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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/Shapes/CircleShape.cs
+23 -10
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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
*
@@ -23,6 +28,7 @@
using System;
using System.Diagnostics;
using FarseerPhysics.Common;
using FarseerPhysics.Common.Maths;
using Microsoft.Xna.Framework;
namespace FarseerPhysics.Collision.Shapes
@@ -78,7 +84,7 @@ namespace FarseerPhysics.Collision.Shapes
public override bool TestPoint(ref Transform transform, ref Vector2 point)
{
Vector2 center = transform.p + MathUtils.Mul(transform.q, Position);
Vector2 center = transform.p + Complex.Multiply(ref _position, ref transform.q);
Vector2 d = point - center;
return Vector2.Dot(d, d) <= _2radius;
}
@@ -92,7 +98,7 @@ namespace FarseerPhysics.Collision.Shapes
output = new RayCastOutput();
Vector2 position = transform.p + MathUtils.Mul(transform.q, Position);
Vector2 position = transform.p + Complex.Multiply(ref _position, ref transform.q);
Vector2 s = input.Point1 - position;
float b = Vector2.Dot(s, s) - _2radius;
@@ -128,14 +134,21 @@ namespace FarseerPhysics.Collision.Shapes
public override void ComputeAABB(out AABB aabb, ref Transform transform, int childIndex)
{
Vector2 p = transform.p + MathUtils.Mul(transform.q, Position);
aabb.LowerBound = new Vector2(p.X - Radius, p.Y - Radius);
aabb.UpperBound = new Vector2(p.X + Radius, p.Y + Radius);
// OPT: Vector2 p = transform.p + Complex.Multiply(ref _position, ref transform.q);
var pX = (_position.X * transform.q.Real - _position.Y * transform.q.Imaginary) + transform.p.X;
var pY = (_position.Y * transform.q.Real + _position.X * transform.q.Imaginary) + transform.p.Y;
// OPT: aabb.LowerBound = new Vector2(p.X - Radius, p.Y - Radius);
// OPT: aabb.UpperBound = new Vector2(p.X + Radius, p.Y + Radius);
aabb.LowerBound.X = pX - Radius;
aabb.LowerBound.Y = pY - Radius;
aabb.UpperBound.X = pX + Radius;
aabb.UpperBound.Y = pY + Radius;
}
protected override sealed void ComputeProperties()
{
float area = Settings.Pi * _2radius;
float area = MathHelper.Pi * _2radius;
MassData.Area = area;
MassData.Mass = Density * area;
MassData.Centroid = Position;
@@ -148,7 +161,7 @@ namespace FarseerPhysics.Collision.Shapes
{
sc = Vector2.Zero;
Vector2 p = MathUtils.Mul(ref xf, Position);
Vector2 p = Transform.Multiply(ref _position, ref xf);
float l = -(Vector2.Dot(normal, p) - offset);
if (l < -Radius + Settings.Epsilon)
{
@@ -159,12 +172,12 @@ namespace FarseerPhysics.Collision.Shapes
{
//Completely wet
sc = p;
return Settings.Pi * _2radius;
return MathHelper.Pi * _2radius;
}
//Magic
float l2 = l * l;
float area = _2radius * (float)((Math.Asin(l / Radius) + Settings.Pi / 2) + l * Math.Sqrt(_2radius - l2));
float area = _2radius * (float)((Math.Asin(l / Radius) + MathHelper.Pi / 2) + l * Math.Sqrt(_2radius - l2));
float com = -2.0f / 3.0f * (float)Math.Pow(_2radius - l2, 1.5f) / area;
sc.X = p.X + normal.X * com;