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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/TimeOfImpact.cs
+47 -47
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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
@@ -32,8 +38,8 @@ namespace FarseerPhysics.Collision
/// </summary>
public class TOIInput
{
public DistanceProxy ProxyA = new DistanceProxy();
public DistanceProxy ProxyB = new DistanceProxy();
public DistanceProxy ProxyA;
public DistanceProxy ProxyB;
public Sweep SweepA;
public Sweep SweepB;
public float TMax; // defines sweep interval [0, tMax]
@@ -76,7 +82,7 @@ namespace FarseerPhysics.Collision
[ThreadStatic]
private static SeparationFunctionType _type;
public static void Set(ref SimplexCache cache, DistanceProxy proxyA, ref Sweep sweepA, DistanceProxy proxyB, ref Sweep sweepB, float t1)
public static void Set(ref SimplexCache cache, ref DistanceProxy proxyA, ref Sweep sweepA, ref DistanceProxy proxyB, ref Sweep sweepB, float t1)
{
_localPoint = Vector2.Zero;
_proxyA = proxyA;
@@ -96,8 +102,8 @@ namespace FarseerPhysics.Collision
_type = SeparationFunctionType.Points;
Vector2 localPointA = _proxyA.Vertices[cache.IndexA[0]];
Vector2 localPointB = _proxyB.Vertices[cache.IndexB[0]];
Vector2 pointA = MathUtils.Mul(ref xfA, localPointA);
Vector2 pointB = MathUtils.Mul(ref xfB, localPointB);
Vector2 pointA = Transform.Multiply(ref localPointA, ref xfA);
Vector2 pointB = Transform.Multiply(ref localPointB, ref xfB);
_axis = pointB - pointA;
_axis.Normalize();
}
@@ -111,13 +117,13 @@ namespace FarseerPhysics.Collision
Vector2 a = localPointB2 - localPointB1;
_axis = new Vector2(a.Y, -a.X);
_axis.Normalize();
Vector2 normal = MathUtils.Mul(ref xfB.q, _axis);
Vector2 normal = Complex.Multiply(ref _axis, ref xfB.q);
_localPoint = 0.5f * (localPointB1 + localPointB2);
Vector2 pointB = MathUtils.Mul(ref xfB, _localPoint);
Vector2 pointB = Transform.Multiply(ref _localPoint, ref xfB);
Vector2 localPointA = proxyA.Vertices[cache.IndexA[0]];
Vector2 pointA = MathUtils.Mul(ref xfA, localPointA);
Vector2 pointA = Transform.Multiply(ref localPointA, ref xfA);
float s = Vector2.Dot(pointA - pointB, normal);
if (s < 0.0f)
@@ -135,13 +141,13 @@ namespace FarseerPhysics.Collision
Vector2 a = localPointA2 - localPointA1;
_axis = new Vector2(a.Y, -a.X);
_axis.Normalize();
Vector2 normal = MathUtils.Mul(ref xfA.q, _axis);
Vector2 normal = Complex.Multiply(ref _axis, ref xfA.q);
_localPoint = 0.5f * (localPointA1 + localPointA2);
Vector2 pointA = MathUtils.Mul(ref xfA, _localPoint);
Vector2 pointA = Transform.Multiply(ref _localPoint, ref xfA);
Vector2 localPointB = _proxyB.Vertices[cache.IndexB[0]];
Vector2 pointB = MathUtils.Mul(ref xfB, localPointB);
Vector2 pointB = Transform.Multiply(ref localPointB, ref xfB);
float s = Vector2.Dot(pointB - pointA, normal);
if (s < 0.0f)
@@ -149,8 +155,6 @@ namespace FarseerPhysics.Collision
_axis = -_axis;
}
}
//FPE note: the returned value that used to be here has been removed, as it was not used.
}
public static float FindMinSeparation(out int indexA, out int indexB, float t)
@@ -163,8 +167,8 @@ namespace FarseerPhysics.Collision
{
case SeparationFunctionType.Points:
{
Vector2 axisA = MathUtils.MulT(ref xfA.q, _axis);
Vector2 axisB = MathUtils.MulT(ref xfB.q, -_axis);
Vector2 axisA = Complex.Divide(ref _axis, ref xfA.q);
Vector2 axisB = -Complex.Divide(ref _axis, ref xfB.q);
indexA = _proxyA.GetSupport(axisA);
indexB = _proxyB.GetSupport(axisB);
@@ -172,8 +176,8 @@ namespace FarseerPhysics.Collision
Vector2 localPointA = _proxyA.Vertices[indexA];
Vector2 localPointB = _proxyB.Vertices[indexB];
Vector2 pointA = MathUtils.Mul(ref xfA, localPointA);
Vector2 pointB = MathUtils.Mul(ref xfB, localPointB);
Vector2 pointA = Transform.Multiply(ref localPointA, ref xfA);
Vector2 pointB = Transform.Multiply(ref localPointB, ref xfB);
float separation = Vector2.Dot(pointB - pointA, _axis);
return separation;
@@ -181,16 +185,16 @@ namespace FarseerPhysics.Collision
case SeparationFunctionType.FaceA:
{
Vector2 normal = MathUtils.Mul(ref xfA.q, _axis);
Vector2 pointA = MathUtils.Mul(ref xfA, _localPoint);
Vector2 normal = Complex.Multiply(ref _axis, ref xfA.q);
Vector2 pointA = Transform.Multiply(ref _localPoint, ref xfA);
Vector2 axisB = MathUtils.MulT(ref xfB.q, -normal);
Vector2 axisB = -Complex.Divide(ref normal, ref xfB.q);
indexA = -1;
indexB = _proxyB.GetSupport(axisB);
Vector2 localPointB = _proxyB.Vertices[indexB];
Vector2 pointB = MathUtils.Mul(ref xfB, localPointB);
Vector2 pointB = Transform.Multiply(ref localPointB, ref xfB);
float separation = Vector2.Dot(pointB - pointA, normal);
return separation;
@@ -198,16 +202,16 @@ namespace FarseerPhysics.Collision
case SeparationFunctionType.FaceB:
{
Vector2 normal = MathUtils.Mul(ref xfB.q, _axis);
Vector2 pointB = MathUtils.Mul(ref xfB, _localPoint);
Vector2 normal = Complex.Multiply(ref _axis, ref xfB.q);
Vector2 pointB = Transform.Multiply(ref _localPoint, ref xfB);
Vector2 axisA = MathUtils.MulT(ref xfA.q, -normal);
Vector2 axisA = -Complex.Divide(ref normal, ref xfA.q);
indexB = -1;
indexA = _proxyA.GetSupport(axisA);
Vector2 localPointA = _proxyA.Vertices[indexA];
Vector2 pointA = MathUtils.Mul(ref xfA, localPointA);
Vector2 pointA = Transform.Multiply(ref localPointA, ref xfA);
float separation = Vector2.Dot(pointA - pointB, normal);
return separation;
@@ -223,8 +227,6 @@ namespace FarseerPhysics.Collision
public static float Evaluate(int indexA, int indexB, float t)
{
if (float.IsNaN(t)) return 0.0f;
Transform xfA, xfB;
_sweepA.GetTransform(out xfA, t);
_sweepB.GetTransform(out xfB, t);
@@ -236,30 +238,30 @@ namespace FarseerPhysics.Collision
Vector2 localPointA = _proxyA.Vertices[indexA];
Vector2 localPointB = _proxyB.Vertices[indexB];
Vector2 pointA = MathUtils.Mul(ref xfA, localPointA);
Vector2 pointB = MathUtils.Mul(ref xfB, localPointB);
Vector2 pointA = Transform.Multiply(ref localPointA, ref xfA);
Vector2 pointB = Transform.Multiply(ref localPointB, ref xfB);
float separation = Vector2.Dot(pointB - pointA, _axis);
return separation;
}
case SeparationFunctionType.FaceA:
{
Vector2 normal = MathUtils.Mul(ref xfA.q, _axis);
Vector2 pointA = MathUtils.Mul(ref xfA, _localPoint);
Vector2 normal = Complex.Multiply(ref _axis, ref xfA.q);
Vector2 pointA = Transform.Multiply(ref _localPoint, ref xfA);
Vector2 localPointB = _proxyB.Vertices[indexB];
Vector2 pointB = MathUtils.Mul(ref xfB, localPointB);
Vector2 pointB = Transform.Multiply(ref localPointB, ref xfB);
float separation = Vector2.Dot(pointB - pointA, normal);
return separation;
}
case SeparationFunctionType.FaceB:
{
Vector2 normal = MathUtils.Mul(ref xfB.q, _axis);
Vector2 pointB = MathUtils.Mul(ref xfB, _localPoint);
Vector2 normal = Complex.Multiply(ref _axis, ref xfB.q);
Vector2 pointB = Transform.Multiply(ref _localPoint, ref xfB);
Vector2 localPointA = _proxyA.Vertices[indexA];
Vector2 pointA = MathUtils.Mul(ref xfA, localPointA);
Vector2 pointA = Transform.Multiply(ref localPointA, ref xfA);
float separation = Vector2.Dot(pointA - pointB, normal);
return separation;
@@ -280,8 +282,6 @@ namespace FarseerPhysics.Collision
public static int TOICalls, TOIIters, TOIMaxIters;
[ThreadStatic]
public static int TOIRootIters, TOIMaxRootIters;
[ThreadStatic]
private static DistanceInput _distanceInput;
/// <summary>
/// Compute the upper bound on time before two shapes penetrate. Time is represented as
@@ -292,7 +292,7 @@ namespace FarseerPhysics.Collision
/// </summary>
/// <param name="output">The output.</param>
/// <param name="input">The input.</param>
public static void CalculateTimeOfImpact(out TOIOutput output, TOIInput input)
public static void CalculateTimeOfImpact(out TOIOutput output, ref TOIInput input)
{
if (Settings.EnableDiagnostics) //FPE: We only gather diagnostics when enabled
++TOICalls;
@@ -321,10 +321,10 @@ namespace FarseerPhysics.Collision
int iter = 0;
// Prepare input for distance query.
_distanceInput = _distanceInput ?? new DistanceInput();
_distanceInput.ProxyA = input.ProxyA;
_distanceInput.ProxyB = input.ProxyB;
_distanceInput.UseRadii = false;
DistanceInput distanceInput = new DistanceInput();
distanceInput.ProxyA = input.ProxyA;
distanceInput.ProxyB = input.ProxyB;
distanceInput.UseRadii = false;
// The outer loop progressively attempts to compute new separating axes.
// This loop terminates when an axis is repeated (no progress is made).
@@ -336,11 +336,11 @@ namespace FarseerPhysics.Collision
// Get the distance between shapes. We can also use the results
// to get a separating axis.
_distanceInput.TransformA = xfA;
_distanceInput.TransformB = xfB;
distanceInput.TransformA = xfA;
distanceInput.TransformB = xfB;
DistanceOutput distanceOutput;
SimplexCache cache;
Distance.ComputeDistance(out distanceOutput, out cache, _distanceInput);
Distance.ComputeDistance(out distanceOutput, out cache, distanceInput);
// If the shapes are overlapped, we give up on continuous collision.
if (distanceOutput.Distance <= 0.0f)
@@ -359,7 +359,7 @@ namespace FarseerPhysics.Collision
break;
}
SeparationFunction.Set(ref cache, input.ProxyA, ref sweepA, input.ProxyB, ref sweepB, t1);
SeparationFunction.Set(ref cache, ref input.ProxyA, ref sweepA, ref input.ProxyB, ref sweepB, t1);
// Compute the TOI on the separating axis. We do this by successively
// resolving the deepest point. This loop is bounded by the number of vertices.