本文整理汇总了C#中FixedArray2类的典型用法代码示例。如果您正苦于以下问题：C# FixedArray2类的具体用法？C# FixedArray2怎么用？C# FixedArray2使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。
FixedArray2类属于命名空间，在下文中一共展示了FixedArray2类的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C#代码示例。
示例1: FindIncidentEdge
private static void FindIncidentEdge(out FixedArray2<ClipVertex> c,
PolygonShape poly1, ref Transform xf1, int edge1,
PolygonShape poly2, ref Transform xf2)
{
c = new FixedArray2<ClipVertex>();
int count2 = poly2.Vertices.Count;
Debug.Assert(0 <= edge1 && edge1 < poly1.Vertices.Count);
// Get the normal of the reference edge in poly2's frame.
Vector2 v = poly1.Normals[edge1];
float tmpx = xf1.R.Col1.X * v.X + xf1.R.Col2.X * v.Y;
float tmpy = xf1.R.Col1.Y * v.X + xf1.R.Col2.Y * v.Y;
Vector2 normal1 = new Vector2(tmpx * xf2.R.Col1.X + tmpy * xf2.R.Col1.Y,
tmpx * xf2.R.Col2.X + tmpy * xf2.R.Col2.Y);
// Find the incident edge on poly2.
int index = 0;
float minDot = Settings.MaxFloat;
for (int i = 0; i < count2; ++i)
{
float dot = Vector2.Dot(normal1, poly2.Normals[i]);
if (dot < minDot)
{
minDot = dot;
index = i;
}
}
// Build the clip vertices for the incident edge.
int i1 = index;
int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
ClipVertex cv0 = c[0];
Vector2 v1 = poly2.Vertices[i1];
cv0.V.X = xf2.Position.X + xf2.R.Col1.X * v1.X + xf2.R.Col2.X * v1.Y;
cv0.V.Y = xf2.Position.Y + xf2.R.Col1.Y * v1.X + xf2.R.Col2.Y * v1.Y;
cv0.ID.Features.IndexA = (byte)edge1;
cv0.ID.Features.IndexB = (byte)i1;
cv0.ID.Features.TypeA = (byte)ContactFeatureType.Face;
cv0.ID.Features.TypeB = (byte)ContactFeatureType.Vertex;
c[0] = cv0;
ClipVertex cv1 = c[1];
Vector2 v2 = poly2.Vertices[i2];
cv1.V.X = xf2.Position.X + xf2.R.Col1.X * v2.X + xf2.R.Col2.X * v2.Y;
cv1.V.Y = xf2.Position.Y + xf2.R.Col1.Y * v2.X + xf2.R.Col2.Y * v2.Y;
cv1.ID.Features.IndexA = (byte)edge1;
cv1.ID.Features.IndexB = (byte)i2;
cv1.ID.Features.TypeA = (byte)ContactFeatureType.Face;
cv1.ID.Features.TypeB = (byte)ContactFeatureType.Vertex;
c[1] = cv1;
}示例2: ClipSegmentToLine
/// <summary>
/// Clipping for contact manifolds.
/// </summary>
/// <param name="vOut">The v out.</param>
/// <param name="vIn">The v in.</param>
/// <param name="normal">The normal.</param>
/// <param name="offset">The offset.</param>
/// <param name="vertexIndexA">The vertex index A.</param>
/// <returns></returns>
private static int ClipSegmentToLine(out FixedArray2<ClipVertex> vOut, ref FixedArray2<ClipVertex> vIn,
Vector2 normal, float offset, int vertexIndexA)
{
vOut = new FixedArray2<ClipVertex>();
ClipVertex v0 = vIn[0];
ClipVertex v1 = vIn[1];
// Start with no output points
int numOut = 0;
// Calculate the distance of end points to the line
float distance0 = normal.X * v0.V.X + normal.Y * v0.V.Y - offset;
float distance1 = normal.X * v1.V.X + normal.Y * v1.V.Y - offset;
// If the points are behind the plane
if (distance0 <= 0.0f) vOut[numOut++] = v0;
if (distance1 <= 0.0f) vOut[numOut++] = v1;
// If the points are on different sides of the plane
if (distance0 * distance1 < 0.0f)
{
// Find intersection point of edge and plane
float interp = distance0 / (distance0 - distance1);
ClipVertex cv = vOut[numOut];
cv.V.X = v0.V.X + interp * (v1.V.X - v0.V.X);
cv.V.Y = v0.V.Y + interp * (v1.V.Y - v0.V.Y);
// VertexA is hitting edgeB.
cv.ID.Features.IndexA = (byte)vertexIndexA;
cv.ID.Features.IndexB = v0.ID.Features.IndexB;
cv.ID.Features.TypeA = (byte)ContactFeatureType.Vertex;
cv.ID.Features.TypeB = (byte)ContactFeatureType.Face;
vOut[numOut] = cv;
++numOut;
}
return numOut;
}示例3: GetWorldManifold
/// <summary>
/// Gets the world manifold.
/// </summary>
public void GetWorldManifold(out Vector2 normal, out FixedArray2<Vector2> points)
{
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
Collision.Collision.GetWorldManifold(ref Manifold, ref bodyA.Xf, shapeA.Radius, ref bodyB.Xf, shapeB.Radius,
out normal, out points);
}示例4: CollideEdgeAndPolygon
//.........这里部分代码省略.........
}
if (edgeAxis.Separation > _radius)
{
return;
}
EPAxis polygonAxis = ComputePolygonSeparation();
if (polygonAxis.Type != EPAxisType.Unknown && polygonAxis.Separation > _radius)
{
return;
}
// Use hysteresis for jitter reduction.
const float k_relativeTol = 0.98f;
const float k_absoluteTol = 0.001f;
EPAxis primaryAxis;
if (polygonAxis.Type == EPAxisType.Unknown)
{
primaryAxis = edgeAxis;
}
else if (polygonAxis.Separation > k_relativeTol * edgeAxis.Separation + k_absoluteTol)
{
primaryAxis = polygonAxis;
}
else
{
primaryAxis = edgeAxis;
}
EPProxy proxy1;
EPProxy proxy2;
FixedArray2<ClipVertex> incidentEdge = new FixedArray2<ClipVertex>();
if (primaryAxis.Type == EPAxisType.EdgeA)
{
proxy1 = _proxyA;
proxy2 = _proxyB;
manifold.Type = ManifoldType.FaceA;
}
else
{
proxy1 = _proxyB;
proxy2 = _proxyA;
manifold.Type = ManifoldType.FaceB;
}
int edge1 = primaryAxis.Index;
FindIncidentEdge(ref incidentEdge, proxy1, primaryAxis.Index, proxy2);
int count1 = proxy1.Count;
int iv1 = edge1;
int iv2 = edge1 + 1 < count1 ? edge1 + 1 : 0;
Vector2 v11 = proxy1.Vertices[iv1];
Vector2 v12 = proxy1.Vertices[iv2];
Vector2 tangent = v12 - v11;
tangent.Normalize();
Vector2 normal = MathUtils.Cross(tangent, 1.0f);
Vector2 planePoint = 0.5f * (v11 + v12);
// Face offset.
float frontOffset = Vector2.Dot(normal, v11);示例5: ClipSegmentToLine
/// <summary>
/// Clipping for contact manifolds.
/// </summary>
/// <param name="vOut"></param>
/// <param name="vIn"></param>
/// <param name="normal"></param>
/// <param name="offset"></param>
/// <returns></returns>
public static int ClipSegmentToLine(out FixedArray2<ClipVertex> vOut, ref FixedArray2<ClipVertex> vIn,
Vector2 normal, float offset)
{
vOut = new FixedArray2<ClipVertex>();
// Start with no output points
int numOut = 0;
// Calculate the distance of end points to the line
float distance0 = Vector2.Dot(normal, vIn[0].v) - offset;
float distance1 = Vector2.Dot(normal, vIn[1].v) - offset;
// If the points are behind the plane
if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
// If the points are on different sides of the plane
if (distance0 * distance1 < 0.0f)
{
// Find intersection point of edge and plane
float interp = distance0 / (distance0 - distance1);
var cv = vOut[numOut];
cv.v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
if (distance0 > 0.0f)
{
cv.id = vIn[0].id;
}
else
{
cv.id = vIn[1].id;
}
vOut[numOut] = cv;
++numOut;
}
return numOut;
}示例6: FindIncidentEdge
static void FindIncidentEdge(out FixedArray2<ClipVertex> c,
PolygonShape poly1, ref Transform xf1, int edge1,
PolygonShape poly2, ref Transform xf2)
{
c = new FixedArray2<ClipVertex>();
int count1 = poly1._vertexCount;
int count2 = poly2._vertexCount;
Debug.Assert(0 <= edge1 && edge1 < count1);
// Get the normal of the reference edge in poly2's frame.
Vector2 normal1 = MathUtils.MultiplyT(ref xf2.R, MathUtils.Multiply(ref xf1.R, poly1._normals[edge1]));
// Find the incident edge on poly2.
int index = 0;
float minDot = Settings.b2_maxFloat;
for (int i = 0; i < count2; ++i)
{
float dot = Vector2.Dot(normal1, poly2._normals[i]);
if (dot < minDot)
{
minDot = dot;
index = i;
}
}
// Build the clip vertices for the incident edge.
int i1 = index;
int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
var cv0 = c[0];
cv0.v = MathUtils.Multiply(ref xf2, poly2._vertices[i1]);
cv0.id.Features.ReferenceEdge = (byte)edge1;
cv0.id.Features.IncidentEdge = (byte)i1;
cv0.id.Features.IncidentVertex = 0;
c[0] = cv0;
var cv1 = c[1];
cv1.v = MathUtils.Multiply(ref xf2, poly2._vertices[i2]);
cv1.id.Features.ReferenceEdge = (byte)edge1;
cv1.id.Features.IncidentEdge = (byte)i2;
cv1.id.Features.IncidentVertex = 1;
c[1] = cv1;
}示例7: ClipSegmentToLine
/// Clipping for contact manifolds.
public static int ClipSegmentToLine(out FixedArray2<ClipVertex> vOut, ref FixedArray2<ClipVertex> vIn,
Vector2 normal, float offset, int vertexIndexA)
{
vOut = new FixedArray2<ClipVertex>();
// Start with no output points
int numOut = 0;
// Calculate the distance of end points to the line
float distance0 = Vector2.Dot(normal, vIn[0].v) - offset;
float distance1 = Vector2.Dot(normal, vIn[1].v) - offset;
// If the points are behind the plane
if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
// If the points are on different sides of the plane
if (distance0 * distance1 < 0.0f)
{
// Find intersection point of edge and plane
float interp = distance0 / (distance0 - distance1);
var cv = vOut[numOut];
cv.v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
// VertexA is hitting edgeB.
cv.id.Features.indexA = (byte)vertexIndexA;
cv.id.Features.indexB = vIn[0].id.Features.indexB;
cv.id.Features.typeA = (byte)ContactFeatureType.Vertex;
cv.id.Features.typeB = (byte)ContactFeatureType.Face;
vOut[numOut] = cv;
++numOut;
}
return numOut;
}示例8: CollideEdgeAndPolygon
public static void CollideEdgeAndPolygon(ref Manifold manifold,
EdgeShape edgeA, ref Transform xfA,
PolygonShape polygonB_in, ref Transform xfB)
{
manifold._pointCount = 0;
Transform xf;
MathUtils.MultiplyT(ref xfA, ref xfB, out xf);
// Create a polygon for edge shape A
s_polygonA.SetAsEdge(edgeA._vertex1, edgeA._vertex2);
// Build polygonB in frame A
s_polygonB._radius = polygonB_in._radius;
s_polygonB._vertexCount = polygonB_in._vertexCount;
s_polygonB._centroid = MathUtils.Multiply(ref xf, polygonB_in._centroid);
for (int i = 0; i < s_polygonB._vertexCount; ++i)
{
s_polygonB._vertices[i] = MathUtils.Multiply(ref xf, polygonB_in._vertices[i]);
s_polygonB._normals[i] = MathUtils.Multiply(ref xf.R, polygonB_in._normals[i]);
}
float totalRadius = s_polygonA._radius + s_polygonB._radius;
// Edge geometry
Vector2 v1 = edgeA._vertex1;
Vector2 v2 = edgeA._vertex2;
Vector2 e = v2 - v1;
Vector2 edgeNormal = new Vector2(e.Y, -e.X);
edgeNormal.Normalize();
// Determine side
bool isFrontSide = Vector2.Dot(edgeNormal, s_polygonB._centroid - v1) >= 0.0f;
if (isFrontSide == false)
{
edgeNormal = -edgeNormal;
}
// Compute primary separating axis
EPAxis edgeAxis = ComputeEdgeSeperation(v1, v2, edgeNormal, s_polygonB, totalRadius);
if (edgeAxis.separation > totalRadius)
{
// Shapes are separated
return;
}
// Classify adjacent edges
FixedArray2<EdgeType> types = new FixedArray2<EdgeType>();
//types[0] = EdgeType.Isolated;
//types[1] = EdgeType.Isolated;
if (edgeA._hasVertex0)
{
Vector2 v0 = edgeA._vertex0;
float s = Vector2.Dot(edgeNormal, v0 - v1);
if (s > 0.1f * Settings.b2_linearSlop)
{
types[0] = EdgeType.Concave;
}
else if (s >= -0.1f * Settings.b2_linearSlop)
{
types[0] = EdgeType.Flat;
}
else
{
types[0] = EdgeType.Convex;
}
}
if (edgeA._hasVertex3)
{
Vector2 v3 = edgeA._vertex3;
float s = Vector2.Dot(edgeNormal, v3 - v2);
if (s > 0.1f * Settings.b2_linearSlop)
{
types[1] = EdgeType.Concave;
}
else if (s >= -0.1f * Settings.b2_linearSlop)
{
types[1] = EdgeType.Flat;
}
else
{
types[1] = EdgeType.Convex;
}
}
if (types[0] == EdgeType.Convex)
{
// Check separation on previous edge.
Vector2 v0 = edgeA._vertex0;
Vector2 e0 = v1 - v0;
Vector2 n0 = new Vector2(e0.Y, -e0.X);
n0.Normalize();
if (isFrontSide == false)
{
n0 = -n0;
}
//.........这里部分代码省略.........
示例9: Initialize
/// <summary>
/// Evaluate the manifold with supplied transforms. This assumes
/// modest motion from the original state. This does not change the
/// point count, impulses, etc. The radii must come from the Shapes
/// that generated the manifold.
/// </summary>
/// <param name="manifold">The manifold.</param>
/// <param name="xfA">The transform for A.</param>
/// <param name="radiusA">The radius for A.</param>
/// <param name="xfB">The transform for B.</param>
/// <param name="radiusB">The radius for B.</param>
/// <param name="normal">World vector pointing from A to B</param>
/// <param name="points">Torld contact point (point of intersection).</param>
public static void Initialize(ref Manifold manifold, ref Transform xfA, float radiusA, ref Transform xfB, float radiusB, out Vector2 normal, out FixedArray2<Vector2> points)
{
normal = Vector2.Zero;
points = new FixedArray2<Vector2>();
if (manifold.PointCount == 0)
{
return;
}
switch (manifold.Type)
{
case ManifoldType.Circles:
{
normal = new Vector2(1.0f, 0.0f);
Vector2 pointA = MathUtils.Mul(ref xfA, manifold.LocalPoint);
Vector2 pointB = MathUtils.Mul(ref xfB, manifold.Points[0].LocalPoint);
if (Vector2.DistanceSquared(pointA, pointB) > Settings.Epsilon * Settings.Epsilon)
{
normal = pointB - pointA;
normal.Normalize();
}
Vector2 cA = pointA + radiusA * normal;
Vector2 cB = pointB - radiusB * normal;
points[0] = 0.5f * (cA + cB);
}
break;
case ManifoldType.FaceA:
{
normal = MathUtils.Mul(xfA.q, manifold.LocalNormal);
Vector2 planePoint = MathUtils.Mul(ref xfA, manifold.LocalPoint);
for (int i = 0; i < manifold.PointCount; ++i)
{
Vector2 clipPoint = MathUtils.Mul(ref xfB, manifold.Points[i].LocalPoint);
Vector2 cA = clipPoint + (radiusA - Vector2.Dot(clipPoint - planePoint, normal)) * normal;
Vector2 cB = clipPoint - radiusB * normal;
points[i] = 0.5f * (cA + cB);
}
}
break;
case ManifoldType.FaceB:
{
normal = MathUtils.Mul(xfB.q, manifold.LocalNormal);
Vector2 planePoint = MathUtils.Mul(ref xfB, manifold.LocalPoint);
for (int i = 0; i < manifold.PointCount; ++i)
{
Vector2 clipPoint = MathUtils.Mul(ref xfA, manifold.Points[i].LocalPoint);
Vector2 cB = clipPoint + (radiusB - Vector2.Dot(clipPoint - planePoint, normal)) * normal;
Vector2 cA = clipPoint - radiusA * normal;
points[i] = 0.5f * (cA + cB);
}
// Ensure normal points from A to B.
normal = -normal;
}
break;
}
}示例10: FindIncidentEdge
static void FindIncidentEdge(ref FixedArray2<ClipVertex> c, PolygonShape poly1, int edge1, PolygonShape poly2)
{
int count1 = poly1._vertexCount;
int count2 = poly2._vertexCount;
Debug.Assert(0 <= edge1 && edge1 < count1);
// Get the normal of the reference edge in poly2's frame.
Vector2 normal1 = poly1._normals[edge1];
// Find the incident edge on poly2.
int index = 0;
float minDot = float.MaxValue;
for (int i = 0; i < count2; ++i)
{
float dot = Vector2.Dot(normal1, poly2._normals[i]);
if (dot < minDot)
{
minDot = dot;
index = i;
}
}
// Build the clip vertices for the incident edge.
int i1 = index;
int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
ClipVertex ctemp = new ClipVertex();
ctemp.v = poly2._vertices[i1];
ctemp.id.Features.indexA = (byte)edge1;
ctemp.id.Features.indexB = (byte)i1;
ctemp.id.Features.typeA = (byte)ContactFeatureType.Face;
ctemp.id.Features.typeB = (byte)ContactFeatureType.Vertex;
c[0] = ctemp;
ctemp.v = poly2._vertices[i2];
ctemp.id.Features.indexA = (byte)edge1;
ctemp.id.Features.indexB = (byte)i2;
ctemp.id.Features.typeA = (byte)ContactFeatureType.Face;
ctemp.id.Features.typeB = (byte)ContactFeatureType.Vertex;
c[1] = ctemp;
}示例11: AfterUpperShapeCollision
private void AfterUpperShapeCollision(Fixture fA, Fixture fB, Contact contact)
{
var v = new Vector2();
var fa = new FixedArray2<Vector2>();
contact.GetWorldManifold(out v, out fa);
v = fa[0];
if (v.X < Body.Position.X - 0.5f)
IsTouchingLeftWall = true;
else if (v.X > Body.Position.X + 0.5f)
IsTouchingRightWall = true;
contact.Enabled = true;
}示例12: AfterLowerShapeCollision
private void AfterLowerShapeCollision(Fixture fA, Fixture fB, Contact contact)
{
var v = new Vector2();
var fa = new FixedArray2<Vector2>();
contact.GetWorldManifold(out v, out fa);
v = fa[0];
_groundContactPoint = v;
if (v.Y > Body.Position.Y + 1.1f)
IsTouchingGround = true;
contact.Enabled = true;
}示例13: point
public FixedArray2<Vector2> _points; ///< world contact point (point of intersection)
#endregion Fields
#region Constructors
/// Evaluate the manifold with supplied transforms. This assumes
/// modest motion from the original state. This does not change the
/// point count, impulses, etc. The radii must come from the shapes
/// that generated the manifold.
public WorldManifold(ref Manifold manifold,
ref XForm xfA, float radiusA,
ref XForm xfB, float radiusB)
{
_normal = Vector2.Zero;
_points = new FixedArray2<Vector2>();
if (manifold._pointCount == 0)
{
return;
}
switch (manifold._type)
{
case ManifoldType.Circles:
{
Vector2 pointA = MathUtils.Multiply(ref xfA, manifold._localPoint);
Vector2 pointB = MathUtils.Multiply(ref xfB, manifold._points[0].LocalPoint);
Vector2 normal = new Vector2(1.0f, 0.0f);
if (Vector2.DistanceSquared(pointA, pointB) > Settings.b2_FLT_EPSILON * Settings.b2_FLT_EPSILON)
{
normal = pointB - pointA;
normal.Normalize();
}
_normal = normal;
Vector2 cA = pointA + radiusA * normal;
Vector2 cB = pointB - radiusB * normal;
_points[0] = 0.5f * (cA + cB);
}
break;
case ManifoldType.FaceA:
{
Vector2 normal = MathUtils.Multiply(ref xfA.R, manifold._localPlaneNormal);
Vector2 planePoint = MathUtils.Multiply(ref xfA, manifold._localPoint);
// Ensure normal points from A to B.
_normal = normal;
for (int i = 0; i < manifold._pointCount; ++i)
{
Vector2 clipPoint = MathUtils.Multiply(ref xfB, manifold._points[i].LocalPoint);
Vector2 cA = clipPoint + (radiusA - Vector2.Dot(clipPoint - planePoint, normal)) * normal;
Vector2 cB = clipPoint - radiusB * normal;
_points[i] = 0.5f * (cA + cB);
}
}
break;
case ManifoldType.FaceB:
{
Vector2 normal = MathUtils.Multiply(ref xfB.R, manifold._localPlaneNormal);
Vector2 planePoint = MathUtils.Multiply(ref xfB, manifold._localPoint);
// Ensure normal points from A to B.
_normal = -normal;
for (int i = 0; i < manifold._pointCount; ++i)
{
Vector2 clipPoint = MathUtils.Multiply(ref xfA, manifold._points[i].LocalPoint);
Vector2 cA = clipPoint - radiusA * normal;
Vector2 cB = clipPoint + (radiusB - Vector2.Dot(clipPoint - planePoint, normal)) * normal;
_points[i] = 0.5f * (cA + cB);
}
}
break;
}
}示例14: GetWorldManifold
/// <summary>
/// Evaluate the manifold with supplied transforms. This assumes
/// modest motion from the original state. This does not change the
/// point count, impulses, etc. The radii must come from the Shapes
/// that generated the manifold.
/// </summary>
/// <param name="manifold">The manifold.</param>
/// <param name="transformA">The transform for A.</param>
/// <param name="radiusA">The radius for A.</param>
/// <param name="transformB">The transform for B.</param>
/// <param name="radiusB">The radius for B.</param>
/// <param name="normal">World vector pointing from A to B</param>
/// <param name="points">Torld contact point (point of intersection).</param>
public static void GetWorldManifold(ref Manifold manifold,
ref Transform transformA, float radiusA,
ref Transform transformB, float radiusB, out Vector2 normal,
out FixedArray2<Vector2> points)
{
points = new FixedArray2<Vector2>();
normal = Vector2.Zero;
if (manifold.PointCount == 0)
{
normal = Vector2.UnitY;
return;
}
switch (manifold.Type)
{
case ManifoldType.Circles:
{
Vector2 tmp = manifold.Points[0].LocalPoint;
float pointAx = transformA.Position.X + transformA.R.Col1.X * manifold.LocalPoint.X +
transformA.R.Col2.X * manifold.LocalPoint.Y;
float pointAy = transformA.Position.Y + transformA.R.Col1.Y * manifold.LocalPoint.X +
transformA.R.Col2.Y * manifold.LocalPoint.Y;
float pointBx = transformB.Position.X + transformB.R.Col1.X * tmp.X +
transformB.R.Col2.X * tmp.Y;
float pointBy = transformB.Position.Y + transformB.R.Col1.Y * tmp.X +
transformB.R.Col2.Y * tmp.Y;
normal.X = 1;
normal.Y = 0;
float result = (pointAx - pointBx) * (pointAx - pointBx) +
(pointAy - pointBy) * (pointAy - pointBy);
if (result > Settings.Epsilon * Settings.Epsilon)
{
float tmpNormalx = pointBx - pointAx;
float tmpNormaly = pointBy - pointAy;
float factor = 1f / (float)Math.Sqrt(tmpNormalx * tmpNormalx + tmpNormaly * tmpNormaly);
normal.X = tmpNormalx * factor;
normal.Y = tmpNormaly * factor;
}
Vector2 c = Vector2.Zero;
c.X = (pointAx + radiusA * normal.X) + (pointBx - radiusB * normal.X);
c.Y = (pointAy + radiusA * normal.Y) + (pointBy - radiusB * normal.Y);
points[0] = 0.5f * c;
}
break;
case ManifoldType.FaceA:
{
normal.X = transformA.R.Col1.X * manifold.LocalNormal.X +
transformA.R.Col2.X * manifold.LocalNormal.Y;
normal.Y = transformA.R.Col1.Y * manifold.LocalNormal.X +
transformA.R.Col2.Y * manifold.LocalNormal.Y;
float planePointx = transformA.Position.X + transformA.R.Col1.X * manifold.LocalPoint.X +
transformA.R.Col2.X * manifold.LocalPoint.Y;
float planePointy = transformA.Position.Y + transformA.R.Col1.Y * manifold.LocalPoint.X +
transformA.R.Col2.Y * manifold.LocalPoint.Y;
for (int i = 0; i < manifold.PointCount; ++i)
{
Vector2 tmp = manifold.Points[i].LocalPoint;
float clipPointx = transformB.Position.X + transformB.R.Col1.X * tmp.X +
transformB.R.Col2.X * tmp.Y;
float clipPointy = transformB.Position.Y + transformB.R.Col1.Y * tmp.X +
transformB.R.Col2.Y * tmp.Y;
float value = (clipPointx - planePointx) * normal.X + (clipPointy - planePointy) * normal.Y;
Vector2 c = Vector2.Zero;
c.X = (clipPointx + (radiusA - value) * normal.X) + (clipPointx - radiusB * normal.X);
c.Y = (clipPointy + (radiusA - value) * normal.Y) + (clipPointy - radiusB * normal.Y);
points[i] = 0.5f * c;
}
}
break;
//.........这里部分代码省略.........
示例15: Collide
//.........这里部分代码省略.........
{
return;
}
if (edgeAxis.Separation > _radius)
{
return;
}
EPAxis polygonAxis = ComputePolygonSeparation();
if (polygonAxis.Type != EPAxisType.Unknown && polygonAxis.Separation > _radius)
{
return;
}
// Use hysteresis for jitter reduction.
const float k_relativeTol = 0.98f;
const float k_absoluteTol = 0.001f;
EPAxis primaryAxis;
if (polygonAxis.Type == EPAxisType.Unknown)
{
primaryAxis = edgeAxis;
}
else if (polygonAxis.Separation > k_relativeTol * edgeAxis.Separation + k_absoluteTol)
{
primaryAxis = polygonAxis;
}
else
{
primaryAxis = edgeAxis;
}
FixedArray2<ClipVertex> ie = new FixedArray2<ClipVertex>();
ReferenceFace rf;
if (primaryAxis.Type == EPAxisType.EdgeA)
{
manifold.Type = ManifoldType.FaceA;
// Search for the polygon normal that is most anti-parallel to the edge normal.
int bestIndex = 0;
float bestValue = Vector2.Dot(_normal, _polygonB.Normals[0]);
for (int i = 1; i < _polygonB.Count; ++i)
{
float value = Vector2.Dot(_normal, _polygonB.Normals[i]);
if (value < bestValue)
{
bestValue = value;
bestIndex = i;
}
}
int i1 = bestIndex;
int i2 = i1 + 1 < _polygonB.Count ? i1 + 1 : 0;
ClipVertex c0 = ie[0];
c0.V = _polygonB.Vertices[i1];
c0.ID.Features.IndexA = 0;
c0.ID.Features.IndexB = (byte)i1;
c0.ID.Features.TypeA = (byte)ContactFeatureType.Face;
c0.ID.Features.TypeB = (byte)ContactFeatureType.Vertex;
ie[0] = c0;
ClipVertex c1 = ie[1];
c1.V = _polygonB.Vertices[i2];
c1.ID.Features.IndexA = 0;