public void TestVerticesIsConvex1()
{
KVertices rect = new KVertices
{
new KVector2(0, 1),
new KVector2(1, 1),
new KVector2(1, 0),
new KVector2(0, 0)
};
Assert.AreEqual(true, rect.IsConvex());
}
public void TestVerticesIsConvex2()
{
KVertices poly = new KVertices
{
new KVector2(0, 1),
new KVector2(0.5f, 0.5f),
new KVector2(1, 1),
new KVector2(1, 0),
new KVector2(0, 0)
};
Assert.AreEqual(false, poly.IsConvex());
}
public void TestVerticesIsConvex3()
{
KVertices poly = new KVertices
{
new KVector2(0, 0),
new KVector2(0f, 1f),
new KVector2(1, 1),
new KVector2(1.5f, 1.5f),
new KVector2(1, 1),
new KVector2(1, 0)
};
Assert.AreEqual(false, poly.IsConvex());
Assert.AreEqual(4, poly.Count);
}
public void TestOverlapSquareAndTrangle2()
{
KTransform t1 = new KTransform(KVector2.Zero, 0, KVector2.One);
KTransform t2 = new KTransform(KVector2.Zero, 0f, KVector2.One);
KVertices vA = new KVertices()
{
new KVector2(0f, 1f),
new KVector2(0.5f, 0f),
new KVector2(-0.5f, 0f),
};
KVertices vB = new KVertices()
{
new KVector2(0.9f, 0.5f),
new KVector2(0.9f, -0.5f),
new KVector2(-0.2f, -0.5f),
new KVector2(-0.2f, 0.5f),
};
vA.Reverse();
vB.Reverse();
Rigidbody tri = BodyFactory.CreatePolygon(t1, new MassData(1, 1), vA);
Rigidbody sqr = BodyFactory.CreatePolygon(t2, new MassData(1, 1), vB);
Fixture fA = new Fixture(sqr, sqr.Colliders[0]);
Fixture fB = new Fixture(tri, tri.Colliders[0]);
Contact c = new Contact(fA, fB);
bool result = true;
while (sqr.State.Transform.Rotation < 2 * Math.PI)
{
sqr.State.Transform.Rotation += 0.01f;
if (!CollisionDetection.Collision(ref c))
{
result = false;
break;
}
}
Assert.AreEqual(true, result);
}
public void TestOverlapSquareAnd8Poly()
{
KTransform t1 = new KTransform(KVector2.Zero, 0, KVector2.One);
KTransform t2 = new KTransform(KVector2.Zero, 0, KVector2.One);
KVertices vA = new KVertices()
{
new KVector2(-1f, -1f),
new KVector2(-2.62f, 0.18f),
new KVector2(-2.62f, 3.98f),
new KVector2(-1f, 5.16f),
new KVector2(1f, 5.16f),
new KVector2(2.62f, 3.98f),
new KVector2(2.62f, 0.18f),
new KVector2(1f, -1f),
};
KVertices vB = new KVertices()
{
new KVector2(0.5f, -0.5f),
new KVector2(-0.5f, -0.5f),
new KVector2(-0.5f, -1.5f),
new KVector2(0.5f, -1.5f),
};
vA.Reverse();
Rigidbody sqr = BodyFactory.CreatePolygon(t1, new MassData(1, 1), vB);
Rigidbody poly = BodyFactory.CreatePolygon(t2, new MassData(1, 1), vA);
Fixture fA = new Fixture(sqr, sqr.Colliders[0]);
Fixture fB = new Fixture(poly, poly.Colliders[0]);
Contact c = new Contact(fA, fB);
Assert.AreEqual(CollisionDetection.Collision(ref c), true);
}
public void TestSeparationSAT1()
{
KTransform t1 = new KTransform(KVector2.Zero, 0, KVector2.One);
KTransform t2 = new KTransform(KVector2.Zero, 0f, KVector2.One);
KVertices vA = new KVertices()
{
new KVector2(0f, .5f),
new KVector2(1f, 2f),
new KVector2(-1f, 2f),
};
KVertices vB = new KVertices()
{
new KVector2(-1, -1),
new KVector2(1, -1),
new KVector2(1, 1),
new KVector2(-1, 1),
};
Polygon tri = new Polygon(vA);
tri.Transform = t1;
Polygon sqr = new Polygon(vB);
sqr.Transform = t2;
CollisionDetection.SeparationSAT(tri, sqr, out int indexA, out double separationA);
CollisionDetection.SeparationSAT(sqr, tri, out int indexB, out double separationB);
Assert.IsFalse(separationA > Config.EpsilonsDouble);
Assert.IsFalse(separationB > Config.EpsilonsDouble);
Assert.AreEqual(new KVector2(0, .5f), tri.Vertices[indexA]);
Assert.AreEqual(new KVector2(1, 1), sqr.Vertices[indexB]);
}
public Scene()
{
KTransform t1 = new KTransform(new KVector2(0f, 2f), 1f, new KVector2(3, 1));
KTransform t2 = new KTransform(new KVector2(0, 0f), 0f, new KVector2(1, 1));
KTransform t3 = new KTransform(new KVector2(0f, 9f), 0.5, new KVector2(2, 1));
List <Collider> ss = new List <Collider>
{
new Circle(new KVector2(0, 0)),
new Circle(new KVector2(10, 4))
};
//Vertices v1 = new Vertices()
//{
// new KVector2(-1f, -1f),
// new KVector2(-2.62f, 0.18f),
// new KVector2(-2.62f, 3.98f),
// new KVector2(-1f, 5.16f),
// new KVector2(1f, 5.16f),
// new KVector2(2.62f, 3.98f),
// new KVector2(2.62f, 0.18f),
// new KVector2(1f, -1f),
//};
//v1.Reverse();
KVertices v1 = new KVertices()
{
new KVector2(0.5f, 0.5f),
new KVector2(-0.5f, 0.5f),
new KVector2(-0.5f, -0.5f),
new KVector2(0.5f, -0.5f),
};
//Vertices v1 = new Vertices()
//{
// new KVector2(-0.4330127018922f,-0.25f),
// new KVector2(0.4330127018922f,-0.25f),
// new KVector2(0f,0.5f),
//};
//v1.Reverse();
//Vertices v = new Vertices()
//{
// new KVector2(0.5f,0.5f),
// new KVector2(-0.5f,0.5f),
// new KVector2(-0.5f,-0.5f),
// new KVector2(0.5f,-0.5f),
//};
KVertices v = new KVertices()
{
new KVector2(5f, 5f),
new KVector2(-5f, 5f),
new KVector2(-5f, -5f),
new KVector2(5f, -5f),
};
Rigidbody s = BodyFactory.CreatePolygon(t1, new MassData(3, 3), v1);
Rigidbody s2 = BodyFactory.CreatePolygon(t3, new MassData(1, 3), v1);
c = BodyFactory.CreateCircleBody(new MassData(1, 1), t3);
Rigidbody seg = BodyFactory.CreateSegmentBody(new KVector2(-1, 0), new KVector2(1, 0), new MassData(1, 1), t2);
rect = BodyFactory.CreatePolygon(t2, new MassData(1, 0), v);
//Bodies.Add(BodyFactory.CreateCircleBody(new MassData(1, 1), t1));
//Bodies.Add(seg);
Bodies.Add(rect);
Bodies.Add(c);
s.AddImpulseAtWPos(new KVector2(3f, 0), s.State.Transform.Position);
s.State.ForceGenerators.Add("G", new GravityHMR(new KVector2(0, -2)));
c.State.ForceGenerators.Add("G", new GravityHMR(new KVector2(0, -2)));
Integrator = new RK4();
}
public static Rigidbody CreatePolygon(KTransform tx, MassData massData, KVertices vertices)
{
return(new Rigidbody(new Polygon(vertices), massData, tx));
}
public Polygon(KVertices vertices)
{
this.Vertices = vertices;
Type = ColliderType.POLYGON;
ComputeProperties();
}
