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(61d00a474) v0.9.7.1

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Regalis
2020-03-04 13:04:10 +01:00
parent 3c50efa5c9
commit 3c09ebe02f
5086 changed files with 786063 additions and 295871 deletions
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Libraries/Farseer Physics Engine 3.5/Collision/Distance.cs
+30 -21
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@@ -1,4 +1,9 @@
/*
/* Original source Farseer Physics Engine:
* Copyright (c) 2014 Ian Qvist, http://farseerphysics.codeplex.com
* Microsoft Permissive License (Ms-PL) v1.1
*/
/*
* Farseer Physics Engine:
* Copyright (c) 2012 Ian Qvist
*
@@ -24,6 +29,7 @@ using System;
using System.Diagnostics;
using FarseerPhysics.Collision.Shapes;
using FarseerPhysics.Common;
using FarseerPhysics.Common.Maths;
using Microsoft.Xna.Framework;
namespace FarseerPhysics.Collision
@@ -32,10 +38,10 @@ namespace FarseerPhysics.Collision
/// A distance proxy is used by the GJK algorithm.
/// It encapsulates any shape.
/// </summary>
public class DistanceProxy
public struct DistanceProxy
{
internal float Radius;
internal Vertices Vertices = new Vertices();
internal Vertices Vertices;
// GJK using Voronoi regions (Christer Ericson) and Barycentric coordinates.
@@ -45,8 +51,10 @@ namespace FarseerPhysics.Collision
/// </summary>
/// <param name="shape">The shape.</param>
/// <param name="index">The index.</param>
public void Set(Shape shape, int index)
public DistanceProxy(Shape shape, int index)
{
Vertices = new Vertices();
switch (shape.ShapeType)
{
case ShapeType.Circle:
@@ -93,6 +101,7 @@ namespace FarseerPhysics.Collision
break;
default:
Radius = 0;
Debug.Assert(false);
break;
}
@@ -171,10 +180,10 @@ namespace FarseerPhysics.Collision
/// Input for Distance.ComputeDistance().
/// You have to option to use the shape radii in the computation.
/// </summary>
public class DistanceInput
public struct DistanceInput
{
public DistanceProxy ProxyA = new DistanceProxy();
public DistanceProxy ProxyB = new DistanceProxy();
public DistanceProxy ProxyA;
public DistanceProxy ProxyB;
public Transform TransformA;
public Transform TransformB;
public bool UseRadii;
@@ -241,7 +250,7 @@ namespace FarseerPhysics.Collision
internal int Count;
internal FixedArray3<SimplexVertex> V;
internal void ReadCache(ref SimplexCache cache, DistanceProxy proxyA, ref Transform transformA, DistanceProxy proxyB, ref Transform transformB)
internal void ReadCache(ref SimplexCache cache, ref DistanceProxy proxyA, ref Transform transformA, ref DistanceProxy proxyB, ref Transform transformB)
{
Debug.Assert(cache.Count <= 3);
@@ -254,8 +263,8 @@ namespace FarseerPhysics.Collision
v.IndexB = cache.IndexB[i];
Vector2 wALocal = proxyA.Vertices[v.IndexA];
Vector2 wBLocal = proxyB.Vertices[v.IndexB];
v.WA = MathUtils.Mul(ref transformA, wALocal);
v.WB = MathUtils.Mul(ref transformB, wBLocal);
v.WA = Transform.Multiply(ref wALocal, ref transformA);
v.WB = Transform.Multiply(ref wBLocal, ref transformB);
v.W = v.WB - v.WA;
v.A = 0.0f;
V[i] = v;
@@ -282,8 +291,8 @@ namespace FarseerPhysics.Collision
v.IndexB = 0;
Vector2 wALocal = proxyA.Vertices[0];
Vector2 wBLocal = proxyB.Vertices[0];
v.WA = MathUtils.Mul(ref transformA, wALocal);
v.WB = MathUtils.Mul(ref transformB, wBLocal);
v.WA = Transform.Multiply(ref wALocal, ref transformA);
v.WB = Transform.Multiply(ref wBLocal, ref transformB);
v.W = v.WB - v.WA;
v.A = 1.0f;
V[0] = v;
@@ -514,11 +523,11 @@ namespace FarseerPhysics.Collision
float d23_2 = -w2e23;
// Triangle123
float n123 = MathUtils.Cross(e12, e13);
float n123 = MathUtils.Cross(ref e12, ref e13);
float d123_1 = n123 * MathUtils.Cross(w2, w3);
float d123_2 = n123 * MathUtils.Cross(w3, w1);
float d123_3 = n123 * MathUtils.Cross(w1, w2);
float d123_1 = n123 * MathUtils.Cross(ref w2, ref w3);
float d123_2 = n123 * MathUtils.Cross(ref w3, ref w1);
float d123_3 = n123 * MathUtils.Cross(ref w1, ref w2);
// w1 region
if (d12_2 <= 0.0f && d13_2 <= 0.0f)
@@ -646,7 +655,7 @@ namespace FarseerPhysics.Collision
// Initialize the simplex.
Simplex simplex = new Simplex();
simplex.ReadCache(ref cache, input.ProxyA, ref input.TransformA, input.ProxyB, ref input.TransformB);
simplex.ReadCache(ref cache, ref input.ProxyA, ref input.TransformA, ref input.ProxyB, ref input.TransformB);
// These store the vertices of the last simplex so that we
// can check for duplicates and prevent cycling.
@@ -717,11 +726,11 @@ namespace FarseerPhysics.Collision
// Compute a tentative new simplex vertex using support points.
SimplexVertex vertex = simplex.V[simplex.Count];
vertex.IndexA = input.ProxyA.GetSupport(MathUtils.MulT(input.TransformA.q, -d));
vertex.WA = MathUtils.Mul(ref input.TransformA, input.ProxyA.Vertices[vertex.IndexA]);
vertex.IndexA = input.ProxyA.GetSupport(-Complex.Divide(ref d, ref input.TransformA.q));
vertex.WA = Transform.Multiply(input.ProxyA.Vertices[vertex.IndexA], ref input.TransformA);
vertex.IndexB = input.ProxyB.GetSupport(MathUtils.MulT(input.TransformB.q, d));
vertex.WB = MathUtils.Mul(ref input.TransformB, input.ProxyB.Vertices[vertex.IndexB]);
vertex.IndexB = input.ProxyB.GetSupport( Complex.Divide(ref d, ref input.TransformB.q));
vertex.WB = Transform.Multiply(input.ProxyB.Vertices[vertex.IndexB], ref input.TransformB);
vertex.W = vertex.WB - vertex.WA;
simplex.V[simplex.Count] = vertex;