Examples with Vec2 com.almasb.fxgl.core.math.Vec2 used on opensource projects

Example 61 with Vec2

use of com.almasb.fxgl.core.math.Vec2 in project FXGL by AlmasB.

the class Collision method collidePolygonAndCircle.

/**
 * Compute the collision manifold between a polygon and a circle.
 *
 * @param manifold
 * @param polygon
 * @param xfA
 * @param circle
 * @param xfB
 */
@SuppressWarnings("PMD.UselessParentheses")
public void collidePolygonAndCircle(Manifold manifold, final PolygonShape polygon, final Transform xfA, final CircleShape circle, final Transform xfB) {
    manifold.pointCount = 0;
    // Vec2 v = circle.m_p;
    // Compute circle position in the frame of the polygon.
    // before inline:
    // Transform.mulToOutUnsafe(xfB, circle.m_p, c);
    // Transform.mulTransToOut(xfA, c, cLocal);
    // final float cLocalx = cLocal.x;
    // final float cLocaly = cLocal.y;
    // after inline:
    final Vec2 circlep = circle.center;
    final Rotation xfBq = xfB.q;
    final Rotation xfAq = xfA.q;
    final float cx = (xfBq.c * circlep.x - xfBq.s * circlep.y) + xfB.p.x;
    final float cy = (xfBq.s * circlep.x + xfBq.c * circlep.y) + xfB.p.y;
    final float px = cx - xfA.p.x;
    final float py = cy - xfA.p.y;
    final float cLocalx = (xfAq.c * px + xfAq.s * py);
    final float cLocaly = (-xfAq.s * px + xfAq.c * py);
    // end inline
    // Find the min separating edge.
    int normalIndex = 0;
    float separation = -Float.MAX_VALUE;
    final float radius = polygon.getRadius() + circle.getRadius();
    final int vertexCount = polygon.getVertexCount();
    final Vec2[] vertices = polygon.m_vertices;
    final Vec2[] normals = polygon.m_normals;
    for (int i = 0; i < vertexCount; i++) {
        // before inline
        // temp.set(cLocal).subLocal(vertices[i]);
        // float s = Vec2.dot(normals[i], temp);
        // after inline
        final Vec2 vertex = vertices[i];
        final float tempx = cLocalx - vertex.x;
        final float tempy = cLocaly - vertex.y;
        float s = normals[i].x * tempx + normals[i].y * tempy;
        if (s > radius) {
            // early out
            return;
        }
        if (s > separation) {
            separation = s;
            normalIndex = i;
        }
    }
    // Vertices that subtend the incident face.
    final int vertIndex1 = normalIndex;
    final int vertIndex2 = vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0;
    final Vec2 v1 = vertices[vertIndex1];
    final Vec2 v2 = vertices[vertIndex2];
    // If the center is inside the polygon ...
    if (separation < JBoxSettings.EPSILON) {
        manifold.pointCount = 1;
        manifold.type = ManifoldType.FACE_A;
        // before inline:
        // manifold.localNormal.set(normals[normalIndex]);
        // manifold.localPoint.set(v1).addLocal(v2).mulLocal(.5f);
        // manifold.points[0].localPoint.set(circle.m_p);
        // after inline:
        final Vec2 normal = normals[normalIndex];
        manifold.localNormal.x = normal.x;
        manifold.localNormal.y = normal.y;
        manifold.localPoint.x = (v1.x + v2.x) * .5f;
        manifold.localPoint.y = (v1.y + v2.y) * .5f;
        final ManifoldPoint mpoint = manifold.points[0];
        mpoint.localPoint.x = circlep.x;
        mpoint.localPoint.y = circlep.y;
        mpoint.id.zero();
        return;
    }
    // Compute barycentric coordinates
    // before inline:
    // temp.set(cLocal).subLocal(v1);
    // temp2.set(v2).subLocal(v1);
    // float u1 = Vec2.dot(temp, temp2);
    // temp.set(cLocal).subLocal(v2);
    // temp2.set(v1).subLocal(v2);
    // float u2 = Vec2.dot(temp, temp2);
    // after inline:
    final float tempX = cLocalx - v1.x;
    final float tempY = cLocaly - v1.y;
    final float temp2X = v2.x - v1.x;
    final float temp2Y = v2.y - v1.y;
    final float u1 = tempX * temp2X + tempY * temp2Y;
    final float temp3X = cLocalx - v2.x;
    final float temp3Y = cLocaly - v2.y;
    final float temp4X = v1.x - v2.x;
    final float temp4Y = v1.y - v2.y;
    final float u2 = temp3X * temp4X + temp3Y * temp4Y;
    if (u1 <= 0f) {
        // inlined
        final float dx = cLocalx - v1.x;
        final float dy = cLocaly - v1.y;
        if (dx * dx + dy * dy > radius * radius) {
            return;
        }
        manifold.pointCount = 1;
        manifold.type = ManifoldType.FACE_A;
        // before inline:
        // manifold.localNormal.set(cLocal).subLocal(v1);
        // after inline:
        manifold.localNormal.x = cLocalx - v1.x;
        manifold.localNormal.y = cLocaly - v1.y;
        // end inline
        manifold.localNormal.getLengthAndNormalize();
        manifold.localPoint.set(v1);
        manifold.points[0].localPoint.set(circlep);
        manifold.points[0].id.zero();
    } else if (u2 <= 0.0f) {
        // inlined
        final float dx = cLocalx - v2.x;
        final float dy = cLocaly - v2.y;
        if (dx * dx + dy * dy > radius * radius) {
            return;
        }
        manifold.pointCount = 1;
        manifold.type = ManifoldType.FACE_A;
        // before inline:
        // manifold.localNormal.set(cLocal).subLocal(v2);
        // after inline:
        manifold.localNormal.x = cLocalx - v2.x;
        manifold.localNormal.y = cLocaly - v2.y;
        // end inline
        manifold.localNormal.getLengthAndNormalize();
        manifold.localPoint.set(v2);
        manifold.points[0].localPoint.set(circlep);
        manifold.points[0].id.zero();
    } else {
        // Vec2 faceCenter = 0.5f * (v1 + v2);
        // (temp is faceCenter)
        // before inline:
        // temp.set(v1).addLocal(v2).mulLocal(.5f);
        // 
        // temp2.set(cLocal).subLocal(temp);
        // separation = Vec2.dot(temp2, normals[vertIndex1]);
        // if (separation > radius) {
        // return;
        // }
        // after inline:
        final float fcx = (v1.x + v2.x) * .5f;
        final float fcy = (v1.y + v2.y) * .5f;
        final float tx = cLocalx - fcx;
        final float ty = cLocaly - fcy;
        final Vec2 normal = normals[vertIndex1];
        separation = tx * normal.x + ty * normal.y;
        if (separation > radius) {
            return;
        }
        // end inline
        manifold.pointCount = 1;
        manifold.type = ManifoldType.FACE_A;
        manifold.localNormal.set(normals[vertIndex1]);
        // (faceCenter)
        manifold.localPoint.x = fcx;
        manifold.localPoint.y = fcy;
        manifold.points[0].localPoint.set(circlep);
        manifold.points[0].id.zero();
    }
}

Example 62 with Vec2

use of com.almasb.fxgl.core.math.Vec2 in project FXGL by AlmasB.

the class Collision method clipSegmentToLine.

/**
 * Clipping for contact manifolds.
 * Sutherland-Hodgman clipping.
 */
public static int clipSegmentToLine(ClipVertex[] vOut, ClipVertex[] vIn, Vec2 normal, float offset, int vertexIndexA) {
    // Start with no output points
    int numOut = 0;
    final ClipVertex vIn0 = vIn[0];
    final ClipVertex vIn1 = vIn[1];
    final Vec2 vIn0v = vIn0.v;
    final Vec2 vIn1v = vIn1.v;
    // Calculate the distance of end points to the line
    float distance0 = Vec2.dot(normal, vIn0v) - offset;
    float distance1 = Vec2.dot(normal, vIn1v) - offset;
    // If the points are behind the plane
    if (distance0 <= 0.0f) {
        vOut[numOut++].set(vIn0);
    }
    if (distance1 <= 0.0f) {
        vOut[numOut++].set(vIn1);
    }
    // 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 vOutNO = vOut[numOut];
        // vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
        vOutNO.v.x = vIn0v.x + interp * (vIn1v.x - vIn0v.x);
        vOutNO.v.y = vIn0v.y + interp * (vIn1v.y - vIn0v.y);
        // VertexA is hitting edgeB.
        vOutNO.id.indexA = (byte) vertexIndexA;
        vOutNO.id.indexB = vIn0.id.indexB;
        vOutNO.id.typeA = (byte) ContactID.Type.VERTEX.ordinal();
        vOutNO.id.typeB = (byte) ContactID.Type.FACE.ordinal();
        ++numOut;
    }
    return numOut;
}

Example 63 with Vec2

use of com.almasb.fxgl.core.math.Vec2 in project FXGL by AlmasB.

the class Collision method collideCircles.

/**
 * Compute the collision manifold between two circles.
 */
@SuppressWarnings("PMD.UselessParentheses")
public void collideCircles(Manifold manifold, CircleShape circle1, Transform xfA, CircleShape circle2, Transform xfB) {
    manifold.pointCount = 0;
    // before inline:
    // Transform.mulToOut(xfA, circle1.m_p, pA);
    // Transform.mulToOut(xfB, circle2.m_p, pB);
    // d.set(pB).subLocal(pA);
    // float distSqr = d.x * d.x + d.y * d.y;
    // after inline:
    Vec2 circle1p = circle1.center;
    Vec2 circle2p = circle2.center;
    float pAx = (xfA.q.c * circle1p.x - xfA.q.s * circle1p.y) + xfA.p.x;
    float pAy = (xfA.q.s * circle1p.x + xfA.q.c * circle1p.y) + xfA.p.y;
    float pBx = (xfB.q.c * circle2p.x - xfB.q.s * circle2p.y) + xfB.p.x;
    float pBy = (xfB.q.s * circle2p.x + xfB.q.c * circle2p.y) + xfB.p.y;
    float dx = pBx - pAx;
    float dy = pBy - pAy;
    float distSqr = dx * dx + dy * dy;
    // end inline
    final float radius = circle1.getRadius() + circle2.getRadius();
    if (distSqr > radius * radius) {
        return;
    }
    manifold.type = ManifoldType.CIRCLES;
    manifold.localPoint.set(circle1p);
    manifold.localNormal.setZero();
    manifold.pointCount = 1;
    manifold.points[0].localPoint.set(circle2p);
    manifold.points[0].id.zero();
}

Example 64 with Vec2

use of com.almasb.fxgl.core.math.Vec2 in project FXGL by AlmasB.

the class Collision method findIncidentEdge.

@SuppressWarnings("PMD.UselessParentheses")
public void findIncidentEdge(final ClipVertex[] c, final PolygonShape poly1, final Transform xf1, int edge1, final PolygonShape poly2, final Transform xf2) {
    int count1 = poly1.getVertexCount();
    final Vec2[] normals1 = poly1.m_normals;
    int count2 = poly2.getVertexCount();
    final Vec2[] vertices2 = poly2.m_vertices;
    final Vec2[] normals2 = poly2.m_normals;
    assert 0 <= edge1 && edge1 < count1;
    final ClipVertex c0 = c[0];
    final ClipVertex c1 = c[1];
    final Rotation xf1q = xf1.q;
    final Rotation xf2q = xf2.q;
    // Get the normal of the reference edge in poly2's frame.
    // Vec2 normal1 = MulT(xf2.R, Mul(xf1.R, normals1[edge1]));
    // before inline:
    // Rot.mulToOutUnsafe(xf1.q, normals1[edge1], normal1); // temporary
    // Rot.mulTrans(xf2.q, normal1, normal1);
    // after inline:
    final Vec2 v = normals1[edge1];
    final float tempx = xf1q.c * v.x - xf1q.s * v.y;
    final float tempy = xf1q.s * v.x + xf1q.c * v.y;
    final float normal1x = xf2q.c * tempx + xf2q.s * tempy;
    final float normal1y = -xf2q.s * tempx + xf2q.c * tempy;
    // end inline
    // Find the incident edge on poly2.
    int index = 0;
    float minDot = Float.MAX_VALUE;
    for (int i = 0; i < count2; ++i) {
        Vec2 b = normals2[i];
        float dot = normal1x * b.x + normal1y * b.y;
        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;
    // c0.v = Mul(xf2, vertices2[i1]);
    Vec2 v1 = vertices2[i1];
    Vec2 out = c0.v;
    out.x = (xf2q.c * v1.x - xf2q.s * v1.y) + xf2.p.x;
    out.y = (xf2q.s * v1.x + xf2q.c * v1.y) + xf2.p.y;
    c0.id.indexA = (byte) edge1;
    c0.id.indexB = (byte) i1;
    c0.id.typeA = (byte) ContactID.Type.FACE.ordinal();
    c0.id.typeB = (byte) ContactID.Type.VERTEX.ordinal();
    // c1.v = Mul(xf2, vertices2[i2]);
    Vec2 v2 = vertices2[i2];
    Vec2 out1 = c1.v;
    out1.x = (xf2q.c * v2.x - xf2q.s * v2.y) + xf2.p.x;
    out1.y = (xf2q.s * v2.x + xf2q.c * v2.y) + xf2.p.y;
    c1.id.indexA = (byte) edge1;
    c1.id.indexB = (byte) i2;
    c1.id.typeA = (byte) ContactID.Type.FACE.ordinal();
    c1.id.typeB = (byte) ContactID.Type.VERTEX.ordinal();
}

Example 65 with Vec2

use of com.almasb.fxgl.core.math.Vec2 in project FXGL by AlmasB.

the class ChainShape method createChain.

/**
 * Create a chain with isolated end vertices.
 *
 * @param vertices an array of vertices, these are copied
 * @param count the vertex count
 */
public void createChain(final Vec2[] vertices, int count) {
    assert m_vertices == null && m_count == 0;
    assert count >= 2;
    m_count = count;
    m_vertices = new Vec2[m_count];
    for (int i = 1; i < m_count; i++) {
        Vec2 v1 = vertices[i - 1];
        Vec2 v2 = vertices[i];
        // If the code crashes here, it means your vertices are too close together.
        if (v1.distanceSquared(v2) < JBoxSettings.linearSlop * JBoxSettings.linearSlop) {
            throw new RuntimeException("Vertices of chain shape are too close together");
        }
    }
    for (int i = 0; i < m_count; i++) {
        m_vertices[i] = new Vec2(vertices[i]);
    }
    m_hasPrevVertex = false;
    m_hasNextVertex = false;
    m_prevVertex.setZero();
    m_nextVertex.setZero();
}