/// @see Shape::ComputeAABB
public override void ComputeAABB(out AABB aabb, Transform xf, int childIndex) {
Vec2 v1 = Utilities.Mul(xf, m_vertex1);
Vec2 v2 = Utilities.Mul(xf, m_vertex2);
Vec2 lower = Utilities.Min(v1, v2);
Vec2 upper = Utilities.Max(v1, v2);
Vec2 r = new Vec2(m_radius, m_radius);
aabb.lowerBound = lower - r;
aabb.upperBound = upper + r;
}
/// @see Shape::ComputeAABB
public override void ComputeAABB(out AABB aabb, Transform xf, int childIndex) {
Vec2 lower = Utilities.Mul(xf, m_vertices[0]);
Vec2 upper = lower;
for (int i = 1; i < m_count; ++i)
{
Vec2 v = Utilities.Mul(xf, m_vertices[i]);
lower = Utilities.Min(lower, v);
upper = Utilities.Max(upper, v);
}
Vec2 r = new Vec2(m_radius, m_radius);
aabb.lowerBound = lower - r;
aabb.upperBound = upper + r;
}
private void MoveAABB(AABB aabb)
{
Vec2 d;
d.X = RandomFloat(-0.5f, 0.5f);
d.Y = RandomFloat(-0.5f, 0.5f);
//d.X = 2.0f;
//d.Y = 0.0f;
aabb.lowerBound += d;
aabb.upperBound += d;
Vec2 c0 = 0.5f * (aabb.lowerBound + aabb.upperBound);
Vec2 min = new Vec2(); min.Set(-m_worldExtent, 0.0f);
Vec2 max = new Vec2(); max.Set(m_worldExtent, 2.0f * m_worldExtent);
Vec2 c = Utilities.Clamp(c0, min, max);
aabb.lowerBound += c - c0;
aabb.upperBound += c - c0;
}
/// @see Shape::ComputeAABB
public override void ComputeAABB(out AABB aabb, Transform transform, int childIndex) {
throw new NotImplementedException();
//Utilities.Assert(childIndex < m_count);
//int i1 = childIndex;
//int i2 = childIndex + 1;
//if (i2 == m_count)
//{
// i2 = 0;
//}
//Vec2 v1 = Utilities.Mul(xf, m_vertices[i1]);
//Vec2 v2 = Utilities.Mul(xf, m_vertices[i2]);
//aabb.lowerBound = Math.Min(v1, v2);
//aabb.upperBound = Math.Max(v1, v2);
}
/// Given a transform, compute the associated axis aligned bounding box for a child shape. /// @param aabb returns the axis aligned box. /// @param xf the world transform of the shape. /// @param childIndex the child shape public abstract void ComputeAABB(out AABB aabb, Transform xf, int childIndex);
private void GetRandomAABB(AABB aabb)
{
Vec2 w = new Vec2();
w.Set(2.0f * m_proxyExtent, 2.0f * m_proxyExtent);
//aabb.lowerBound.X = -m_proxyExtent;
//aabb.lowerBound.Y = -m_proxyExtent + m_worldExtent;
aabb.lowerBound.X = RandomFloat(-m_worldExtent, m_worldExtent);
aabb.lowerBound.Y = RandomFloat(0.0f, 2.0f * m_worldExtent);
aabb.upperBound = aabb.lowerBound + w;
}
/// Combine two AABBs into this one.
public void Combine(AABB aabb1, AABB aab)
{
lowerBound = Utilities.Min(aabb1.lowerBound, aab.lowerBound);
upperBound = Utilities.Max(aabb1.upperBound, aab.upperBound);
}
/// Does this aabb contain the provided AABB.
public bool Contains(AABB aabb)
{
bool result = true;
result = result && lowerBound.X <= aabb.lowerBound.X;
result = result && lowerBound.Y <= aabb.lowerBound.Y;
result = result && aabb.upperBound.X <= upperBound.X;
result = result && aabb.upperBound.Y <= upperBound.Y;
return result;
}
public static bool TestOverlap(AABB a, AABB b) {
Vec2 d1, d2;
d1 = b.lowerBound - a.upperBound;
d2 = a.lowerBound - b.upperBound;
if (d1.X > 0.0f || d1.Y > 0.0f)
return false;
if (d2.X > 0.0f || d2.Y > 0.0f)
return false;
return true;
}
/// Combine an AABB into this one.
public void Combine(AABB aabb)
{
throw new NotImplementedException();
//lowerBound = Math.Min(lowerBound, aabb.lowerBound);
//upperBound = Math.Max(upperBound, aabb.upperBound);
}
/// @see Shape::ComputeAABB
public override void ComputeAABB(out AABB aabb, Transform transform, int childIndex) {
aabb = new AABB();
Vec2 p = transform.p + Utilities.Mul(transform.q, m_p);
aabb.lowerBound.Set(p.X - m_radius, p.Y - m_radius);
aabb.upperBound.Set(p.X + m_radius, p.Y + m_radius);
}
/// Query the world for all fixtures that potentially overlap the
/// provided AABB.
/// @param callback a user implemented callback class.
/// @param aabb the query box.
public void QueryAABB(QueryCallback callback, AABB aabb){
throw new NotImplementedException();
//WorldQueryWrapper wrapper;
//wrapper.broadPhase = &m_contactManager.m_broadPhase;
//wrapper.callback = callback;
//m_contactManager.m_broadPhase.Query(&wrapper, aabb);
}
/// Query an AABB for overlapping proxies. The callback class
/// is called for each proxy that overlaps the supplied AABB.
public void Query(Func <int, bool> callback, AABB aabb)
{
m_tree.Query(callback, aabb);
}
internal void DrawAABB(AABB AABB, Color c) {
this.DrawPolygon(new Vec2[] {
AABB.lowerBound,
new Vec2(AABB.lowerBound.X, AABB.upperBound.Y),
AABB.upperBound,
new Vec2(AABB.upperBound.X, AABB.lowerBound.Y)},
4, c);
}
/// Get the fixture's AABB. This AABB may be enlarge and/or stale.
/// If you need a more accurate AABB, compute it using the Shape and
/// the body transform.
public void GetAABB(out AABB aabb, int childIndex)
{
//Debug.Assert(0 <= childIndex && childIndex < _proxyCount);
aabb = _proxies[childIndex].aabb;
}