Пример #1
0
        // Calculate the projection of a polygon on an axis and returns it as a [min, max] interval
        public void ProjectPolygon(Vector axis, Polygon polygon, ref float min, ref float max)
        {
            // To project a point on an axis use the dot product
            float d = axis.DotProduct(polygon.Points[0]);

            min = d;
            max = d;
            for (int i = 0; i < polygon.Points.Count; i++)
            {
                d = polygon.Points[i].DotProduct(axis);
                if (d < min)
                {
                    min = d;
                }
                else
                {
                    if (d > max)
                    {
                        max = d;
                    }
                }
            }
        }
Пример #2
0
 // Calculate the projection of a polygon on an axis and returns it as a [min, max] interval
 public void ProjectPolygon(Vector axis, Polygon polygon, ref float min, ref float max)
 {
     // To project a point on an axis use the dot product
     float d = axis.DotProduct(polygon.Points[0]);
     min = d;
     max = d;
     for (int i = 0; i < polygon.Points.Count; i++)
     {
         d = polygon.Points[i].DotProduct(axis);
         if (d < min)
         {
             min = d;
         }
         else
         {
             if (d > max)
             {
                 max = d;
             }
         }
     }
 }
Пример #3
0
        // Check if polygon A is going to collide with polygon B for the given velocity
        public PolygonCollisionResult PolygonCollision(Polygon polygonA, Polygon polygonB, Vector velocity)
        {
            PolygonCollisionResult result = new PolygonCollisionResult();

            result.Intersect     = true;
            result.WillIntersect = true;

            int    edgeCountA          = polygonA.Edges.Count;
            int    edgeCountB          = polygonB.Edges.Count;
            float  minIntervalDistance = float.PositiveInfinity;
            Vector translationAxis     = new Vector();
            Vector edge;

            // Loop through all the edges of both polygons
            for (int edgeIndex = 0; edgeIndex < edgeCountA + edgeCountB; edgeIndex++)
            {
                if (edgeIndex < edgeCountA)
                {
                    edge = polygonA.Edges[edgeIndex];
                }
                else
                {
                    edge = polygonB.Edges[edgeIndex - edgeCountA];
                }

                // ===== 1. Find if the polygons are currently intersecting =====

                // Find the axis perpendicular to the current edge
                Vector axis = new Vector(-edge.Y, edge.X);
                axis.Normalize();

                // Find the projection of the polygon on the current axis
                float minA = 0; float minB = 0; float maxA = 0; float maxB = 0;
                ProjectPolygon(axis, polygonA, ref minA, ref maxA);
                ProjectPolygon(axis, polygonB, ref minB, ref maxB);

                // Check if the polygon projections are currentlty intersecting
                if (IntervalDistance(minA, maxA, minB, maxB) > 0)
                {
                    result.Intersect = false;
                }

                // ===== 2. Now find if the polygons *will* intersect =====

                // Project the velocity on the current axis
                float velocityProjection = axis.DotProduct(velocity);

                // Get the projection of polygon A during the movement
                if (velocityProjection < 0)
                {
                    minA += velocityProjection;
                }
                else
                {
                    maxA += velocityProjection;
                }

                // Do the same test as above for the new projection
                float intervalDistance   = IntervalDistance(minA, maxA, minB, maxB);
                if (intervalDistance > 0)
                {
                    result.WillIntersect = false;
                }

                // If the polygons are not intersecting and won't intersect, exit the loop
                if (!result.Intersect && !result.WillIntersect)
                {
                    break;
                }

                // Check if the current interval distance is the minimum one. If so store
                // the interval distance and the current distance.
                // This will be used to calculate the minimum translation vector
                intervalDistance = Math.Abs(intervalDistance);
                if (intervalDistance < minIntervalDistance)
                {
                    minIntervalDistance = intervalDistance;
                    translationAxis     = axis;

                    Vector d = polygonA.Center - polygonB.Center;
                    if (d.DotProduct(translationAxis) < 0)
                    {
                        translationAxis = -translationAxis;
                    }
                }
            }

            // The minimum translation vector can be used to push the polygons appart.
            // First moves the polygons by their velocity
            // then move polygonA by MinimumTranslationVector.
            if (result.WillIntersect)
            {
                result.MinimumTranslationVector = translationAxis * minIntervalDistance;
            }

            return(result);
        }
Пример #4
0
        // Check if polygon A is going to collide with polygon B for the given velocity
        public PolygonCollisionResult PolygonCollision(Polygon polygonA, Polygon polygonB, Vector velocity)
        {
            PolygonCollisionResult result = new PolygonCollisionResult();
            result.Intersect = true;
            result.WillIntersect = true;

            int edgeCountA = polygonA.Edges.Count;
            int edgeCountB = polygonB.Edges.Count;
            float minIntervalDistance = float.PositiveInfinity;
            Vector translationAxis = new Vector();
            Vector edge;

            // Loop through all the edges of both polygons
            for (int edgeIndex = 0; edgeIndex < edgeCountA + edgeCountB; edgeIndex++)
            {
                if (edgeIndex < edgeCountA)
                {
                    edge = polygonA.Edges[edgeIndex];
                }
                else
                {
                    edge = polygonB.Edges[edgeIndex - edgeCountA];
                }

                // ===== 1. Find if the polygons are currently intersecting =====

                // Find the axis perpendicular to the current edge
                Vector axis = new Vector(-edge.Y, edge.X);
                axis.Normalize();

                // Find the projection of the polygon on the current axis
                float minA = 0; float minB = 0; float maxA = 0; float maxB = 0;
                ProjectPolygon(axis, polygonA, ref minA, ref maxA);
                ProjectPolygon(axis, polygonB, ref minB, ref maxB);

                // Check if the polygon projections are currentlty intersecting
                if (IntervalDistance(minA, maxA, minB, maxB) > 0) result.Intersect = false;

                // ===== 2. Now find if the polygons *will* intersect =====

                // Project the velocity on the current axis
                float velocityProjection = axis.DotProduct(velocity);

                // Get the projection of polygon A during the movement
                if (velocityProjection < 0)
                {
                    minA += velocityProjection;
                }
                else
                {
                    maxA += velocityProjection;
                }

                // Do the same test as above for the new projection
                float intervalDistance = IntervalDistance(minA, maxA, minB, maxB);
                if (intervalDistance > 0) result.WillIntersect = false;

                // If the polygons are not intersecting and won't intersect, exit the loop
                if (!result.Intersect && !result.WillIntersect) break;

                // Check if the current interval distance is the minimum one. If so store
                // the interval distance and the current distance.
                // This will be used to calculate the minimum translation vector
                intervalDistance = Math.Abs(intervalDistance);
                if (intervalDistance < minIntervalDistance)
                {
                    minIntervalDistance = intervalDistance;
                    translationAxis = axis;

                    Vector d = polygonA.Center - polygonB.Center;
                    if (d.DotProduct(translationAxis) < 0) translationAxis = -translationAxis;
                }
            }

            // The minimum translation vector can be used to push the polygons appart.
            // First moves the polygons by their velocity
            // then move polygonA by MinimumTranslationVector.
            if (result.WillIntersect) result.MinimumTranslationVector = translationAxis * minIntervalDistance;

            return result;
        }