public void Matrix3x2CreateScaleCenterTest2()
{
Single scale = 5;
Vector2 center = new Vector2(23, 42);
Matrix3x2 scaleAroundZero = Matrix3x2.CreateScale(scale, Vector2.Zero);
Matrix3x2 scaleAroundZeroExpected = Matrix3x2.CreateScale(scale);
Assert.True(MathHelper.Equal(scaleAroundZero, scaleAroundZeroExpected));
Matrix3x2 scaleAroundCenter = Matrix3x2.CreateScale(scale, center);
Matrix3x2 scaleAroundCenterExpected = Matrix3x2.CreateTranslation(-center) * Matrix3x2.CreateScale(scale) * Matrix3x2.CreateTranslation(center);
Assert.True(MathHelper.Equal(scaleAroundCenter, scaleAroundCenterExpected));
}
public void Matrix3x2CreateSkewCenterTest()
{
Single skewX = 1, skewY = 2;
Vector2 center = new Vector2(23, 42);
Matrix3x2 skewAroundZero = Matrix3x2.CreateSkew(skewX, skewY, Vector2.Zero);
Matrix3x2 skewAroundZeroExpected = Matrix3x2.CreateSkew(skewX, skewY);
Assert.True(MathHelper.Equal(skewAroundZero, skewAroundZeroExpected));
Matrix3x2 skewAroundCenter = Matrix3x2.CreateSkew(skewX, skewY, center);
Matrix3x2 skewAroundCenterExpected = Matrix3x2.CreateTranslation(-center) * Matrix3x2.CreateSkew(skewX, skewY) * Matrix3x2.CreateTranslation(center);
Assert.True(MathHelper.Equal(skewAroundCenter, skewAroundCenterExpected));
}
public void Matrix3x2CreateRotationCenterTest()
{
Single radians = MathHelper.ToRadians(30.0f);
Vector2 center = new Vector2(23, 42);
Matrix3x2 rotateAroundZero = Matrix3x2.CreateRotation(radians, Vector2.Zero);
Matrix3x2 rotateAroundZeroExpected = Matrix3x2.CreateRotation(radians);
Assert.True(MathHelper.Equal(rotateAroundZero, rotateAroundZeroExpected));
Matrix3x2 rotateAroundCenter = Matrix3x2.CreateRotation(radians, center);
Matrix3x2 rotateAroundCenterExpected = Matrix3x2.CreateTranslation(-center) * Matrix3x2.CreateRotation(radians) * Matrix3x2.CreateTranslation(center);
Assert.True(MathHelper.Equal(rotateAroundCenter, rotateAroundCenterExpected));
}
public void Vector2TransformByQuaternionTest()
{
Vector2 v = new Vector2(1.0f, 2.0f);
Matrix4x4 m =
Matrix4x4.CreateRotationX(MathHelper.ToRadians(30.0f)) *
Matrix4x4.CreateRotationY(MathHelper.ToRadians(30.0f)) *
Matrix4x4.CreateRotationZ(MathHelper.ToRadians(30.0f));
Quaternion q = Quaternion.CreateFromRotationMatrix(m);
Vector2 expected = Vector2.Transform(v, m);
Vector2 actual = Vector2.Transform(v, q);
Assert.True(MathHelper.Equal(expected, actual), "Vector2f.Transform did not return the expected value.");
}
public void Matrix3x2CreateScaleCenterTest3()
{
Vector2 scale = new Vector2(3, 4);
Vector2 center = new Vector2(23, 42);
Matrix3x2 scaleAroundZero = Matrix3x2.CreateScale(scale.X, scale.Y, Vector2.Zero);
Matrix3x2 scaleAroundZeroExpected = Matrix3x2.CreateScale(scale.X, scale.Y);
Assert.True(MathHelper.Equal(scaleAroundZero, scaleAroundZeroExpected));
Matrix3x2 scaleAroundCenter = Matrix3x2.CreateScale(scale.X, scale.Y, center);
Matrix3x2 scaleAroundCenterExpected = Matrix3x2.CreateTranslation(-center) * Matrix3x2.CreateScale(scale.X, scale.Y) * Matrix3x2.CreateTranslation(center);
Assert.True(MathHelper.Equal(scaleAroundCenter, scaleAroundCenterExpected));
}
public void SetFieldsTest()
{
Vector2 v3 = new Vector2(4f, 5f);
v3.X = 1.0f;
v3.Y = 2.0f;
Assert.Equal(1.0f, v3.X);
Assert.Equal(2.0f, v3.Y);
Vector2 v4 = v3;
v4.Y = 0.5f;
Assert.Equal(1.0f, v4.X);
Assert.Equal(0.5f, v4.Y);
Assert.Equal(2.0f, v3.Y);
}
public static void SquareRootJitOptimizeCanaryBenchmark()
{
var expectedResult = new Vector2(Single.NaN, 2.81474977e+14f);
foreach (var iteration in Benchmark.Iterations)
{
Vector2 actualResult;
using (iteration.StartMeasurement())
{
actualResult = SquareRootJitOptimizeCanaryTest();
}
VectorTests.AssertEqual(expectedResult, actualResult);
}
}
public static void SquareRootBenchmark()
{
var expectedResult = new Vector2(Single.NaN, 1.0f);
foreach (var iteration in Benchmark.Iterations)
{
Vector2 actualResult;
using (iteration.StartMeasurement())
{
actualResult = SquareRootTest();
}
VectorTests.AssertEqual(expectedResult, actualResult);
}
}
/// <summary>
/// Creates a scale matrix that scales uniformly with the given scale with an offset from the given center.
/// </summary>
/// <param name="scale">The uniform scale to use.</param>
/// <param name="centerPoint">The center offset.</param>
/// <returns>A scaling matrix.</returns>
public static Matrix3x2 CreateScale(Single scale, Vector2 centerPoint)
{
Matrix3x2 result;
Single tx = centerPoint.X * (1 - scale);
Single ty = centerPoint.Y * (1 - scale);
result.M11 = scale;
result.M12 = 0.0f;
result.M21 = 0.0f;
result.M22 = scale;
result.M31 = tx;
result.M32 = ty;
return(result);
}
public static void NormalizeJitOptimizeCanaryBenchmark()
{
var expectedResult = new Vector2(-16777216.0f, 16777216.0f);
foreach (var iteration in Benchmark.Iterations)
{
Vector2 actualResult;
using (iteration.StartMeasurement())
{
actualResult = NormalizeJitOptimizeCanaryTest();
}
VectorTests.AssertEqual(expectedResult, actualResult);
}
}
public static void NormalizeBenchmark()
{
var expectedResult = new Vector2(-0.707106829f, 0.707106829f);
foreach (var iteration in Benchmark.Iterations)
{
Vector2 actualResult;
using (iteration.StartMeasurement())
{
actualResult = NormalizeTest();
}
VectorTests.AssertEqual(expectedResult, actualResult);
}
}
/// This constructor sets the body definition default values.
public BodyDef()
{
UserData = null;
Position = Vector2.Zero;
Angle = 0.0f;
LinearVelocity = Vector2.Zero;
AngularVelocity = 0.0f;
LinearDamping = 0.0f;
AngularDamping = 0.0f;
AllowSleep = true;
Awake = true;
FixedRotation = false;
Bullet = false;
BodyType = BodyType.StaticBody;
Active = true;
GravityScale = 1.0f;
}
public PulleyJoint(PulleyJointDef def) : base(def)
{
_groundAnchorA = def.GroundAnchorA;
_groundAnchorB = def.GroundAnchorB;
_localAnchorA = def.LocalAnchorA;
_localAnchorB = def.LocalAnchorB;
_lengthA = def.LengthA;
_lengthB = def.LengthB;
Debug.Assert(!def.Ratio.Equals(0.0f));
_ratio = def.Ratio;
_constant = def.LengthA + _ratio * def.LengthB;
_impulse = 0.0f;
}
public void Vector2EqualsTest1()
{
Vector2 a = new Vector2(1.0f, 2.0f);
Vector2 b = new Vector2(1.0f, 2.0f);
// case 1: compare between same values
bool expected = true;
bool actual = a.Equals(b);
Assert.Equal(expected, actual);
// case 2: compare between different values
b.X = 10.0f;
expected = false;
actual = a.Equals(b);
Assert.Equal(expected, actual);
}
internal RevoluteJoint(RevoluteJointDef def) : base(def)
{
LocalAnchorA = def.LocalAnchorA;
LocalAnchorB = def.LocalAnchorB;
ReferenceAngle = def.ReferenceAngle;
_impulse.SetZero();
_motorImpulse = 0.0f;
_lowerAngle = def.LowerAngle;
_upperAngle = def.UpperAngle;
_maxMotorTorque = def.MaxMotorTorque;
_motorSpeed = def.MotorSpeed;
_enableLimit = def.EnableLimit;
_enableMotor = def.EnableMotor;
_limitState = LimitState.InactiveLimit;
}
public void Vector2TransformNormalTest()
{
Vector2 v = new Vector2(1.0f, 2.0f);
Matrix4x4 m =
Matrix4x4.CreateRotationX(MathHelper.ToRadians(30.0f)) *
Matrix4x4.CreateRotationY(MathHelper.ToRadians(30.0f)) *
Matrix4x4.CreateRotationZ(MathHelper.ToRadians(30.0f));
m.M41 = 10.0f;
m.M42 = 20.0f;
m.M43 = 30.0f;
Vector2 expected = new Vector2(0.3169873f, 2.18301272f);
Vector2 actual;
actual = Vector2.TransformNormal(v, m);
Assert.True(MathHelper.Equal(expected, actual), "Vector2f.Tranform did not return the expected value.");
}
public void Vector2EqualsNanTest()
{
Vector2 a = new Vector2(Single.NaN, 0);
Vector2 b = new Vector2(0, Single.NaN);
Assert.False(a == Vector2.Zero);
Assert.False(b == Vector2.Zero);
Assert.True(a != Vector2.Zero);
Assert.True(b != Vector2.Zero);
Assert.False(a.Equals(Vector2.Zero));
Assert.False(b.Equals(Vector2.Zero));
// Counterintuitive result - IEEE rules for NaN comparison are weird!
Assert.False(a.Equals(a));
Assert.False(b.Equals(b));
}
/// <summary>
/// Creates a skew matrix from the given angles in radians and a center point.
/// </summary>
/// <param name="radiansX">The X angle, in radians.</param>
/// <param name="radiansY">The Y angle, in radians.</param>
/// <param name="centerPoint">The center point.</param>
/// <returns>A skew matrix.</returns>
public static Matrix3x2 CreateSkew(Single radiansX, Single radiansY, Vector2 centerPoint)
{
Matrix3x2 result;
Single xTan = MathF.Tan(radiansX);
Single yTan = MathF.Tan(radiansY);
Single tx = -centerPoint.Y * xTan;
Single ty = -centerPoint.X * yTan;
result.M11 = 1.0f;
result.M12 = yTan;
result.M21 = xTan;
result.M22 = 1.0f;
result.M31 = tx;
result.M32 = ty;
return(result);
}
internal MouseJoint(MouseJointDef def) : base(def)
{
Debug.Assert(def.Target.IsValid());
Debug.Assert(def.MaxForce.IsValid() && def.MaxForce >= 0.0f);
Debug.Assert(def.FrequencyHz.IsValid() && def.FrequencyHz >= 0.0f);
Debug.Assert(def.DampingRatio.IsValid() && def.DampingRatio >= 0.0f);
_targetA = def.Target;
_localAnchorB = MathUtils.MulT(BodyB.GetTransform(), _targetA);
_maxForce = def.MaxForce;
_impulse.SetZero();
_frequencyHz = def.FrequencyHz;
_dampingRatio = def.DampingRatio;
_beta = 0.0f;
_gamma = 0.0f;
}
public void Matrix3x2CreateSkewXYTest()
{
Matrix3x2 expected = new Matrix3x2(1, -0.414213562373095f, 1, 1, 0, 0);
Matrix3x2 actual = Matrix3x2.CreateSkew(MathHelper.Pi / 4, -MathHelper.Pi / 8);
Assert.True(MathHelper.Equal(expected, actual));
Vector2 result = Vector2.Transform(new Vector2(0, 0), actual);
Assert.True(MathHelper.Equal(new Vector2(0, 0), result));
result = Vector2.Transform(new Vector2(1, 0), actual);
Assert.True(MathHelper.Equal(new Vector2(1, -0.414213562373095f), result));
result = Vector2.Transform(new Vector2(0, 1), actual);
Assert.True(MathHelper.Equal(new Vector2(1, 1), result));
result = Vector2.Transform(new Vector2(1, 1), actual);
Assert.True(MathHelper.Equal(new Vector2(2, 0.585786437626905f), result));
}
public void Vector2MinMaxCodeCoverageTest()
{
Vector2 min = new Vector2(0, 0);
Vector2 max = new Vector2(1, 1);
Vector2 actual;
// Min.
actual = Vector2.Min(min, max);
Assert.Equal(actual, min);
actual = Vector2.Min(max, min);
Assert.Equal(actual, min);
// Max.
actual = Vector2.Max(min, max);
Assert.Equal(actual, max);
actual = Vector2.Max(max, min);
Assert.Equal(actual, max);
}
public void Vector2GetHashCodeTest()
{
Vector2 v1 = new Vector2(2.0f, 3.0f);
Vector2 v2 = new Vector2(2.0f, 3.0f);
Vector2 v3 = new Vector2(3.0f, 2.0f);
Assert.Equal(v1.GetHashCode(), v1.GetHashCode());
Assert.Equal(v1.GetHashCode(), v2.GetHashCode());
Assert.NotEqual(v1.GetHashCode(), v3.GetHashCode());
Vector2 v4 = new Vector2(0.0f, 0.0f);
Vector2 v6 = new Vector2(1.0f, 0.0f);
Vector2 v7 = new Vector2(0.0f, 1.0f);
Vector2 v8 = new Vector2(1.0f, 1.0f);
Assert.NotEqual(v4.GetHashCode(), v6.GetHashCode());
Assert.NotEqual(v4.GetHashCode(), v7.GetHashCode());
Assert.NotEqual(v4.GetHashCode(), v8.GetHashCode());
Assert.NotEqual(v7.GetHashCode(), v6.GetHashCode());
Assert.NotEqual(v8.GetHashCode(), v6.GetHashCode());
Assert.NotEqual(v8.GetHashCode(), v7.GetHashCode());
}
public static Vector4 Transform(Vector2 value, Quaternion rotation)
{
Single x2 = rotation.X + rotation.X;
Single y2 = rotation.Y + rotation.Y;
Single z2 = rotation.Z + rotation.Z;
Single wx2 = rotation.W * x2;
Single wy2 = rotation.W * y2;
Single wz2 = rotation.W * z2;
Single xx2 = rotation.X * x2;
Single xy2 = rotation.X * y2;
Single xz2 = rotation.X * z2;
Single yy2 = rotation.Y * y2;
Single yz2 = rotation.Y * z2;
Single zz2 = rotation.Z * z2;
return(new Vector4(
value.X * (1.0f - yy2 - zz2) + value.Y * (xy2 - wz2),
value.X * (xy2 + wz2) + value.Y * (1.0f - xx2 - zz2),
value.X * (xz2 - wy2) + value.Y * (yz2 + wx2),
1.0f));
}
public void Matrix3x2TranslationTest()
{
Matrix3x2 a = GenerateTestMatrix();
Matrix3x2 b = a;
// Transformed vector that has same semantics of property must be same.
Vector2 val = new Vector2(a.M31, a.M32);
Assert.Equal(val, a.Translation);
// Set value and get value must be same.
val = new Vector2(1.0f, 2.0f);
a.Translation = val;
Assert.Equal(val, a.Translation);
// Make sure it only modifies expected value of matrix.
Assert.True(
a.M11 == b.M11 && a.M12 == b.M12 &&
a.M21 == b.M21 && a.M22 == b.M22 &&
a.M31 != b.M31 && a.M32 != b.M32,
"Matrix3x2.Translation modified unexpected value of matrix.");
}
public void Vector2ReflectTest()
{
Vector2 a = Vector2.Normalize(new Vector2(1.0f, 1.0f));
// Reflect on XZ plane.
Vector2 n = new Vector2(0.0f, 1.0f);
Vector2 expected = new Vector2(a.X, -a.Y);
Vector2 actual = Vector2.Reflect(a, n);
Assert.True(MathHelper.Equal(expected, actual), "Vector2f.Reflect did not return the expected value.");
// Reflect on XY plane.
n = new Vector2(0.0f, 0.0f);
expected = new Vector2(a.X, a.Y);
actual = Vector2.Reflect(a, n);
Assert.True(MathHelper.Equal(expected, actual), "Vector2f.Reflect did not return the expected value.");
// Reflect on YZ plane.
n = new Vector2(1.0f, 0.0f);
expected = new Vector2(-a.X, a.Y);
actual = Vector2.Reflect(a, n);
Assert.True(MathHelper.Equal(expected, actual), "Vector2f.Reflect did not return the expected value.");
}
public void Matrix3x2CreateSkewYTest()
{
Matrix3x2 expected = new Matrix3x2(1, -0.414213562373095f, 0, 1, 0, 0);
Matrix3x2 actual = Matrix3x2.CreateSkew(0, -MathHelper.Pi / 8);
Assert.True(MathHelper.Equal(expected, actual));
expected = new Matrix3x2(1, 0.414213562373095f, 0, 1, 0, 0);
actual = Matrix3x2.CreateSkew(0, MathHelper.Pi / 8);
Assert.True(MathHelper.Equal(expected, actual));
Vector2 result = Vector2.Transform(new Vector2(0, 0), actual);
Assert.True(MathHelper.Equal(new Vector2(0, 0), result));
result = Vector2.Transform(new Vector2(1, 0), actual);
Assert.True(MathHelper.Equal(new Vector2(1, 0.414213568f), result));
result = Vector2.Transform(new Vector2(-1, 0), actual);
Assert.True(MathHelper.Equal(new Vector2(-1, -0.414213568f), result));
result = Vector2.Transform(new Vector2(10, 3), actual);
Assert.True(MathHelper.Equal(new Vector2(10, 7.14213568f), result));
}
public void Matrix3x2CreateRotationRightAngleCenterTest()
{
Vector2 center = new Vector2(3, 7);
// 90 degree rotations must be exact!
Matrix3x2 actual = Matrix3x2.CreateRotation(0, center);
Assert.Equal(new Matrix3x2(1, 0, 0, 1, 0, 0), actual);
actual = Matrix3x2.CreateRotation(MathHelper.Pi / 2, center);
Assert.Equal(new Matrix3x2(0, 1, -1, 0, 10, 4), actual);
actual = Matrix3x2.CreateRotation(MathHelper.Pi, center);
Assert.Equal(new Matrix3x2(-1, 0, 0, -1, 6, 14), actual);
actual = Matrix3x2.CreateRotation(MathHelper.Pi * 3 / 2, center);
Assert.Equal(new Matrix3x2(0, -1, 1, 0, -4, 10), actual);
actual = Matrix3x2.CreateRotation(MathHelper.Pi * 2, center);
Assert.Equal(new Matrix3x2(1, 0, 0, 1, 0, 0), actual);
actual = Matrix3x2.CreateRotation(MathHelper.Pi * 5 / 2, center);
Assert.Equal(new Matrix3x2(0, 1, -1, 0, 10, 4), actual);
actual = Matrix3x2.CreateRotation(-MathHelper.Pi / 2, center);
Assert.Equal(new Matrix3x2(0, -1, 1, 0, -4, 10), actual);
// But merely close-to-90 rotations should not be excessively clamped.
Single delta = MathHelper.ToRadians(0.01f);
actual = Matrix3x2.CreateRotation(MathHelper.Pi + delta, center);
Assert.False(MathHelper.Equal(new Matrix3x2(-1, 0, 0, -1, 6, 14), actual));
actual = Matrix3x2.CreateRotation(MathHelper.Pi - delta, center);
Assert.False(MathHelper.Equal(new Matrix3x2(-1, 0, 0, -1, 6, 14), actual));
}
internal PrismaticJoint(PrismaticJointDef def) : base(def)
{
LocalAnchorA = def.LocalAnchorA;
LocalAnchorB = def.LocalAnchorB;
LocalXAxisA = def.LocalAxisA;
LocalXAxisA.Normalize();
_localYAxisA = MathUtils.Cross(1.0f, LocalXAxisA);
ReferenceAngle = def.ReferenceAngle;
_impulse.SetZero();
_motorMass = 0.0f;
_motorImpulse = 0.0f;
_lowerTranslation = def.LowerTranslation;
_upperTranslation = def.UpperTranslation;
_maxMotorForce = def.MaxMotorForce;
_motorSpeed = def.MotorSpeed;
_enableLimit = def.EnableLimit;
_enableMotor = def.EnableMotor;
_limitState = LimitState.InactiveLimit;
_axis.SetZero();
_perp.SetZero();
}
public static bool Equal(Vector2 a, Vector2 b)
{
return(Equal(a.X, b.X) && Equal(a.Y, b.Y));
}
public void SpawnBomb(Vector2 worldPt)
{
BombSpawnPoint = worldPt;
BombSpawning = true;
}
