public override float ComputeSweepRadius(Vec2 pivot)
{
float ds1 = Vec2.DistanceSquared(_v1, pivot);
float ds2 = Vec2.DistanceSquared(_v2, pivot);
return(Common.Math.Sqrt(Common.Math.Max(ds1, ds2)));
}
public void Update(double dt)
{
Time += (float)dt;
Position = StartingPosition + Velocity * Time;
if (Vec2.DistanceSquared(Position, StartingPosition) > Range * Range)
{
Active = false;
}
}
internal void Initialize(ContactConstraint cc)
{
Box2DXDebug.Assert(cc.PointCount > 0);
switch (cc.Type)
{
case ManifoldType.Circles:
{
Vec2 pointA = cc.BodyA.GetWorldPoint(cc.LocalPoint);
Vec2 pointB = cc.BodyB.GetWorldPoint(cc.Points[0].LocalPoint);
if (Vec2.DistanceSquared(pointA, pointB) > Settings.FLT_EPSILON_SQUARED)
{
Normal = pointB - pointA;
Normal.Normalize();
}
else
{
Normal.Set(1.0f, 0.0f);
}
Points[0] = 0.5f * (pointA + pointB);
Separations[0] = Vec2.Dot(pointB - pointA, Normal) - cc.Radius;
}
break;
case ManifoldType.FaceA:
{
Normal = cc.BodyA.GetWorldVector(cc.LocalPlaneNormal);
Vec2 planePoint = cc.BodyA.GetWorldPoint(cc.LocalPoint);
for (int i = 0; i < cc.PointCount; ++i)
{
Vec2 clipPoint = cc.BodyB.GetWorldPoint(cc.Points[i].LocalPoint);
Separations[i] = Vec2.Dot(clipPoint - planePoint, Normal) - cc.Radius;
Points[i] = clipPoint;
}
}
break;
case ManifoldType.FaceB:
{
Normal = cc.BodyB.GetWorldVector(cc.LocalPlaneNormal);
Vec2 planePoint = cc.BodyB.GetWorldPoint(cc.LocalPoint);
for (int i = 0; i < cc.PointCount; ++i)
{
Vec2 clipPoint = cc.BodyA.GetWorldPoint(cc.Points[i].LocalPoint);
Separations[i] = Vec2.Dot(clipPoint - planePoint, Normal) - cc.Radius;
Points[i] = clipPoint;
}
// Ensure normal points from A to B
Normal = -Normal;
}
break;
}
}
static Vec2 ValidateActionPosition(IEntity player, PlayerAction action)
{
Vec2 position = action.Position;
// If the position provided by the client seems legit, we take it. Otherwise, we ignore it
// and log it (might be a hacker).
if (Vec2.DistanceSquared(player.Position, position) >= MAX_TOLERATED_OFF_DISTANCE * MAX_TOLERATED_OFF_DISTANCE)
{
position = player.Position;
}
return(position);
}
void SmoothTowardsInterpolatedPosition()
{
float distanceSq = Vec2.DistanceSquared(DrawnPosition, Position);
if (distanceSq < POSITION_DISTANCE_TO_SNAP * POSITION_DISTANCE_TO_SNAP)
{
DrawnPosition = Vec2.Lerp(DrawnPosition, Position, SMOOTH_LERP_FACTOR);
}
else
{
ILogger.Log(String.Format("Snapping remote client position({0}) to simulated({1}). -> distance squared:{2}", DrawnPosition, Position, distanceSq), LogPriority.High);
DrawnPosition = Position;
}
}
/// <summary>
/// Lerps the drawn position towards our simulated position.
/// </summary>
void LerpTowardsSimulatedPosition(double deltaSeconds)
{
float distanceSq = Vec2.DistanceSquared(Position, DrawnPosition);
if (distanceSq >= POSITION_DISTANCE_TO_SNAP * POSITION_DISTANCE_TO_SNAP) // if we must snap directly to the simulated position
{
ILogger.Log(String.Format("Snapping position({0}) to simulated({1}). -> distance squared:{2}", DrawnPosition, Position, distanceSq), LogPriority.High);
DrawnPosition = Position;
}
else // If we must interpolate our position (we're not too far)
{
DrawnPosition = Vec2.Lerp(DrawnPosition, Position, SMOOTH_FACTOR);
}
}
public override float ComputeSweepRadius(Vec2 pivot)
{
int vCount = _vertexCount;
Box2DNetDebug.Assert(vCount > 0);
float sr = Vec2.DistanceSquared(_vertices[0], pivot);
for (int i = 1; i < vCount; ++i)
{
sr = Common.Math.Max(sr, Vec2.DistanceSquared(_vertices[i], pivot));
}
return(Common.Math.Sqrt(sr));
}
private void GetClosestPointTo(Vec2 point, out Vec2 closest, out int lineIndex)
{
closest = Vec2.Invalid;
lineIndex = -1;
float num1 = float.MaxValue;
for (int index = 0; index < this.LineCount; ++index)
{
Vec2 lineSegmentToPoint = MBMath.GetClosestPointInLineSegmentToPoint(point, this._navigationData.Points[index], this._navigationData.Points[index + 1]);
float num2 = lineSegmentToPoint.DistanceSquared(point);
if ((double)num2 < (double)num1)
{
num1 = num2;
closest = lineSegmentToPoint;
lineIndex = index;
}
}
}
protected override void CalculateCurrentOrder()
{
Vec2 vec2_1;
if (this.formation.QuerySystem.ClosestSignificantlyLargeEnemyFormation != null && this._mainFormation != null)
{
Vec2 vec2_2 = (this.formation.QuerySystem.ClosestSignificantlyLargeEnemyFormation.MedianPosition.AsVec2 - this.formation.QuerySystem.AveragePosition).Normalized();
Vec2 v = (this._mainFormation.QuerySystem.MedianPosition.AsVec2 - this.formation.QuerySystem.AveragePosition).Normalized();
vec2_1 = (double)vec2_2.DotProduct(v) <= 0.5 ? vec2_2 : this._mainFormation.FacingOrder.GetDirection(this._mainFormation);
}
else
{
vec2_1 = this.formation.Direction;
}
WorldPosition medianPosition;
if (this._mainFormation == null)
{
medianPosition = this.formation.QuerySystem.MedianPosition;
medianPosition.SetVec2(this.formation.QuerySystem.AveragePosition);
}
else
{
medianPosition = this._mainFormation.QuerySystem.MedianPosition;
medianPosition.SetVec2(medianPosition.AsVec2 - vec2_1 * (float)(((double)this._mainFormation.Depth + (double)this.formation.Depth) * 0.5));
}
WorldPosition worldPosition = this.CurrentOrder.GetPosition(this.formation);
if (worldPosition.IsValid && this.formation.QuerySystem.ClosestSignificantlyLargeEnemyFormation.IsRangedCavalryFormation)
{
Vec2 averagePosition = this.formation.QuerySystem.AveragePosition;
ref Vec2 local = ref averagePosition;
worldPosition = this.formation.QuerySystem.ClosestSignificantlyLargeEnemyFormation.MedianPosition;
Vec2 asVec2 = worldPosition.GetNavMeshVec3().AsVec2;
if ((double)local.DistanceSquared(asVec2) < (double)this.formation.QuerySystem.ClosestSignificantlyLargeEnemyFormation.MissileRange * (double)this.formation.QuerySystem.ClosestSignificantlyLargeEnemyFormation.MissileRange)
{
worldPosition = this.CurrentOrder.GetPosition(this.formation);
if ((double)worldPosition.GetNavMeshVec3().DistanceSquared(medianPosition.GetNavMeshVec3()) < (double)this.formation.Depth * (double)this.formation.Depth)
{
goto label_10;
}
}
}
public override void Draw()
{
Canvas.Clear(Color.Black);
foreach (var particle in Particles)
{
var color = Color.Lerp(Color.Cyan, Color.DarkCyan, particle.Velocity.LengthSquared() / 1000);
Vec2?closestGravityPoint = null;
foreach (var gravityPoints in GravityPoints)
{
if (closestGravityPoint is null)
{
closestGravityPoint = gravityPoints;
}
else if (closestGravityPoint?.DistanceSquared(particle.Position) > gravityPoints.DistanceSquared(particle.Position))
{
closestGravityPoint = gravityPoints;
}
}
color = Color.Lerp(Color.Red, color, Vec2.Distance(particle.Position, closestGravityPoint.Value) / 100);
Canvas.DrawRectangle(particle.Position, new Vec2(5, 5), true, color);
}
Canvas.Present();
}
public static void CircleToPolygon(Manifold m, Body a, Body b)
{
Circle shapeA = a.shape as Circle;
Polygon shapeB = b.shape as Polygon;
m.contactCount = 0;
// Transform circle center to Polygon model space
Vec2 center = a.position;
center = shapeB.transform.WorldToLocalPosition(center);
// Find edge with minimum penetration
// Exact concept as using support points in Polygon vs Polygon
float separation = float.MinValue;
int faceNormal = 0;
for (int i = 0; i < shapeB.VertexCount; ++i)
{
float s = Vec2.Dot(shapeB.normals[i], center - shapeB.vertices[i]);
if (s > shapeA.radius)
{
return;
}
if (s > separation)
{
separation = s;
faceNormal = i;
}
}
// Grab face's vertices
Vec2 v1 = shapeB.vertices[faceNormal];
int i2 = faceNormal + 1 < shapeB.VertexCount ? faceNormal + 1 : 0;
Vec2 v2 = shapeB.vertices[i2];
Contact c = new Contact(Vec2.Zero);
// Check to see if center is within polygon
if (separation < float.Epsilon)
{
m.normal = -shapeB.transform.LocalToWorldDirection(shapeB.normals[faceNormal]);
c.position = m.normal * shapeA.radius + a.position;
c.penetration = shapeA.radius;
m.Update(1, c);
return;
}
// Determine which voronoi region of the edge center of circle lies within
float dot1 = Vec2.Dot(center - v1, v2 - v1);
float dot2 = Vec2.Dot(center - v2, v1 - v2);
c.penetration = shapeA.radius - separation;
// Closest to v1
if (dot1 <= 0.0f)
{
if (Vec2.DistanceSquared(center, v1) > shapeA.radius * shapeA.radius)
{
return;
}
Vec2 n = v1 - center;
n = shapeB.transform.LocalToWorldDirection(n);
n.Normalize();
m.normal = n;
v1 = shapeB.transform.LocalToWorldPosition(v1);
c.position = v1;
m.Update(1, c);
}
// Closest to v2
else if (dot2 <= 0.0f)
{
if (Vec2.DistanceSquared(center, v2) > shapeA.radius * shapeA.radius)
{
return;
}
Vec2 n = v2 - center;
v2 = shapeB.transform.LocalToWorldPosition(v2);
c.position = v2;
m.Update(1, c);
n = shapeB.transform.LocalToWorldDirection(n);
n.Normalize();
m.normal = n;
}
// Closest to face
else
{
Vec2 n = shapeB.normals[faceNormal];
if (Vec2.Dot(center - v1, n) > shapeA.radius)
{
return;
}
n = shapeB.transform.LocalToWorldDirection(n);
m.normal = -n;
c.position = m.normal * shapeA.radius + a.position;
m.Update(1, c);
}
}
/// Evaluate the manifold with supplied transforms. This assumes
/// modest motion from the original state. This does not change the
/// point count, impulses, etc. The radii must come from the shapes
/// that generated the manifold.
public void Initialize(Manifold manifold, XForm xfA, float radiusA, XForm xfB, float radiusB)
{
if (manifold.PointCount == 0)
{
return;
}
switch (manifold.Type)
{
case ManifoldType.Circles:
{
Vec2 pointA = Math.Mul(xfA, manifold.LocalPoint);
Vec2 pointB = Math.Mul(xfB, manifold.Points[0].LocalPoint);
Vec2 normal = new Vec2(1.0f, 0.0f);
if (Vec2.DistanceSquared(pointA, pointB) > Settings.FltEpsilonSquared)
{
normal = pointB - pointA;
normal.Normalize();
}
Normal = normal;
Vec2 cA = pointA + radiusA * normal;
Vec2 cB = pointB - radiusB * normal;
Points[0] = 0.5f * (cA + cB);
}
break;
case ManifoldType.FaceA:
{
Vec2 normal = Math.Mul(xfA.R, manifold.LocalPlaneNormal);
Vec2 planePoint = Math.Mul(xfA, manifold.LocalPoint);
// Ensure normal points from A to B.
Normal = normal;
for (int i = 0; i < manifold.PointCount; ++i)
{
Vec2 clipPoint = Math.Mul(xfB, manifold.Points[i].LocalPoint);
Vec2 cA = clipPoint + (radiusA - Vec2.Dot(clipPoint - planePoint, normal)) * normal;
Vec2 cB = clipPoint - radiusB * normal;
Points[i] = 0.5f * (cA + cB);
}
}
break;
case ManifoldType.FaceB:
{
Vec2 normal = Math.Mul(xfB.R, manifold.LocalPlaneNormal);
Vec2 planePoint = Math.Mul(xfB, manifold.LocalPoint);
// Ensure normal points from A to B.
Normal = -normal;
for (int i = 0; i < manifold.PointCount; ++i)
{
Vec2 clipPoint = Math.Mul(xfA, manifold.Points[i].LocalPoint);
Vec2 cA = clipPoint - radiusA * normal;
Vec2 cB = clipPoint + (radiusB - Vec2.Dot(clipPoint - planePoint, normal)) * normal;
Points[i] = 0.5f * (cA + cB);
}
}
break;
}
}
// This implements 2-sided edge vs circle collision.
public static void CollideEdgeAndCircle(ref Manifold manifold, EdgeShape edge, XForm transformA, CircleShape circle, XForm transformB)
{
manifold.PointCount = 0;
Vec2 cLocal = Common.Math.MulT(transformA, Common.Math.Mul(transformB, circle._position));
Vec2 normal = edge._normal;
Vec2 v1 = edge._v1;
Vec2 v2 = edge._v2;
float radius = edge._radius + circle._radius;
// Barycentric coordinates
float u1 = Vec2.Dot(cLocal - v1, v2 - v1);
float u2 = Vec2.Dot(cLocal - v2, v1 - v2);
if (u1 <= 0.0f)
{
// Behind v1
if (Vec2.DistanceSquared(cLocal, v1) > radius * radius)
{
return;
}
manifold.PointCount = 1;
manifold.Type = ManifoldType.FaceA;
manifold.LocalPlaneNormal = cLocal - v1;
manifold.LocalPlaneNormal.Normalize();
manifold.LocalPoint = v1;
manifold.Points[0].LocalPoint = circle._position;
manifold.Points[0].ID.Key = 0;
}
else if (u2 <= 0.0f)
{
// Ahead of v2
if (Vec2.DistanceSquared(cLocal, v2) > radius * radius)
{
return;
}
manifold.PointCount = 1;
manifold.Type = ManifoldType.FaceA;
manifold.LocalPlaneNormal = cLocal - v2;
manifold.LocalPlaneNormal.Normalize();
manifold.LocalPoint = v2;
manifold.Points[0].LocalPoint = circle._position;
manifold.Points[0].ID.Key = 0;
}
else
{
float separation = Vec2.Dot(cLocal - v1, normal);
if (separation < -radius || radius < separation)
{
return;
}
manifold.PointCount = 1;
manifold.Type = ManifoldType.FaceA;
manifold.LocalPlaneNormal = separation < 0.0f ? -normal : normal;
manifold.LocalPoint = 0.5f * (v1 + v2);
manifold.Points[0].LocalPoint = circle._position;
manifold.Points[0].ID.Key = 0;
}
}
public void TestDistance(Vec2 a, Vec2 b, float dist, string msg, float eps = float.Epsilon)
{
Assert.AreEqual(dist, Vec2.Distance(a, b), eps, msg);
Assert.AreEqual(dist * dist, Vec2.DistanceSquared(a, b), eps, msg + " squared");
}
protected override void CalculateCurrentOrder()
{
Vec2 averagePosition = this.formation.QuerySystem.AveragePosition;
if (this.formation.QuerySystem.ClosestSignificantlyLargeEnemyFormation == null)
{
WorldPosition medianPosition = this.formation.QuerySystem.MedianPosition;
medianPosition.SetVec2(averagePosition);
this.CurrentOrder = MovementOrder.MovementOrderMove(medianPosition);
}
else
{
WorldPosition medianPosition = this.formation.QuerySystem.ClosestSignificantlyLargeEnemyFormation.MedianPosition;
IEnumerable <Formation> source = this.formation.Team.FormationsIncludingSpecial.Where <Formation>((Func <Formation, bool>)(f => f != this.formation));
Vec2 vec2_1 = source.Any <Formation>() ? new Vec2(source.Average <Formation>((Func <Formation, float>)(oa => oa.QuerySystem.MedianPosition.AsVec2.x)), source.Average <Formation>((Func <Formation, float>)(oa => oa.QuerySystem.MedianPosition.AsVec2.y))) : averagePosition;
WorldPosition formationPosition = this.formation.QuerySystem.Team.MedianTargetFormationPosition;
Vec2 vec2_2 = (formationPosition.AsVec2 - vec2_1).Normalized();
float missileRange = this.formation.QuerySystem.MissileRange;
WorldPosition position;
if (this._rushMode)
{
float num = averagePosition.DistanceSquared(medianPosition.AsVec2);
if ((double)num > (double)this.formation.QuerySystem.MissileRange * (double)this.formation.QuerySystem.MissileRange)
{
position = formationPosition;
position.SetVec2(position.AsVec2 - vec2_2 * (missileRange - (float)(10.0 + (double)this.formation.Depth * 0.5)));
}
else if (this.formation.QuerySystem.ClosestEnemyFormation.IsCavalryFormation || (double)num <= 400.0 || (double)this.formation.QuerySystem.UnderRangedAttackRatio >= 0.400000005960464)
{
position = this.formation.QuerySystem.Team.MedianPosition;
position.SetVec2(vec2_1 - ((source.Any <Formation>() ? 30f : 80f) + this.formation.Depth) * vec2_2);
this._rushMode = false;
}
else
{
position = this.formation.QuerySystem.Team.MedianPosition;
Vec2 vec2_3 = (medianPosition.AsVec2 - averagePosition).Normalized();
position.SetVec2(medianPosition.AsVec2 - vec2_3 * (missileRange - (float)(10.0 + (double)this.formation.Depth * 0.5)));
}
}
else
{
if (source.Any <Formation>())
{
position = this.formation.QuerySystem.Team.MedianPosition;
position.SetVec2(vec2_1 - (30f + this.formation.Depth) * vec2_2);
}
else
{
position = this.formation.QuerySystem.ClosestEnemyFormation.MedianPosition;
position.SetVec2(position.AsVec2 - 80f * vec2_2);
}
if ((double)position.AsVec2.DistanceSquared(averagePosition) <= 400.0)
{
position = formationPosition;
position.SetVec2(position.AsVec2 - vec2_2 * (missileRange - (float)(10.0 + (double)this.formation.Depth * 0.5)));
this._rushMode = true;
}
}
this.CurrentOrder = MovementOrder.MovementOrderMove(position);
}
}
public static void CollidePolygonAndCircle(ref Manifold manifold,
PolygonShape polygon, XForm xf1, CircleShape circle, XForm xf2)
{
manifold.PointCount = 0;
// Compute circle position in the frame of the polygon.
Vec2 c = Common.Math.Mul(xf2, circle._position);
Vec2 cLocal = Common.Math.MulT(xf1, c);
// Find the min separating edge.
int normalIndex = 0;
float separation = -Settings.FLT_MAX;
float radius = polygon._radius + circle._radius;
int vertexCount = polygon._vertexCount;
Vec2[] vertices = polygon._vertices;
Vec2[] normals = polygon._normals;
for (int i = 0; i < vertexCount; ++i)
{
float s = Vec2.Dot(normals[i], cLocal - vertices[i]);
if (s > radius)
{
// Early out.
return;
}
if (s > separation)
{
separation = s;
normalIndex = i;
}
}
// Vertices that subtend the incident face.
int vertIndex1 = normalIndex;
int vertIndex2 = vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0;
Vec2 v1 = vertices[vertIndex1];
Vec2 v2 = vertices[vertIndex2];
// If the center is inside the polygon ...
if (separation < Common.Settings.FLT_EPSILON)
{
manifold.PointCount = 1;
manifold.Type = ManifoldType.FaceA;
manifold.LocalPlaneNormal = normals[normalIndex];
manifold.LocalPoint = 0.5f * (v1 + v2);
manifold.Points[0].LocalPoint = circle._position;
manifold.Points[0].ID.Key = 0;
return;
}
// Compute barycentric coordinates
float u1 = Vec2.Dot(cLocal - v1, v2 - v1);
float u2 = Vec2.Dot(cLocal - v2, v1 - v2);
if (u1 <= 0.0f)
{
if (Vec2.DistanceSquared(cLocal, v1) > radius * radius)
{
return;
}
manifold.PointCount = 1;
manifold.Type = ManifoldType.FaceA;
manifold.LocalPlaneNormal = cLocal - v1;
manifold.LocalPlaneNormal.Normalize();
manifold.LocalPoint = v1;
manifold.Points[0].LocalPoint = circle._position;
manifold.Points[0].ID.Key = 0;
}
else if (u2 <= 0.0f)
{
if (Vec2.DistanceSquared(cLocal, v2) > radius * radius)
{
return;
}
manifold.PointCount = 1;
manifold.Type = ManifoldType.FaceA;
manifold.LocalPlaneNormal = cLocal - v2;
manifold.LocalPlaneNormal.Normalize();
manifold.LocalPoint = v2;
manifold.Points[0].LocalPoint = circle._position;
manifold.Points[0].ID.Key = 0;
}
else
{
Vec2 faceCenter = 0.5f * (v1 + v2);
float separation_ = Vec2.Dot(cLocal - faceCenter, normals[vertIndex1]);
if (separation_ > radius)
{
return;
}
manifold.PointCount = 1;
manifold.Type = ManifoldType.FaceA;
manifold.LocalPlaneNormal = normals[vertIndex1];
manifold.LocalPoint = faceCenter;
manifold.Points[0].LocalPoint = circle._position;
manifold.Points[0].ID.Key = 0;
}
}
public bool ReachedMaxRange()
{
return(Vec2.DistanceSquared(Position, StartPosition) >= Info.Range * Info.Range);
}