Package net.phys2d.math

Examples of net.phys2d.math.Vector2f

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    // TODO: this can be optimized using matrix multiplications and moving only one shape
    // specifically the line, because it has only two vertices
    Vector2f[] vertsA = line.getVertices(bodyA.getPosition(), bodyA.getRotation());
    Vector2f[] vertsB = poly.getVertices(bodyB.getPosition(), bodyB.getRotation());

    Vector2f pos = poly.getCentroid(bodyB.getPosition(), bodyB.getRotation());
   
    // using the z axis of a 3d cross product we determine on what side B is
    boolean isLeftOf = 0 > (pos.x - vertsA[0].x) * (vertsA[1].y - vertsA[0].y) - (vertsA[1].x - vertsA[0].x) * (pos.y - vertsA[0].y);
   
    // to get the proper intersection pairs we make sure
    // the line's normal is pointing towards the polygon
    // TODO: verify that it's not actually pointing in the opposite direction
    if ( isLeftOf ) {
      Vector2f tmp = vertsA[0];
      vertsA[0] = vertsA[1];
      vertsA[1] = tmp;
    }
   
    // we use the line's normal for our sweepline projection
    Vector2f normal = new Vector2f(vertsA[1]);
    normal.sub(vertsA[0]);
    normal.set(normal.y, -normal.x);
    EdgeSweep sweep = new EdgeSweep(normal);
    sweep.insert(0, true, vertsA[0].dot(normal));
    sweep.insert(0, true, vertsA[1].dot(normal));
    sweep.addVerticesToSweep(false, vertsB);
    int[][] collEdgeCands = sweep.getOverlappingEdges();
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   * @param intersection The intersection where the line enters or exits the polygon
   * @param vertsA The line's vertices
   * @param vertsB The polygon's vertices
   */
  public void setLineEndContact(Contact contact, Intersection intersection, Vector2f[] vertsA, Vector2f[] vertsB) {
    Vector2f separation = new Vector2f(intersection.position);
    if ( intersection.isIngoing )
      separation.sub(vertsA[1]);
    else
      separation.sub(vertsA[0]);
   
    float depthA = 0;//separation.length();
   
    contact.setSeparation(-depthA);
    contact.setNormal(MathUtil.getNormal(vertsB[(intersection.edgeB + 1) % vertsB.length], vertsB[intersection.edgeB]));
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    Vector2f[] vertsA = poly.getVertices(bodyA.getPosition(), bodyA.getRotation());
    Vector2f[] vertsB = box.getPoints(bodyB.getPosition(), bodyB.getRotation());
   
    // TODO: use a sweepline that has the smallest projection of the box
    // now we use just an arbitrary one
    Vector2f sweepline = new Vector2f(vertsB[1]);
    sweepline.sub(vertsB[2]);
   
    EdgeSweep sweep = new EdgeSweep(sweepline);
   
    sweep.addVerticesToSweep(true, vertsA);
    sweep.addVerticesToSweep(false, vertsB);
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   * @param vertsA The vertices of polygon A
   * @param vertsB The vertices of polygon B
   * @return the maximum penetration depth along the given normal
   */
  public static float getPenetrationDepth(Intersection in, Intersection out, Vector2f normal, Vector2f[] vertsA, Vector2f[] vertsB) {
    Vector2f sweepdir = new Vector2f(out.position);
    sweepdir.sub(in.position);
   
    PenetrationSweep ps = new PenetrationSweep(normal, sweepdir, in.position, out.position);

    //TODO: most penetrations are very simple, similar to:
    // \               +       |       
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    Vector2f[] vertsA = line.getVertices(bodyA.getPosition(), bodyA.getRotation());
   
    // compute intersection of the line A and a line parallel to
    // the line A's normal passing through the origin of B
    Vector2f startA = vertsA[0];
    Vector2f endA = vertsA[1];
    ROVector2f startB = bodyB.getPosition();
    Vector2f endB = new Vector2f(endA);
    endB.sub(startA);
    endB.set(endB.y, -endB.x);
//    endB.add(startB);// TODO: inline endB into equations below, this last operation will be useless..
   
    //TODO: reuse mathutil.intersect
//    float d = (endB.y - startB.getY()) * (endA.x - startA.x);
//    d -= (endB.x - startB.getX()) * (endA.y - startA.y);
//   
//    float uA = (endB.x - startB.getX()) * (startA.y - startB.getY());
//    uA -= (endB.y - startB.getY()) * (startA.x - startB.getX());
//    uA /= d;
    float d = endB.y * (endA.x - startA.x);
    d -= endB.x * (endA.y - startA.y);
   
    float uA = endB.x * (startA.y - startB.getY());
    uA -= endB.y * (startA.x - startB.getX());
    uA /= d;
   
    Vector2f position = null;
   
    if ( uA < 0 ) { // the intersection is somewhere before startA
      position = startA;
    } else if ( uA > 1 ) { // the intersection is somewhere after endA
      position = endA;
    } else {
      position = new Vector2f(
          startA.x + uA * (endA.x - startA.x),
          startA.y + uA * (endA.y - startA.y));
    }
   
    Vector2f normal = endB; // reuse of vector object
    normal.set(startB);
    normal.sub(position);
    float distSquared = normal.lengthSquared();
    float radiusSquared = circle.getRadius() * circle.getRadius();
   
    if ( distSquared < radiusSquared ) {
      contacts[0].setPosition(position);
      contacts[0].setFeature(new FeaturePair());
     
      normal.normalise();
      contacts[0].setNormal(normal);
     
      float separation = (float) Math.sqrt(distSquared) - circle.getRadius();
      contacts[0].setSeparation(separation);
     
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  /** Constructs an EdgeSweep object with the given sweep direction.
   *
   * @param sweepDir The direction in which to sweep
   */
  public EdgeSweep(ROVector2f sweepDir) {
    this.sweepDir = new Vector2f(sweepDir);
  }
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    touches = circleA.touches(x1,y1,circleB,x2,y2);
    if (!touches) {
      return 0;
    }
   
    Vector2f normal = MathUtil.sub(bodyB.getPosition(),bodyA.getPosition());
    float sep = (circleA.getRadius() + circleB.getRadius()) - normal.length();

    normal.normalise();
    Vector2f pt = MathUtil.scale(normal, circleA.getRadius());
    pt.add(bodyA.getPosition());

    contacts[0].setSeparation(-sep);
    contacts[0].setPosition(pt);
    contacts[0].setNormal(normal);
   
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    Circle circle = (Circle) bodyB.getShape();
   
    // TODO: this can be optimized using matrix multiplications and moving only the circle
    Vector2f[] vertsA = polyA.getVertices(bodyA.getPosition(), bodyA.getRotation());
   
    Vector2f centroidA = new Vector2f(polyA.getCentroid());
    centroidA.add(bodyA.getPosition());

   
    int[][] collPairs = getCollisionCandidates(vertsA, centroidA, circle.getRadius(), bodyB.getPosition());

    int noContacts = 0;
    for ( int i = 0; i < collPairs.length; i++ ) {
      if ( noContacts >= contacts.length )
        return contacts.length;
     
      Vector2f lineStartA = vertsA[collPairs[i][0]];
      Vector2f lineEndA = vertsA[(collPairs[i][0]+1) % vertsA.length ];
      Line line = new Line(lineStartA, lineEndA);
           
      float dis2 = line.distanceSquared(bodyB.getPosition());
      float r2 = circle.getRadius() * circle.getRadius();

      if ( dis2 < r2 ) {
        Vector2f pt = new Vector2f();
       
        line.getClosestPoint(bodyB.getPosition(), pt);
        Vector2f normal = new Vector2f(bodyB.getPosition());
        normal.sub(pt);
        float sep = circle.getRadius() - normal.length();
        normal.normalise();
       
        contacts[noContacts].setSeparation(-sep);
        contacts[noContacts].setPosition(pt);
        contacts[noContacts].setNormal(normal);
        contacts[noContacts].setFeature(new FeaturePair());
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   * @param radius The radius of the circle
   * @param circlePos The position (center) of the circle
   * @return The list of edges that can collide with the circle
   */
  protected int[][] getCollisionCandidates(Vector2f[] vertsA, ROVector2f centroid, float radius, ROVector2f circlePos) {
    Vector2f sweepDir = new Vector2f(centroid);
    sweepDir.sub(circlePos);
    sweepDir.normalise(); //TODO: this normalization might not be necessary
   
    EdgeSweep sweep = new EdgeSweep(sweepDir);//vertsA[0], true, true, dist);
   
    sweep.addVerticesToSweep(true, vertsA);
   
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   * @param endA End point of the line
   * @param point The point to get a closes point on the line for
   * @return the closest point on the line or null if the lines are parallel
   */
  public static Vector2f getClosestPoint(Vector2f startA, Vector2f endA, Vector2f point) {
    Vector2f startB = point;
    Vector2f endB = new Vector2f(endA);
    endB.sub(startA);
    endB.set(endB.y, -endB.x);

    float d = endB.y * (endA.x - startA.x);
    d -= endB.x * (endA.y - startA.y);
   
    if ( d == 0 )
      return null;
   
    float uA = endB.x * (startA.y - startB.getY());
    uA -= endB.y * (startA.x - startB.getX());
    uA /= d;
   
    return new Vector2f(
      startA.x + uA * (endA.x - startA.x),
      startA.y + uA * (endA.y - startA.y));
  }
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