public static bool TestIShapeWithConcavePolygon(IShape shape, Vector2 shapePos, Polygon concavePolygon, out Contact?contact)
{
List <Vector2[]> concavePolygonComponents = concavePolygon.ConvexComponents();
Vector2 concavePolygonAnchor = concavePolygon[0];
Vector2[] shapeAxes = shape.CalculateAxes();
Vector2[] axes;
foreach (Vector2[] component in concavePolygonComponents)
{
Polygon componentPolygon = new Polygon(component);
componentPolygon.Translate(concavePolygonAnchor);
axes = new Vector2[shapeAxes.Length + componentPolygon.Normals.Length];
shapeAxes.CopyTo(axes, 0);
componentPolygon.Normals.CopyTo(axes, shapeAxes.Length);
if (TestIShapeWithConvexPolygon(shape, shapePos, componentPolygon, axes, out contact))
{
return(true);
}
}
contact = null;
return(false);
}
private static bool TestConcavePolygons(Polygon A, Polygon B, IEnumerable <Vector2> axes, out Contact?contact)
{
List <Vector2[]> componentsA = A.ConvexComponents(),
componentsB = B.ConvexComponents();
Vector2 polyAAnchor = A[0],
polyBAnchor = B[0];
foreach (Vector2[] componentA in componentsA)
{
Polygon componentPolyA = new Polygon(componentA);
componentPolyA.Translate(polyAAnchor);
foreach (Vector2[] componentB in componentsB)
{
Polygon componentPolyB = new Polygon(componentB);
componentPolyB.Translate(polyBAnchor);
if (TestConvexPolygons(componentPolyA, componentPolyB, axes, out contact))
{
return(true);
}
}
}
contact = null;
return(false);
}
private static bool TestConcavePolygons(Polygon A, Polygon B, out Contact?contact)
{
List <Vector2[]> componentsA = A.ConvexComponents(),
componentsB = B.ConvexComponents();
Vector2 polyAAnchor = A[0],
polyBAnchor = B[0];
Vector2[] axes;
int i;
foreach (Vector2[] componentA in componentsA)
{
Polygon componentPolyA = new Polygon(componentA);
componentPolyA.Translate(polyAAnchor);
foreach (Vector2[] componentB in componentsB)
{
Polygon componentPolyB = new Polygon(componentB);
componentPolyB.Translate(polyBAnchor);
axes = new Vector2[componentPolyA.Normals.Length + componentPolyB.Normals.Length];
i = 0;
// component polygon A axes
foreach (Vector2 normal in componentPolyA.Normals)
{
axes[i] = normal;
i++;
}
// component polygon B axes
foreach (Vector2 normal in componentPolyB.Normals)
{
axes[i] = normal;
i++;
}
if (TestConvexPolygons(componentPolyA, componentPolyB, axes, out contact))
{
return(true);
}
}
}
contact = null;
return(false);
}
public Polygon(Polygon polygon)
{
_vertices = new List <Vector2>(polygon._vertices);
foreach (Vector2[] component in polygon.ConvexComponents())
{
_convexComponents.Add(component);
}
IsConvex = polygon.IsConvex;
Normals = new Vector2[polygon.Normals.Length];
polygon.Normals.CopyTo(Normals, 0);
Center = polygon.Center;
_needRecalculateComponents = polygon._needRecalculateComponents;
}
public static bool TestLineSegmentWithConcavePolygon(Vector2 startPoint, Vector2 endPoint, Polygon concavePolygon, IEnumerable <Vector2> axes, out Contact?contact)
{
List <Vector2[]> concavePolygonComponents = concavePolygon.ConvexComponents();
Vector2 concavePolygonAnchor = concavePolygon[0];
foreach (Vector2[] component in concavePolygonComponents)
{
Polygon componentPolygon = new Polygon(component);
componentPolygon.Translate(concavePolygonAnchor);
if (TestLineSegmentWithConvexPolygon(startPoint, endPoint, componentPolygon, axes, out contact))
{
return(true);
}
}
contact = null;
return(false);
}
private static bool TestConvexPolygonWithConcavePolygon(Polygon convexPolygon, Polygon concavePolygon, IEnumerable <Vector2> axes, out Contact?contact)
{
List <Vector2[]> concavePolygonComponents = concavePolygon.ConvexComponents();
Vector2 concavePolygonAnchor = concavePolygon[0];
foreach (Vector2[] component in concavePolygonComponents)
{
Polygon componentPolygon = new Polygon(component);
componentPolygon.Translate(concavePolygonAnchor);
if (TestConvexPolygons(convexPolygon, componentPolygon, axes, out contact))
{
return(true);
}
}
contact = null;
return(false);
}
public static bool TestIShapeWithConcavePolygon(IShape shape, Vector2 shapePos, Polygon concavePolygon, ICollection <Vector2> axes, out Contact?contact)
{
List <Vector2[]> concavePolygonComponents = concavePolygon.ConvexComponents();
Vector2 concavePolygonAnchor = concavePolygon[0];
foreach (Vector2[] component in concavePolygonComponents)
{
Polygon componentPolygon = new Polygon(component);
componentPolygon.Translate(concavePolygonAnchor);
if (TestIShapeWithConvexPolygon(shape, shapePos, componentPolygon, axes, out contact))
{
return(true);
}
}
contact = null;
return(false);
}
private static bool TestConvexPolygonWithConcavePolygon(Polygon convexPolygon, Polygon concavePolygon, out Contact?contact)
{
List <Vector2[]> concavePolygonComponents = concavePolygon.ConvexComponents();
Vector2 concavePolygonAnchor = concavePolygon[0];
Vector2[] axes;
int i;
foreach (Vector2[] component in concavePolygonComponents)
{
Polygon componentPolygon = new Polygon(component);
componentPolygon.Translate(concavePolygonAnchor);
axes = new Vector2[componentPolygon.Normals.Length + convexPolygon.Normals.Length];
i = 0;
// component polygon A axes
foreach (Vector2 normal in convexPolygon.Normals)
{
axes[i] = normal;
i++;
}
// component polygon B axes
foreach (Vector2 normal in componentPolygon.Normals)
{
axes[i] = normal;
i++;
}
if (TestConvexPolygons(convexPolygon, componentPolygon, axes, out contact))
{
return(true);
}
}
contact = null;
return(false);
}
public static bool TestLineSegmentWithConcavePolygon(Vector2 startPoint, Vector2 endPoint, Polygon concavePolygon, out Contact?contact)
{
List <Vector2[]> concavePolygonComponents = concavePolygon.ConvexComponents();
Vector2 concavePolygonAnchor = concavePolygon[0];
Vector2 direction = (endPoint - startPoint).Normalized();
Vector2[] axes;
int i;
foreach (Vector2[] component in concavePolygonComponents)
{
Polygon componentPolygon = new Polygon(component);
componentPolygon.Translate(concavePolygonAnchor);
axes = new Vector2[2 + componentPolygon.Normals.Length];
axes[0] = direction;
axes[1] = direction.PerpendicularCW();
i = 2;
// component polygon A axes
foreach (Vector2 normal in componentPolygon.Normals)
{
axes[i] = normal;
i++;
}
if (TestLineSegmentWithConvexPolygon(startPoint, endPoint, componentPolygon, axes, out contact))
{
return(true);
}
}
contact = null;
return(false);
}
