer torsoContainer,
Vector sight, RigidCircle collisionShape, Weapon weapon, string deadBodyPath, List <Vector> patrolPoints)
: base(health, armor, collisionShape, legsContainer, torsoContainer, deadBodyPath)
{
currentWeapon = weapon;
this.sight = sight;
collisionAvoidanceFactor = collisionShape.Diameter * 2;
this.patrolPoints = patrolPoints;
patrolPointIndex = 0;
currentPathPointIndex = 0;
}
protected LivingEntity(
int health, int armor, RigidCircle collisionShape, SpriteContainer legsContainer,
SpriteContainer torsoContainer, string deadBodyPath)
{
Health = health;
Armor = armor;
CollisionShape = collisionShape;
TorsoContainer = torsoContainer;
LegsContainer = legsContainer;
Velocity = Vector.ZeroVector;
DeadBodyPath = deadBodyPath;
}
public Player(int health, int armor, RigidCircle collisionShape,
SpriteContainer legsContainer, SpriteContainer torsoContainer,
List <Weapon> startWeapons, Dictionary <Type, Sprite> weaponSprites,
MeleeWeaponSprite meleeWeaponSprite, MeleeWeapon meleeWeapon, string deadBodyPath)
: base(health, armor, collisionShape, legsContainer, torsoContainer, deadBodyPath)
{
MeleeWeapon = meleeWeapon;
this.meleeWeaponSprite = meleeWeaponSprite;
weapons = startWeapons;
this.weaponSprites = weaponSprites;
currentWeaponIndex = 0;
ticksFromLastDash = TicksBetweenDashes + 1;
dashCount = 2;
}
private void TryAvoidCircle(RigidCircle circle)
{
var vectorToShape = circle.Center - Position;
var sc = Vector.ScalarProduct(vectorToShape, sight);
if (sc < 0)
{
return;
}
var p = sight * sc;
var projection = p - vectorToShape;
if (Vector.ScalarProduct(projection, projection) < circle.Radius * circle.Radius &&
Vector.ScalarProduct(p, p) < collisionAvoidanceFactor * collisionAvoidanceFactor)
{
var sightNormal = sight.GetNormal();
var u = Vector.ScalarProduct(vectorToShape, sightNormal);
RotateOnDegree(u < 0);
}
}
public static float[] AreCollideWithDynamic(Bullet bullet, RigidCircle circle, Vector circleVelocity)
{
var time = GetPenetrationTimeWithMovingCircle(bullet.Position, bullet.Velocity, circle, circleVelocity);
if (time == null)
{
return(null);
}
var t1 = time[0];
var t2 = time[1];
// TODO there could be great optimization but it's really case specific
if (t1 > 1)
{
return(null);
}
var ist1 = t1 > 0;
var ist2 = t2 > 0 && t2 < 1;
if (ist1 && ist2)
{
return new[] { t1, t2 }
}
;
if (ist1)
{
return new[] { t1 }
}
;
if (ist2)
{
return new[] { t2 }
}
;
return(null);
}
private void TestNotInTouch(RigidCircle circle, RigidCircleQuarter quarterMainDirection, RigidCircleQuarter quarterSecondDirection)
{
Assert.IsNull(CollisionDetector.GetCollisionInfo(circle, quarterMainDirection));
Assert.IsNull(CollisionDetector.GetCollisionInfo(circle, quarterSecondDirection));
}
private void TestInTouch(RigidCircle circle, RigidCircleQuarter quarterMainDirection, RigidCircleQuarter quarterSecondDirection, CollisionInfo expected)
{
Assert.AreEqual(expected, CollisionDetector.GetCollisionInfo(circle, quarterMainDirection));
Assert.AreEqual(expected, CollisionDetector.GetCollisionInfo(circle, quarterSecondDirection));
}
private static void DrawCircle(RigidCircle shape, Pen strokePen, Graphics g)
{
g.DrawEllipse(strokePen,
shape.Center.X - shape.Radius, shape.Center.Y - shape.Radius,
shape.Diameter, shape.Diameter);
}
public void TestCircleAndAABBAreNotInTouch()
{
var circle = new RigidCircle(new Vector(10, -10), 5, true, true);
Assert.IsNull(CollisionDetector.GetCollisionInfo(circle, MainAABB));
}
public void TestTwoCirclesAreNotInTouch()
{
var first = new RigidCircle(new Vector(50, 0), 10, true, true);
Assert.IsNull(CollisionDetector.GetCollisionInfo(first, MainCircle));
}
private static float[] AreCollide(Vector objectPosition, Vector objectVelocity, RigidCircle circle)
{
return(GetPenetrationTimeWithMovingCircle(objectPosition, objectVelocity, circle, Vector.ZeroVector));
}
