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Merge remote-tracking branch 'github/multishape'

3D
Evan Hemsley 2020-02-21 00:01:02 -08:00
parent 137f0a90b5 108e0573c2
commit bcc0d0abc2
17 changed files with 570 additions and 196 deletions
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68
Bonk/BroadPhase/SpatialHash.cs
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@ -14,7 +14,13 @@ namespace MoonTools.Bonk
private readonly int cellSize;
private readonly Dictionary<long, HashSet<T>> hashDictionary = new Dictionary<long, HashSet<T>>();
private readonly Dictionary<T, (IShape2D, Transform2D)> IDLookup = new Dictionary<T, (IShape2D, Transform2D)>();
private readonly Dictionary<T, (IHasAABB2D, Transform2D)> IDLookup = new Dictionary<T, (IHasAABB2D, Transform2D)>();
public int MinX { get; private set; } = 0;
public int MaxX { get; private set; } = 0;
public int MinY { get; private set; } = 0;
public int MaxY { get; private set; } = 0;
public SpatialHash(int cellSize)
{
@ -32,7 +38,7 @@ namespace MoonTools.Bonk
/// <param name="id">A unique ID for the shape-transform pair.</param>
/// <param name="shape"></param>
/// <param name="transform2D"></param>
public void Insert(T id, IShape2D shape, Transform2D transform2D)
public void Insert(T id, IHasAABB2D shape, Transform2D transform2D)
{
var box = shape.TransformedAABB(transform2D);
var minHash = Hash(box.Min);
@ -52,20 +58,30 @@ namespace MoonTools.Bonk
IDLookup[id] = (shape, transform2D);
}
}
MinX = Math.Min(MinX, minHash.Item1);
MinY = Math.Min(MinY, minHash.Item2);
MaxX = Math.Max(MaxX, maxHash.Item1);
MaxY = Math.Max(MaxY, maxHash.Item2);
}
/// <summary>
/// Retrieves all the potential collisions of a shape-transform pair. Excludes any shape-transforms with the given ID.
/// </summary>
public IEnumerable<(T, IShape2D, Transform2D)> Retrieve(T id, IShape2D shape, Transform2D transform2D)
public IEnumerable<(T, IHasAABB2D, Transform2D)> Retrieve(T id, IHasAABB2D shape, Transform2D transform2D)
{
var box = shape.TransformedAABB(transform2D);
var minHash = Hash(box.Min);
var maxHash = Hash(box.Max);
var (minX, minY) = Hash(box.Min);
var (maxX, maxY) = Hash(box.Max);
for (var i = minHash.Item1; i <= maxHash.Item1; i++)
if (minX < MinX) { minX = MinX; }
if (maxX > MaxX) { maxX = MaxX; }
if (minY < MinY) { minY = MinY; }
if (maxY > MaxY) { maxY = MaxY; }
for (var i = minX; i <= maxX; i++)
{
for (var j = minHash.Item2; j <= maxHash.Item2; j++)
for (var j = minY; j <= maxY; j++)
{
var key = MakeLong(i, j);
if (hashDictionary.ContainsKey(key))
@ -73,7 +89,43 @@ namespace MoonTools.Bonk
foreach (var t in hashDictionary[key])
{
var (otherShape, otherTransform) = IDLookup[t];
if (!id.Equals(t) && AABB.TestOverlap(shape.TransformedAABB(transform2D), otherShape.TransformedAABB(otherTransform)))
if (!id.Equals(t) && AABB.TestOverlap(box, otherShape.TransformedAABB(otherTransform)))
{
yield return (t, otherShape, otherTransform);
}
}
}
}
}
}
/// <summary>
/// Retrieves objects based on a pre-transformed AABB.
/// </summary>
/// <param name="aabb">A transformed AABB.</param>
/// <returns></returns>
public IEnumerable<(T, IHasAABB2D, Transform2D)> Retrieve(AABB aabb)
{
var (minX, minY) = Hash(aabb.Min);
var (maxX, maxY) = Hash(aabb.Max);
if (minX < MinX) { minX = MinX; }
if (maxX > MaxX) { maxX = MaxX; }
if (minY < MinY) { minY = MinY; }
if (maxY > MaxY) { maxY = MaxY; }
for (var i = minX; i <= maxX; i++)
{
for (var j = minY; j <= maxY; j++)
{
var key = MakeLong(i, j);
if (hashDictionary.ContainsKey(key))
{
foreach (var t in hashDictionary[key])
{
var (otherShape, otherTransform) = IDLookup[t];
if (AABB.TestOverlap(aabb, otherShape.TransformedAABB(otherTransform)))
{
yield return (t, otherShape, otherTransform);
}

17
Bonk/IHasAABB2D.cs Normal file
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@ -0,0 +1,17 @@
using System;
using MoonTools.Core.Structs;
namespace MoonTools.Core.Bonk
{
public interface IHasAABB2D
{
AABB AABB { get; }
/// <summary>
/// Returns a bounding box based on the shape.
/// </summary>
/// <param name="transform">A Transform for transforming the shape vertices.</param>
/// <returns>Returns a bounding box based on the shape.</returns>
AABB TransformedAABB(Transform2D transform);
}
}

11
Bonk/IShape2D.cs
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@ -4,10 +4,8 @@ using MoonTools.Structs;
namespace MoonTools.Bonk
{
public interface IShape2D : IEquatable<IShape2D>
public interface IShape2D : IHasAABB2D, IEquatable<IShape2D>
{
AABB AABB { get; }
/// <summary>
/// A Minkowski support function. Gives the farthest point on the edge of a shape along the given direction.
/// </summary>
@ -15,12 +13,5 @@ namespace MoonTools.Bonk
/// <param name="transform">A Transform for transforming the shape vertices.</param>
/// <returns>The farthest point on the edge of the shape along the given direction.</returns>
Vector2 Support(Vector2 direction, Transform2D transform);
/// <summary>
/// Returns a bounding box based on the shape.
/// </summary>
/// <param name="transform">A Transform for transforming the shape vertices.</param>
/// <returns>Returns a bounding box based on the shape.</returns>
AABB TransformedAABB(Transform2D transform);
}
}

2
Bonk/MinkowskiDifference.cs
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@ -1,4 +1,4 @@
using System;
using System;
using System.Numerics;
using MoonTools.Structs;

82
Bonk/MultiShape.cs Normal file
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@ -0,0 +1,82 @@
using System.Collections.Generic;
using System.Collections.Immutable;
using System.Numerics;
using MoonTools.Core.Structs;
namespace MoonTools.Core.Bonk
{
public struct MultiShape : IHasAABB2D
{
public ImmutableArray<(IShape2D, Transform2D)> ShapeTransformPairs { get; }
public AABB AABB { get; }
public MultiShape(ImmutableArray<(IShape2D, Transform2D)> shapeTransformPairs)
{
ShapeTransformPairs = shapeTransformPairs;
AABB = AABBFromShapes(shapeTransformPairs);
}
public AABB TransformedAABB(Transform2D transform)
{
return AABB.Transformed(AABB, transform);
}
/// <summary>
/// Moves the shapes by pivoting with an offset transform.
/// </summary>
/// <param name="offsetTransform"></param>
/// <returns></returns>
public IEnumerable<(IShape2D, Transform2D)> TransformShapesUsingOffset(Transform2D offsetTransform)
{
foreach (var (shape, shapeTransform) in ShapeTransformPairs)
{
var newTransform = new Transform2D(Vector2.Transform(shapeTransform.Position, offsetTransform.TransformMatrix), offsetTransform.Rotation, offsetTransform.Scale);
yield return (shape, newTransform);
}
}
public bool IsSingleShape<T>() where T : struct, IShape2D
{
return ShapeTransformPairs.Length == 1 && ShapeTransformPairs[0].Item1 is T;
}
public (T, Transform2D) ShapeTransformPair<T>() where T : struct, IShape2D
{
return ((T, Transform2D))ShapeTransformPairs[0];
}
private static AABB AABBFromShapes(IEnumerable<(IShape2D, Transform2D)> shapeTransforms)
{
var minX = float.MaxValue;
var minY = float.MaxValue;
var maxX = float.MinValue;
var maxY = float.MinValue;
foreach (var (shape, transform) in shapeTransforms)
{
var aabb = shape.TransformedAABB(transform);
if (aabb.Min.X < minX)
{
minX = aabb.Min.X;
}
if (aabb.Min.Y < minY)
{
minY = aabb.Min.Y;
}
if (aabb.Max.X > maxX)
{
maxX = aabb.Max.X;
}
if (aabb.Max.Y > maxY)
{
maxY = aabb.Max.Y;
}
}
return new AABB(minX, minY, maxX, maxY);
}
}
}

81
Bonk/NarrowPhase/NarrowPhase.cs
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@ -14,6 +14,30 @@ namespace MoonTools.Bonk
/// <summary>
/// Tests if two shape-transform pairs are overlapping. Automatically detects fast-path optimizations.
/// </summary>
public static bool TestCollision(IHasAABB2D hasBoundingBoxA, Transform2D transformA, IHasAABB2D hasBoundingBoxB, Transform2D transformB)
{
if (hasBoundingBoxA is MultiShape && hasBoundingBoxB is MultiShape)
{
return TestCollision((MultiShape)hasBoundingBoxA, transformA, (MultiShape)hasBoundingBoxB, transformB);
}
else if (hasBoundingBoxA is MultiShape && hasBoundingBoxB is IShape2D)
{
return TestCollision((MultiShape)hasBoundingBoxA, transformA, (IShape2D)hasBoundingBoxB, transformB);
}
else if (hasBoundingBoxA is IShape2D && hasBoundingBoxB is MultiShape)
{
return TestCollision((IShape2D)hasBoundingBoxA, transformA, (MultiShape)hasBoundingBoxB, transformB);
}
else if (hasBoundingBoxA is IShape2D && hasBoundingBoxB is IShape2D)
{
return TestCollision((IShape2D)hasBoundingBoxA, transformA, (IShape2D)hasBoundingBoxB, transformB);
}
else
{
throw new System.ArgumentException("Collision testing requires MultiShapes or IShape2Ds.");
}
}
public static bool TestCollision(IShape2D shapeA, Transform2D transformA, IShape2D shapeB, Transform2D transformB)
{
if (shapeA is Rectangle rectangleA && shapeB is Rectangle rectangleB && transformA.Rotation == 0 && transformB.Rotation == 0)
@ -35,6 +59,63 @@ namespace MoonTools.Bonk
return FindCollisionSimplex(shapeA, transformA, shapeB, transformB).Item1;
}
/// <summary>
/// Tests if a multishape-transform and shape-transform pair are overlapping.
/// Note that this must perform pairwise comparison so the worst-case performance of this method will vary inversely with the amount of shapes in the multishape.
/// </summary>
/// <param name="multiShape"></param>
/// <param name="multiShapeTransform"></param>
/// <param name="shape"></param>
/// <param name="shapeTransform"></param>
/// <returns></returns>
public static bool TestCollision(MultiShape multiShape, Transform2D multiShapeTransform, IShape2D shape, Transform2D shapeTransform)
{
foreach (var (otherShape, otherTransform) in multiShape.TransformShapesUsingOffset(multiShapeTransform))
{
if (TestCollision(shape, shapeTransform, otherShape, otherTransform)) { return true; }
}
return false;
}
/// <summary>
/// Tests if a multishape-transform and shape-transform pair are overlapping.
/// Note that this must perform pairwise comparison so the worst-case performance of this method will vary inversely with the amount of shapes in the multishape.
/// </summary>
/// <param name="multiShape"></param>
/// <param name="multiShapeTransform"></param>
/// <param name="shape"></param>
/// <param name="shapeTransform"></param>
/// <returns></returns>
public static bool TestCollision(IShape2D shape, Transform2D shapeTransform, MultiShape multiShape, Transform2D multiShapeTransform)
{
foreach (var (otherShape, otherTransform) in multiShape.TransformShapesUsingOffset(multiShapeTransform))
{
if (TestCollision(shape, shapeTransform, otherShape, otherTransform)) { return true; }
}
return false;
}
/// <summary>
/// Tests if two multishape-transform pairs are overlapping.
/// Note that this must perform pairwise comparison so the worst-case performance of this method will vary inversely with the amount of shapes in the multishapes.
/// </summary>
/// <param name="multiShapeA"></param>
/// <param name="transformA"></param>
/// <param name="multiShapeB"></param>
/// <param name="transformB"></param>
/// <returns></returns>
public static bool TestCollision(MultiShape multiShapeA, Transform2D transformA, MultiShape multiShapeB, Transform2D transformB)
{
foreach (var (shapeA, shapeTransformA) in multiShapeA.TransformShapesUsingOffset(transformA))
{
foreach (var (shapeB, shapeTransformB) in multiShapeB.TransformShapesUsingOffset(transformB))
{
if (TestCollision(shapeA, shapeTransformA, shapeB, shapeTransformB)) { return true; }
}
}
return false;
}
/// <summary>
/// Fast path for axis-aligned rectangles. If the transforms have non-zero rotation this will be inaccurate.
/// </summary>

7
Bonk/Shapes/Polygon.cs
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@ -59,7 +59,7 @@ namespace MoonTools.Bonk
public bool Equals(IShape2D other)
{
return (other is Polygon otherPolygon && Equals(otherPolygon)) || (other is Rectangle rectangle && Equals(rectangle));
return (other is Polygon otherPolygon && Equals(otherPolygon));
}
public bool Equals(Polygon other)
@ -82,11 +82,6 @@ namespace MoonTools.Bonk
return true;
}
public bool Equals(Rectangle rectangle)
{
return RectanglePolygonComparison.Equals(this, rectangle);
}
public override int GetHashCode()
{
return HashCode.Combine(Vertices);

64
Bonk/Shapes/Rectangle.cs
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@ -1,56 +1,41 @@
using System;
using System.Collections.Generic;
using System.Numerics;
using MoonTools.Structs;
namespace MoonTools.Bonk
{
/// <summary>
/// A rectangle is a shape defined by a minimum and maximum X value and a minimum and maximum Y value.
/// A rectangle is a shape defined by a width and height. The origin is the center of the rectangle.
/// </summary>
public struct Rectangle : IShape2D, IEquatable<Rectangle>
{
/// <summary>
/// The minimum position of the rectangle. Note that we assume y-down coordinates.
/// </summary>
/// <value></value>
public Position2D Min { get; }
/// <summary>
/// The maximum position of the rectangle. Note that we assume y-down coordinates.
/// </summary>
/// <value></value>
public Position2D Max { get; }
public AABB AABB { get; }
public int Left { get { return Min.X; } }
public int Right { get { return Max.X; } }
public int Top { get { return Min.Y; } }
public int Bottom { get { return Max.Y; } }
public int Width { get; }
public int Height { get; }
public Position2D TopRight { get { return new Position2D(Right, Top); } }
public Position2D BottomLeft { get { return new Position2D(Left, Bottom); } }
public float Right { get; }
public float Left { get; }
public float Top { get; }
public float Bottom { get; }
public Vector2 BottomLeft { get; }
public Vector2 TopRight { get; }
public IEnumerable<Position2D> Vertices
{
get
{
yield return new Position2D(Min.X, Min.Y);
yield return new Position2D(Min.X, Max.Y);
yield return new Position2D(Max.X, Min.Y);
yield return new Position2D(Max.X, Max.Y);
}
}
public Vector2 Min { get; }
public Vector2 Max { get; }
public Rectangle(int minX, int minY, int maxX, int maxY)
public Rectangle(int left, int top, int width, int height)
{
Min = new Position2D(minX, minY);
Max = new Position2D(maxX, maxY);
AABB = new AABB(minX, minY, maxX, maxY);
Width = Max.X - Min.X;
Height = Max.Y - Min.Y;
Width = width;
Height = height;
Left = left;
Right = left + width;
Top = top;
Bottom = top + height;
AABB = new AABB(left, top, Right, Bottom);
BottomLeft = new Vector2(Left, Bottom);
TopRight = new Vector2(Top, Right);
Min = AABB.Min;
Max = AABB.Max;
}
private Vector2 Support(Vector2 direction)
@ -97,7 +82,7 @@ namespace MoonTools.Bonk
public bool Equals(IShape2D other)
{
return (other is Rectangle rectangle && Equals(rectangle)) || (other is Polygon polygon && Equals(polygon));
return (other is Rectangle rectangle && Equals(rectangle));
}
public bool Equals(Rectangle other)
@ -105,11 +90,6 @@ namespace MoonTools.Bonk
return Min == other.Min && Max == other.Max;
}
public bool Equals(Polygon other)
{
return RectanglePolygonComparison.Equals(other, this);
}
public override int GetHashCode()
{
return HashCode.Combine(Min, Max);

25
Bonk/Shapes/RectanglePolygonComparison.cs
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@ -1,25 +0,0 @@
using MoonTools.Structs;
namespace MoonTools.Bonk
{
internal static class RectanglePolygonComparison
{
public static bool Equals(Polygon polygon, Rectangle rectangle)
{
if (polygon.VertexCount != 4) { return false; }
int? minIndex = null;
for (var i = 0; i < 4; i++)
{
if (polygon.Vertices[i] == rectangle.Min) { minIndex = i; break; }
}
if (!minIndex.HasValue) { return false; }
return
polygon.Vertices[(minIndex.Value + 1) % 4] == rectangle.TopRight &&
polygon.Vertices[(minIndex.Value + 2) % 4] == rectangle.Max &&
polygon.Vertices[(minIndex.Value + 3) % 4] == rectangle.BottomLeft;
}
}
}

21
Bonk/SweepTest/SweepResult.cs Normal file
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@ -0,0 +1,21 @@
using System;
using System.Numerics;
namespace MoonTools.Core.Bonk
{
public struct SweepResult<T> where T : IEquatable<T>
{
public static SweepResult<T> False = new SweepResult<T>();
public bool Hit { get; }
public Vector2 Motion { get; }
public T ID { get; }
public SweepResult(bool hit, Vector2 motion, T id)
{
Hit = hit;
Motion = motion;
ID = id;
}
}
}

134
Bonk/SweepTest/SweepTest.cs Normal file
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@ -0,0 +1,134 @@
using System;
using System.Numerics;
using MoonTools.Core.Structs;
namespace MoonTools.Core.Bonk
{
public static class SweepTest
{
/// <summary>
/// Performs a sweep test on and against rectangles. Returns the position 1 pixel before overlap occurs.
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="spatialHash">A spatial hash.</param>
/// <param name="rectangle"></param>
/// <param name="transform">A transform by which to transform the IHasAABB2D.</param>
/// <param name="ray">Given in world-space.</param>
/// <returns></returns>
public static SweepResult<T> Test<T>(SpatialHash<T> spatialHash, Rectangle rectangle, Transform2D transform, Vector2 ray) where T : IEquatable<T>
{
var transformedAABB = rectangle.TransformedAABB(transform);
var sweepBox = SweepBox(transformedAABB, ray);
var shortestDistance = float.MaxValue;
var nearestID = default(T);
Rectangle? nearestRectangle = null;
Transform2D? nearestTransform = null;
foreach (var (id, shape, shapeTransform) in spatialHash.Retrieve(sweepBox))
{
Rectangle otherRectangle;
Transform2D otherTransform;
AABB otherTransformedAABB;
if (shape is Rectangle)
{
otherRectangle = (Rectangle)shape;
otherTransformedAABB = shape.TransformedAABB(shapeTransform);
otherTransform = shapeTransform;
}
else if (shape is MultiShape multiShape && multiShape.IsSingleShape<Rectangle>())
{
Transform2D rectangleOffset;
(otherRectangle, rectangleOffset) = multiShape.ShapeTransformPair<Rectangle>();
otherTransform = shapeTransform.Compose(rectangleOffset);
otherTransformedAABB = shape.TransformedAABB(otherTransform);
}
else
{
continue;
}
float xInvEntry, yInvEntry;
if (ray.X > 0)
{
xInvEntry = otherTransformedAABB.Left - (transformedAABB.Right);
}
else
{
xInvEntry = (otherTransformedAABB.Right) - transformedAABB.Left;
}
if (ray.Y > 0)
{
yInvEntry = otherTransformedAABB.Top - (transformedAABB.Bottom);
}
else
{
yInvEntry = (otherTransformedAABB.Bottom) - transformedAABB.Top;
}
float xEntry, yEntry;
if (ray.X == 0)
{
xEntry = float.MinValue;
}
else
{
xEntry = xInvEntry / ray.X;
}
if (ray.Y == 0)
{
yEntry = float.MinValue;
}
else
{
yEntry = yInvEntry / ray.Y;
}
var entryTime = Math.Max(xEntry, yEntry);
if (entryTime >= 0 && entryTime <= 1)
{
if (entryTime < shortestDistance)
{
shortestDistance = entryTime;
nearestID = id;
nearestRectangle = otherRectangle;
nearestTransform = shapeTransform;
}
}
}
if (nearestRectangle.HasValue)
{
var overlapPosition = ray * shortestDistance;
var correctionX = -Math.Sign(ray.X);
var correctionY = -Math.Sign(ray.Y);
return new SweepResult<T>(true, new Position2D((int)overlapPosition.X + correctionX, (int)overlapPosition.Y + correctionY), nearestID);
}
else
{
return SweepResult<T>.False;
}
}
public static SweepResult<T> Test<T>(SpatialHash<T> spatialHash, Point point, Transform2D transform, Vector2 ray) where T : IEquatable<T>
{
return Test(spatialHash, new Rectangle(0, 0, 0, 0), transform, ray);
}
private static AABB SweepBox(AABB aabb, Vector2 ray)
{
return new AABB(
Math.Min(aabb.Min.X, aabb.Min.X + ray.X),
Math.Min(aabb.Min.Y, aabb.Min.Y + ray.Y),
Math.Max(aabb.Max.X, aabb.Max.X + ray.X),
Math.Max(aabb.Max.Y, aabb.Max.Y + ray.Y)
);
}
}
}

5
Test/AABBTest.cs
View File

@ -14,6 +14,11 @@ namespace Tests
var b = new AABB(new Vector2(0, 0), new Vector2(2, 2));
AABB.TestOverlap(a, b).Should().BeTrue();
var c = new AABB(-2, -2, 2, 1);
var d = new AABB(-2, -2, 2, 2);
AABB.TestOverlap(c, d).Should().BeTrue();
}
[Test]

6
Test/EPA2DTest.cs
View File

@ -13,9 +13,9 @@ namespace Tests
[Test]
public void RectangleOverlap()
{
var squareA = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
var squareA = new Rectangle(-1, -1, 2, 2);
var transformA = Transform2D.DefaultTransform;
var squareB = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
var squareB = new Rectangle(-1, -1, 2, 2);
var transformB = new Transform2D(new Vector2(1.5f, 0));
var (result, simplex) = NarrowPhase.FindCollisionSimplex(squareA, transformA, squareB, transformB);
@ -62,7 +62,7 @@ namespace Tests
{
var line = new Line(new Position2D(-4, -4), new Position2D(4, 4));
var transformA = Transform2D.DefaultTransform;
var square = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
var square = new Rectangle(-1, -1, 2, 2);
var transformB = Transform2D.DefaultTransform;
var (result, simplex) = NarrowPhase.FindCollisionSimplex(line, transformA, square, transformB);

80
Test/Equality.cs
View File

@ -140,8 +140,8 @@ namespace Tests
[Test]
public void RectangleEqual()
{
var a = new Rectangle(0, 0, 3, 3);
var b = new Rectangle(0, 0, 3, 3);
var a = new Rectangle(-1, -1, 3, 3);
var b = new Rectangle(-1, -1, 3, 3);
a.Equals(b).Should().BeTrue();
}
@ -149,8 +149,8 @@ namespace Tests
[Test]
public void RectangleEqualOperator()
{
var a = new Rectangle(0, 0, 3, 3);
var b = new Rectangle(0, 0, 3, 3);
var a = new Rectangle(-1, -1, 3, 3);
var b = new Rectangle(-1, -1, 3, 3);
(a == b).Should().BeTrue();
}
@ -158,8 +158,8 @@ namespace Tests
[Test]
public void RectangleNotEqual()
{
var a = new Rectangle(0, 0, 3, 3);
var b = new Rectangle(-1, -1, 5, 5);
var a = new Rectangle(-1, -1, 3, 3);
var b = new Rectangle(-3, -3, 6, 6);
a.Equals(b).Should().BeFalse();
}
@ -167,8 +167,8 @@ namespace Tests
[Test]
public void RectangleNotEqualOperator()
{
var a = new Rectangle(0, 0, 3, 3);
var b = new Rectangle(-1, -1, 5, 5);
var a = new Rectangle(-1, -1, 3, 3);
var b = new Rectangle(-3, -3, 6, 6);
(a != b).Should().BeTrue();
}
@ -283,70 +283,6 @@ namespace Tests
(a != b).Should().BeTrue();
}
[Test]
public void PolygonRectangleEqual()
{
var a = new Polygon(ImmutableArray.Create(
new Position2D(-1, -1),
new Position2D(1, -1),
new Position2D(1, 1),
new Position2D(-1, 1)
));
var b = new Rectangle(-1, -1, 1, 1);
a.Equals(b).Should().BeTrue();
b.Equals(a).Should().BeTrue();
}
[Test]
public void PolygonRectangleNotEqual()
{
var a = new Polygon(ImmutableArray.Create(
new Position2D(-2, -1),
new Position2D(1, -1),
new Position2D(1, 1),
new Position2D(-2, 1)
));
var b = new Rectangle(-1, -1, 1, 1);
a.Equals(b).Should().BeFalse();
b.Equals(a).Should().BeFalse();
}
[Test]
public void PolygonRectangleEqualOperator()
{
var a = new Polygon(ImmutableArray.Create(
new Position2D(-1, -1),
new Position2D(1, -1),
new Position2D(1, 1),
new Position2D(-1, 1)
));
var b = new Rectangle(-1, -1, 1, 1);
(a == b).Should().BeTrue();
(b == a).Should().BeTrue();
}
[Test]
public void PolygonRectangleNotEqualOperator()
{
var a = new Polygon(ImmutableArray.Create(
new Position2D(2, 1),
new Position2D(1, -1),
new Position2D(-1, -1),
new Position2D(-2, 1)
));
var b = new Rectangle(-1, -1, 1, 1);
(a != b).Should().BeTrue();
(b != a).Should().BeTrue();
}
}
public class SimplexTests

84
Test/GJK2DTest.cs → Test/NarrowPhaseTest.cs
View File

@ -7,7 +7,7 @@ using System.Collections.Immutable;
namespace Tests
{
public class GJK2DTest
public class NarrowPhaseTest
{
[Test]
public void PointLineOverlapping()
@ -55,7 +55,7 @@ namespace Tests
public void PointRectangleOverlapping()
{
var point = new Point();
var rectangle = new Rectangle(-2, -2, 2, 2);
var rectangle = new Rectangle(-2, -2, 4, 4);
NarrowPhase.TestCollision(point, Transform2D.DefaultTransform, rectangle, Transform2D.DefaultTransform).Should().BeTrue();
}
@ -65,7 +65,7 @@ namespace Tests
{
var point = new Point();
var pointTransform = new Transform2D(new Position2D(5, 5));
var rectangle = new Rectangle(-2, -2, 2, 2);
var rectangle = new Rectangle(-2, -2, 4, 4);
NarrowPhase.TestCollision(point, pointTransform, rectangle, Transform2D.DefaultTransform).Should().BeFalse();
}
@ -354,10 +354,10 @@ namespace Tests
[Test]
public void RectanglesNotOverlapping()
{
var rectangleA = new MoonTools.Bonk.Rectangle(-6, -6, 6, 6);
var rectangleA = new Rectangle(-6, -6, 12, 12);
var transformA = new Transform2D(new Position2D(39, 249));
var rectangleB = new MoonTools.Bonk.Rectangle(0, 0, 16, 16);
var rectangleB = new Rectangle(-8, -8, 16, 16);
var transformB = new Transform2D(new Position2D(16, 240));
NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeFalse();
@ -366,11 +366,11 @@ namespace Tests
[Test]
public void RotatedRectanglesOverlapping()
{
var rectangleA = new MoonTools.Bonk.Rectangle(-1, -1, 2, 2);
var transformA = new Transform2D(new Vector2(-1, 0), -90f);
var rectangleA = new Rectangle(-1, -3, 3, 6);
var transformA = new Transform2D(new Vector2(4f, 0), (float)System.Math.PI / 2);
var rectangleB = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
var transformB = new Transform2D(new Vector2(1, 0));
var rectangleB = new Rectangle(-1, -1, 2, 2);
var transformB = new Transform2D(new Vector2(0, 0));
NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
}
@ -378,10 +378,10 @@ namespace Tests
[Test]
public void RectanglesTouchingGJK2D()
{
var rectangleA = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
var rectangleA = new Rectangle(-1, -1, 2, 2);
var transformA = new Transform2D(new Position2D(-1, 0));
var rectangleB = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
var rectangleB = new Rectangle(-1, -1, 2, 2);
var transformB = new Transform2D(new Vector2(1, 0));
NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
@ -390,10 +390,10 @@ namespace Tests
[Test]
public void RectanglesOverlappingGJK2D()
{
var rectangleA = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
var rectangleA = new Rectangle(-1, -1, 2, 2);
var transformA = new Transform2D(new Position2D(0, 0));
var rectangleB = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
var rectangleB = new Rectangle(-1, -1, 2, 2);
var transformB = new Transform2D(new Vector2(1, 0));
NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
@ -402,10 +402,10 @@ namespace Tests
[Test]
public void RectanglesTouchingOverlap()
{
var rectangleA = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
var rectangleA = new Rectangle(-1, -1, 2, 2);
var transformA = new Transform2D(new Position2D(-1, 0));
var rectangleB = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
var rectangleB = new Rectangle(-1, -1, 2, 2);
var transformB = new Transform2D(new Vector2(1, 0));
NarrowPhase.TestRectangleOverlap(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
@ -414,13 +414,61 @@ namespace Tests
[Test]
public void RectanglesOverlappingOverlap()
{
var rectangleA = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
var rectangleA = new Rectangle(-1, -1, 2, 2);
var transformA = new Transform2D(new Position2D(0, 0));
var rectangleB = new MoonTools.Bonk.Rectangle(-1, -1, 1, 1);
var transformB = new Transform2D(new Vector2(1, 0));
var rectangleB = new Rectangle(-1, -1, 2, 2);
var transformB = new Transform2D(new Vector2(1, 0), 0, new Vector2(-1, 1));
NarrowPhase.TestRectangleOverlap(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
}
[Test]
public void MultiRectanglesOverlapping()
{
var multiRectangleA = new MultiShape(
ImmutableArray.Create<(IShape2D, Transform2D)>(
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-5, 0))),
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-5, 1))),
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-5, 2)))
)
);
var transformA = new Transform2D(new Position2D(5, 0));
var multiRectangleB = new MultiShape(
ImmutableArray.Create<(IShape2D, Transform2D)>(
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(4, -1))),
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(4, 0))),
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(4, 1)))
)
);
var transformB = new Transform2D(new Position2D(0, 3));
NarrowPhase.TestCollision(multiRectangleA, transformA, multiRectangleB, transformB).Should().BeTrue();
}
[Test]
public void MultiRectanglesNotOverlapping()
{
var multiRectangleA = new MultiShape(
ImmutableArray.Create<(IShape2D, Transform2D)>(
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-5, 0))),
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-5, 1))),
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-5, 2)))
)
);
var transformA = new Transform2D(new Position2D(5, 0));
var multiRectangleB = new MultiShape(
ImmutableArray.Create<(IShape2D, Transform2D)>(
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(4, -1))),
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(4, 0))),
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(4, 1)))
)
);
var transformB = new Transform2D(new Position2D(0, -3));
NarrowPhase.TestCollision(multiRectangleA, transformA, multiRectangleB, transformB).Should().BeFalse();
}
}
}

37
Test/SpatialHashTest.cs
View File

@ -3,6 +3,7 @@ using NUnit.Framework;
using MoonTools.Structs;
using MoonTools.Bonk;
using System.Numerics;
using System.Collections.Immutable;
namespace Tests
{
@ -13,16 +14,16 @@ namespace Tests
{
var spatialHash = new SpatialHash<int>(16);
var rectA = new Rectangle(-2, -2, 2, 2);
var rectA = new Rectangle(-2, -2, 4, 4);
var rectATransform = new Transform2D(new Vector2(-8, -8));
var rectB = new Rectangle(-2, -2, 2, 2);
var rectB = new Rectangle(-2, -2, 4, 4);
var rectBTransform = new Transform2D(new Vector2(8, 8));
var rectC = new Rectangle(-2, -2, 2, 2);
var rectC = new Rectangle(-2, -2, 4, 4);
var rectCTransform = new Transform2D(new Vector2(24, -4));
var rectD = new Rectangle(-2, -2, 2, 2);
var rectD = new Rectangle(-2, -2, 4, 4);
var rectDTransform = new Transform2D(new Vector2(24, 24));
var circleA = new Circle(2);
@ -37,25 +38,39 @@ namespace Tests
var point = new Point();
var pointTransform = new Transform2D(new Position2D(8, 8));
var multiRectangle = new MultiShape(
ImmutableArray.Create<(IShape2D, Transform2D)>(
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-2, -2))),
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-2, -1))),
(new Rectangle(-2, 0, 4, 1), new Transform2D(new Position2D(-2, 0)))
)
);
var multiRectangleTransform = new Transform2D(new Position2D(8, 8));
spatialHash.Insert(0, rectA, rectATransform);
spatialHash.Insert(1, rectB, rectBTransform);
spatialHash.Insert(2, rectC, rectCTransform);
spatialHash.Insert(3, rectD, rectDTransform);
spatialHash.Insert(4, circleA, circleATransform);
spatialHash.Insert(1, circleB, circleBTransform);
spatialHash.Insert(9, circleB, circleBTransform);
spatialHash.Insert(6, line, lineTransform);
spatialHash.Insert(7, point, pointTransform);
spatialHash.Insert(8, multiRectangle, multiRectangleTransform);
spatialHash.Retrieve(0, rectA, rectATransform).Should().BeEmpty();
spatialHash.Retrieve(1, rectB, rectBTransform).Should().NotContain((1, circleB, circleBTransform));
spatialHash.Retrieve(1, rectB, rectBTransform).Should().Contain((7, point, pointTransform));
spatialHash.Retrieve(1, rectB, rectBTransform).Should().Contain((8, multiRectangle, multiRectangleTransform));
spatialHash.Retrieve(2, rectC, rectCTransform).Should().Contain((6, line, lineTransform)).And.Contain((4, circleA, circleATransform));
spatialHash.Retrieve(3, rectD, rectDTransform).Should().Contain((1, circleB, circleBTransform));
spatialHash.Retrieve(3, rectD, rectDTransform).Should().Contain((9, circleB, circleBTransform));
spatialHash.Retrieve(4, circleA, circleATransform).Should().Contain((6, line, lineTransform)).And.Contain((2, rectC, rectCTransform));
spatialHash.Retrieve(1, circleB, circleBTransform).Should().NotContain((1, rectB, rectBTransform)).And.Contain((3, rectD, rectDTransform));
spatialHash.Retrieve(6, line, lineTransform).Should().Contain((4, circleA, circleATransform)).And.Contain((2, rectC, rectCTransform));
spatialHash.Retrieve(8, multiRectangle, multiRectangleTransform).Should().Contain((1, rectB, rectBTransform));
spatialHash.Retrieve(8, multiRectangle, multiRectangleTransform).Should().NotContain((0, rectA, rectATransform));
}
[Test]
@ -63,13 +78,13 @@ namespace Tests
{
var spatialHash = new SpatialHash<int>(16);
var rectA = new Rectangle(-2, -2, 2, 2);
var rectA = new Rectangle(-2, -2, 4, 4);
var rectATransform = new Transform2D(new Vector2(-8, -8));
var rectB = new Rectangle(-2, -2, 2, 2);
var rectB = new Rectangle(-2, -2, 4, 4);
var rectBTransform = new Transform2D(new Vector2(-8, -8));
var rectC = new Rectangle(-1, -1, 1, 1);
var rectC = new Rectangle(-2, -2, 2, 2);
var rectCTransform = new Transform2D(new Vector2(-8, -8));
spatialHash.Insert(0, rectA, rectATransform);
@ -84,10 +99,10 @@ namespace Tests
{
var spatialHash = new SpatialHash<int>(16);
var rectA = new Rectangle(-2, -2, 2, 2);
var rectA = new Rectangle(-2, -2, 4, 4);
var rectATransform = new Transform2D(new Vector2(-8, -8));
var rectB = new Rectangle(-2, -2, 2, 2);
var rectB = new Rectangle(-2, -2, 4, 4);
var rectBTransform = new Transform2D(new Vector2(8, 8));
spatialHash.Insert(0, rectA, rectATransform);

42
Test/SweepTestTest.cs Normal file
View File

@ -0,0 +1,42 @@
using System.Numerics;
using FluentAssertions;
using MoonTools.Core.Bonk;
using MoonTools.Core.Structs;
using NUnit.Framework;
namespace Tests
{
class SweepTestTest
{
[Test]
public void SweepsThrough()
{
var rectangle = new Rectangle(-2, -2, 4, 4);
var transform = new Transform2D(new Position2D(-6, 0));
var otherRectangle = new Rectangle(-2, -2, 4, 4);
var otherTransform = new Transform2D(new Position2D(6, 0));
var farthestRectangle = new Rectangle(-2, -2, 4, 4);
var farthestTransform = new Transform2D(new Position2D(12, 0));
var downRectangle = new Rectangle(-6, -2, 12, 4);
var downTransform = new Transform2D(new Position2D(-6, 20));
var spatialHash = new SpatialHash<int>(16);
spatialHash.Insert(1, otherRectangle, otherTransform);
spatialHash.Insert(2, farthestRectangle, farthestTransform);
spatialHash.Insert(3, downRectangle, downTransform);
SweepTest.Test(spatialHash, rectangle, transform, new Vector2(12, 0)).Should().Be(
new SweepResult<int>(true, new Vector2(7, 0), 1)
);
SweepTest.Test(spatialHash, rectangle, transform, new Vector2(-12, 0)).Hit.Should().BeFalse();
SweepTest.Test(spatialHash, rectangle, transform, new Vector2(0, 20)).Should().Be(
new SweepResult<int>(true, new Vector2(0, 15), 3)
);
}
}
}