math: zig fmt
Signed-off-by: Stephen Gutekanst <stephen@hexops.com>
This commit is contained in:
Stephen Gutekanst
parent
12e69752d3
commit
dc5c1f69a6
1 changed files with 123 additions and 169 deletions
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@ -85,14 +85,13 @@ pub const Rectangle = struct {
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}
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test vertices {
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const rect = Rectangle{.pos = vec2(0.0, 0.0), .size = vec2(1.0, 1.0)};
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const rect = Rectangle{ .pos = vec2(0.0, 0.0), .size = vec2(1.0, 1.0) };
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const v = rect.vertices();
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try testing.expect(Vec2, vec2(0.0, 0.0)).eql(v[0]);
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try testing.expect(Vec2, vec2(1.0, 0.0)).eql(v[1]);
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try testing.expect(Vec2, vec2(1.0, 1.0)).eql(v[2]);
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try testing.expect(Vec2, vec2(0.0, 1.0)).eql(v[3]);
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}
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};
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// A circle shape defined by position and radius.
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@ -169,7 +168,7 @@ pub const Point = struct {
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test collidesRect {
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const a: Point = .{ .pos = vec2(6, 4) };
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const c = Point{.pos = vec2(6.0, 3.0)};
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const c = Point{ .pos = vec2(6.0, 3.0) };
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var b: Rectangle = .{ .pos = vec2(6, 3), .size = vec2(3, 2) };
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try testing.expect(bool, a.collidesRect(b)).eql(true);
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try testing.expect(bool, c.collidesRect(b)).eql(true);
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@ -178,7 +177,7 @@ pub const Point = struct {
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try testing.expect(bool, a.collidesRect(b)).eql(false);
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const p = Point{ .pos = vec2(0.0, 0.0) };
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const r = Rectangle{.pos = vec2(0.0, 0.0), .size = vec2(1.0, 1.0)};
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const r = Rectangle{ .pos = vec2(0.0, 0.0), .size = vec2(1.0, 1.0) };
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try testing.expect(bool, p.collidesRect(r)).eql(true);
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}
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@ -225,18 +224,18 @@ pub const Point = struct {
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}
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test collidesPoly {
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const poly = [_]Vec2 {
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const poly = [_]Vec2{
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vec2(-1.0, -1.0),
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vec2(1.0, -1.0),
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vec2(1.0, 1.0),
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vec2(-1.0, 1.0),
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};
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try testing.expect(bool, Point.collidesPoly(Point{.pos = vec2(0.0, 0.0)}, &poly)).eql(true);
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try testing.expect(bool, Point.collidesPoly(Point{ .pos = vec2(0.0, 0.0) }, &poly)).eql(true);
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// TODO: decide if boundary is inside or not
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//try testing.expect(bool, Point.collidesPoly(Point{.pos = vec2(1.0, 1.0)}, &poly)).eql(true);
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try testing.expect(bool, Point.collidesPoly(Point{.pos = vec2(2.0, 2.0)}, &poly)).eql(false);
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try testing.expect(bool, Point.collidesPoly(Point{.pos = vec2(-2.0, 2.0)}, &poly)).eql(false);
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try testing.expect(bool, Point.collidesPoly(Point{ .pos = vec2(2.0, 2.0) }, &poly)).eql(false);
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try testing.expect(bool, Point.collidesPoly(Point{ .pos = vec2(-2.0, 2.0) }, &poly)).eql(false);
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}
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/// Returns true if point is inside triangle.
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@ -259,17 +258,17 @@ pub const Point = struct {
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return (alpha > 0) and (beta > 0) and (gamma > 0);
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}
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test collidesTriangle {
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const triangle = [_]Vec2 {
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const triangle = [_]Vec2{
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vec2(-1.0, -1.0),
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vec2(1.0, -1.0),
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vec2(0.0, 1.0),
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};
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try testing.expect(bool, Point.collidesPoly(Point{.pos = vec2(0.0, 0.0)}, &triangle)).eql(true);
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try testing.expect(bool, Point.collidesPoly(Point{ .pos = vec2(0.0, 0.0) }, &triangle)).eql(true);
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// TODO: decide if boundary is inside or not
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//try testing.expect(bool, Point.collidesPoly(Point{.pos = vec2(0.0, 1.0)}, &triangle)).eql(true);
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try testing.expect(bool, Point.collidesPoly(Point{.pos = vec2(2.0, 2.0)}, &triangle)).eql(false);
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try testing.expect(bool, Point.collidesPoly(Point{.pos = vec2(-2.0, 2.0)}, &triangle)).eql(false);
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try testing.expect(bool, Point.collidesPoly(Point{ .pos = vec2(2.0, 2.0) }, &triangle)).eql(false);
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try testing.expect(bool, Point.collidesPoly(Point{ .pos = vec2(-2.0, 2.0) }, &triangle)).eql(false);
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// TODO: decide if boundary is inside or not
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// const t = [_]Vec2 {
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@ -314,13 +313,12 @@ pub const Point = struct {
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.end = vec2(1.0, 1.0),
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.threshold = 0.1,
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};
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try testing.expect(bool, Point.collidesLine(Point{.pos = vec2(0.0, 0.0)}, l)).eql(true);
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try testing.expect(bool, Point.collidesLine(Point{ .pos = vec2(0.0, 0.0) }, l)).eql(true);
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// TODO: decide if boundary is inside or not
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//try testing.expect(bool, Point.collidesLine(Point{.pos = vec2(0.0, 0.1)}, l)).eql(true);
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try testing.expect(bool, Point.collidesLine(Point{.pos = vec2(0.0, 0.09)}, l)).eql(true);
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try testing.expect(bool, Point.collidesLine(Point{.pos = vec2(0.0, 1.0)}, l)).eql(false);
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try testing.expect(bool, Point.collidesLine(Point{ .pos = vec2(0.0, 0.09) }, l)).eql(true);
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try testing.expect(bool, Point.collidesLine(Point{ .pos = vec2(0.0, 1.0) }, l)).eql(false);
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}
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};
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/// A line specified by a start and endpoint and a threshold for the line thickness.
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@ -344,25 +342,18 @@ pub const Line = struct {
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}
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test collidesLine {
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const l0 = Line{.start = vec2(-1.0, -1.0), .end = vec2(1.0, 1.0), .threshold = 0.0};
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try testing.expect(bool, true).eql(
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l0.collidesLine(Line{.start = vec2(-1.0, 1.0), .end = vec2(1.0, -1.0), .threshold=0.0}));
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try testing.expect(bool, true).eql(
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l0.collidesLine(Line{.start = vec2(-10.0, 0.0), .end = vec2(10.0, 0.0), .threshold=0.0}));
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try testing.expect(bool, true).eql(
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l0.collidesLine(Line{.start = vec2(-10.0, 1.0), .end = vec2(10.0, 1.0), .threshold=0.0}));
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try testing.expect(bool, true).eql(
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l0.collidesLine(Line{.start = vec2(-10.0, -1.0), .end = vec2(10.0, -1.0), .threshold=0.0}));
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const l0 = Line{ .start = vec2(-1.0, -1.0), .end = vec2(1.0, 1.0), .threshold = 0.0 };
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try testing.expect(bool, true).eql(l0.collidesLine(Line{ .start = vec2(-1.0, 1.0), .end = vec2(1.0, -1.0), .threshold = 0.0 }));
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try testing.expect(bool, true).eql(l0.collidesLine(Line{ .start = vec2(-10.0, 0.0), .end = vec2(10.0, 0.0), .threshold = 0.0 }));
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try testing.expect(bool, true).eql(l0.collidesLine(Line{ .start = vec2(-10.0, 1.0), .end = vec2(10.0, 1.0), .threshold = 0.0 }));
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try testing.expect(bool, true).eql(l0.collidesLine(Line{ .start = vec2(-10.0, -1.0), .end = vec2(10.0, -1.0), .threshold = 0.0 }));
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// TODO: fails if same line
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//try testing.expect(bool, true).eql(
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// l0.collidesLine(l0));
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try testing.expect(bool, false).eql(
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l0.collidesLine(Line{.start = vec2(-1.1, -1.1), .end = vec2(1.1, 1.1), .threshold=0.0}));
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try testing.expect(bool, false).eql(
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l0.collidesLine(Line{.start = vec2(-10.0, 2.0), .end = vec2(10.0, 2.0), .threshold=0.0}));
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try testing.expect(bool, false).eql(l0.collidesLine(Line{ .start = vec2(-1.1, -1.1), .end = vec2(1.1, 1.1), .threshold = 0.0 }));
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try testing.expect(bool, false).eql(l0.collidesLine(Line{ .start = vec2(-10.0, 2.0), .end = vec2(10.0, 2.0), .threshold = 0.0 }));
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}
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};
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@ -396,20 +387,14 @@ pub fn minmaxProjectionDistance(n: Vec2, v0: Vec2, v: []const Vec2) [2]f32 {
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max_d = d;
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}
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}
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return [2]f32{min_d, max_d};
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return [2]f32{ min_d, max_d };
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}
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test minmaxProjectionDistance {
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const n_up = vec2(0.0, 1.0);
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const n_right = vec2(1.0, 0.0);
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const v0 = vec2(0.0, 0.0);
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const v = [_]Vec2{
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vec2(2.0, 0.0),
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vec2(1.0, 1.0),
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vec2(0.0, -2.0),
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vec2(-1.0, 2.0),
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vec2(-2.0, 1.0)
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};
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const v = [_]Vec2{ vec2(2.0, 0.0), vec2(1.0, 1.0), vec2(0.0, -2.0), vec2(-1.0, 2.0), vec2(-2.0, 1.0) };
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{
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const minmax = minmaxProjectionDistance(n_up, v0, &v);
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@ -422,22 +407,18 @@ test minmaxProjectionDistance {
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try testing.expect(f32, -2.0).eql(minmax[0]);
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try testing.expect(f32, 2.0).eql(minmax[1]);
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}
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}
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const VertexDepthResult = struct {
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v0: Vec2 = undefined,
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v1: ?Vec2 = null,
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/// Depth of vertex. Positive in the opposite direction of the normal.
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d: f32
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d: f32,
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};
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/// Find the vertex in v that is deepest behind the line defined by the point v0 and normal n.
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pub fn findDeepestVertex(n: Vec2, v0: Vec2, v: []const Vec2) VertexDepthResult {
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var min_depth = VertexDepthResult{
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.v0 = v[0],
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.d = n.dot(&v[0].sub(&v0))
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};
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var min_depth = VertexDepthResult{ .v0 = v[0], .d = n.dot(&v[0].sub(&v0)) };
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for (v[1..]) |vb| {
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const d = n.dot(&vb.sub(&v0));
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if (d < min_depth.d) {
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@ -463,7 +444,7 @@ test findDeepestVertex {
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vec2(1.0, 1.0),
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vec2(0.0, -2.0), // Deepest
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vec2(-1.0, 2.0),
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vec2(-2.0, 1.0)
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vec2(-2.0, 1.0),
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};
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const depth = findDeepestVertex(n_up, v0, &v);
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@ -478,7 +459,7 @@ test findDeepestVertex {
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vec2(1.0, 1.0),
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vec2(0.0, -3.0), // Deepest
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vec2(-1.0, -3.0), // Deepest
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vec2(-2.0, 1.0)
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vec2(-2.0, 1.0),
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};
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const depth = findDeepestVertex(n_up, v0, &v);
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@ -493,7 +474,7 @@ test findDeepestVertex {
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vec2(2.0, 0.5), // Closest
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vec2(1.0, 1.0),
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vec2(0.0, 3.0),
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vec2(-2.0, 1.0)
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vec2(-2.0, 1.0),
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};
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const depth = findDeepestVertex(n_up, v0, &v);
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@ -501,13 +482,12 @@ test findDeepestVertex {
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try testing.expect(?Vec2, null).eql(depth.v1);
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try testing.expect(f32, -0.5).eql(depth.d);
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}
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}
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/// Contains information to separate two colliding shapes.
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const SeparationResult = struct {
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// i0: usize = undefined, // Vertex idx
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// i1: ?usize = null,
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// i0: usize = undefined, // Vertex idx
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// i1: ?usize = null,
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v0: Vec2 = undefined,
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v1: ?Vec2 = null,
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e: usize = undefined, // Edge idx
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@ -521,7 +501,7 @@ const SeparationResult = struct {
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pub fn findMinSeparation(polygon_a: []const Vec2, polygon_b: []const Vec2) ?SeparationResult {
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var min_result = SeparationResult{};
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var v0 = polygon_b[polygon_b.len-1];
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var v0 = polygon_b[polygon_b.len - 1];
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for (polygon_b[0..], 0..) |v1, i| {
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const edge = v1.sub(&v0);
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const n = vec2(edge.y(), -edge.x()).normalize(0.0);
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@ -571,10 +551,7 @@ test findMinSeparation {
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try testing.expect(f32, 0.25).eql(result.?.d);
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// Not colliding - bottom edge of triangle_0 separates the two
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try testing.expect(?SeparationResult, null).eql(
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findMinSeparation(&triangle_2, &triangle_0)
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);
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try testing.expect(?SeparationResult, null).eql(findMinSeparation(&triangle_2, &triangle_0));
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}
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/// Compute a Contact report between polygon_a and polygon_b if they are colliding.
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@ -612,20 +589,16 @@ pub fn polygonPolygonContact(polygon_a: []const Vec2, polygon_b: []const Vec2) ?
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} else {
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// Paralell edges - find two contact points
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const edge = vec2(min_separation_a.n.y(), -min_separation_a.n.x());
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const vertices = [_]Vec2{
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min_separation_a.v0,
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min_separation_a.v1.?,
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min_separation_b.v0,
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min_separation_b.v1.?};
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const from_a = [4]bool {true, true, false, false};
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const vertices = [_]Vec2{ min_separation_a.v0, min_separation_a.v1.?, min_separation_b.v0, min_separation_b.v1.? };
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const from_a = [4]bool{ true, true, false, false };
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var distances: [4]f32 = undefined;
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for (vertices, &distances) |v, *d| {
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d.* = edge.dot(&v);
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}
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// Sort vertices along the edge
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var idx = [_]u8{0,1,2,3};
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var idx = [_]u8{ 0, 1, 2, 3 };
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for (0..3) |i| {
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for (i+1..4) |j| {
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for (i + 1..4) |j| {
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if (distances[idx[i]] > distances[idx[j]]) {
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const t = idx[i];
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idx[i] = idx[j];
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@ -636,10 +609,8 @@ pub fn polygonPolygonContact(polygon_a: []const Vec2, polygon_b: []const Vec2) ?
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depth = min_separation_a.d;
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normal = min_separation_a.n.mulScalar(-1.0);
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cp1_a = if (from_a[idx[1]]) vertices[idx[1]]
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else vertices[idx[1]].add(&normal.mulScalar(depth));
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cp2_a = if (from_a[idx[2]]) vertices[idx[2]]
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else vertices[idx[2]].add(&normal.mulScalar(depth));
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cp1_a = if (from_a[idx[1]]) vertices[idx[1]] else vertices[idx[1]].add(&normal.mulScalar(depth));
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cp2_a = if (from_a[idx[2]]) vertices[idx[2]] else vertices[idx[2]].add(&normal.mulScalar(depth));
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}
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}
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@ -689,10 +660,10 @@ test polygonPolygonContact {
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try testing.expect(?Contact, null).eql(polygonPolygonContact(&triangle_0, &triangle_2));
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try testing.expect(?Contact, null).eql(polygonPolygonContact(&triangle_2, &triangle_0));
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const rect1 = Rectangle{.pos = vec2(-1.0, -1.0), .size = vec2(2.0, 2.0)};
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const rect2 = Rectangle{.pos = vec2(-1.5, -2.25), .size = vec2(1.0, 1.5)};
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const rect3 = Rectangle{.pos = vec2(-0.5, -2.25), .size = vec2(1.0, 1.5)};
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const rect4 = Rectangle{.pos = vec2( 0.5, -2.25), .size = vec2(1.0, 1.5)};
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const rect1 = Rectangle{ .pos = vec2(-1.0, -1.0), .size = vec2(2.0, 2.0) };
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const rect2 = Rectangle{ .pos = vec2(-1.5, -2.25), .size = vec2(1.0, 1.5) };
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const rect3 = Rectangle{ .pos = vec2(-0.5, -2.25), .size = vec2(1.0, 1.5) };
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const rect4 = Rectangle{ .pos = vec2(0.5, -2.25), .size = vec2(1.0, 1.5) };
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const r1 = rect1.vertices();
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const r2 = rect2.vertices();
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const r3 = rect3.vertices();
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@ -729,16 +700,8 @@ pub fn circlePolygonContact(circle_a: Circle, polygon_b: []const Vec2) ?Contact
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var depth: f32 = 0.0;
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var cp1_a: ?Vec2 = null;
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var v0 = polygon_b[polygon_b.len-1];
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var min_result = struct {
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n: Vec2,
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d: f32,
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i: usize
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}{
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.n = vec2(0.0, 0.0),
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.d = std.math.floatMax(f32),
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.i = undefined
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};
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var v0 = polygon_b[polygon_b.len - 1];
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var min_result = struct { n: Vec2, d: f32, i: usize }{ .n = vec2(0.0, 0.0), .d = std.math.floatMax(f32), .i = undefined };
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var closest_vertex = struct {
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v: Vec2 = undefined,
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d: f32 = std.math.floatMax(f32),
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@ -779,7 +742,7 @@ pub fn circlePolygonContact(circle_a: Circle, polygon_b: []const Vec2) ?Contact
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// Circle projects to +- radius
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const vc = circle_a.pos.sub(&v0);
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const d = vc.dot(&n);
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const minmax_a = [2]f32{d - circle_a.radius, d + circle_a.radius};
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const minmax_a = [2]f32{ d - circle_a.radius, d + circle_a.radius };
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if ((minmax_a[0] > minmax_b[1]) or (minmax_a[1] < minmax_b[0])) {
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// Circle does not intersect
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@ -805,9 +768,9 @@ pub fn circlePolygonContact(circle_a: Circle, polygon_b: []const Vec2) ?Contact
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}
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test circlePolygonContact {
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const rect1 = Rectangle{.pos = vec2(0.75, -1.0), .size = vec2(2.0, 2.0)};
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const rect1 = Rectangle{ .pos = vec2(0.75, -1.0), .size = vec2(2.0, 2.0) };
|
||||
const r1 = rect1.vertices();
|
||||
if (circlePolygonContact(Circle{.pos=vec2(0.0, 0.0), .radius = 1.0}, &r1)) |contact| {
|
||||
if (circlePolygonContact(Circle{ .pos = vec2(0.0, 0.0), .radius = 1.0 }, &r1)) |contact| {
|
||||
try testing.expect(Vec2, vec2(1.0, 0.0)).eql(contact.normal);
|
||||
try testing.expect(f32, 0.25).eql(contact.depth);
|
||||
try testing.expect(Vec2, vec2(1.0, 0.0)).eql(contact.cp1.?);
|
||||
|
|
@ -816,9 +779,7 @@ test circlePolygonContact {
|
|||
try testing.expect(bool, true).eql(false);
|
||||
}
|
||||
|
||||
try testing.expect(?Contact, null).eql(
|
||||
circlePolygonContact(Circle{.pos=vec2(-1.0, 0.0), .radius = 1.0}, &r1)
|
||||
);
|
||||
try testing.expect(?Contact, null).eql(circlePolygonContact(Circle{ .pos = vec2(-1.0, 0.0), .radius = 1.0 }, &r1));
|
||||
}
|
||||
|
||||
/// Compute a Contact report between two circles.
|
||||
|
|
@ -841,9 +802,7 @@ pub fn circleCircleContact(circle_a: Circle, circle_b: Circle) ?Contact {
|
|||
}
|
||||
|
||||
test circleCircleContact {
|
||||
if (circleCircleContact(Circle{.pos=vec2(0.0, 0.0), .radius = 1.0},
|
||||
Circle{.pos = vec2(1.75, 0.0), .radius = 1.0})) |contact| {
|
||||
|
||||
if (circleCircleContact(Circle{ .pos = vec2(0.0, 0.0), .radius = 1.0 }, Circle{ .pos = vec2(1.75, 0.0), .radius = 1.0 })) |contact| {
|
||||
try testing.expect(Vec2, vec2(1.0, 0.0)).eql(contact.normal);
|
||||
try testing.expect(f32, 0.25).eql(contact.depth);
|
||||
try testing.expect(Vec2, vec2(1.0, 0.0)).eql(contact.cp1.?);
|
||||
|
|
@ -852,9 +811,7 @@ test circleCircleContact {
|
|||
try testing.expect(bool, true).eql(false);
|
||||
}
|
||||
|
||||
if (circleCircleContact(Circle{.pos=vec2(0.0, 0.0), .radius = 1.0},
|
||||
Circle{.pos = vec2(2.0, 0.0), .radius = 1.0})) |contact| {
|
||||
|
||||
if (circleCircleContact(Circle{ .pos = vec2(0.0, 0.0), .radius = 1.0 }, Circle{ .pos = vec2(2.0, 0.0), .radius = 1.0 })) |contact| {
|
||||
try testing.expect(Vec2, vec2(1.0, 0.0)).eql(contact.normal);
|
||||
try testing.expect(f32, 0.0).eql(contact.depth);
|
||||
try testing.expect(Vec2, vec2(1.0, 0.0)).eql(contact.cp1.?);
|
||||
|
|
@ -863,8 +820,5 @@ test circleCircleContact {
|
|||
try testing.expect(bool, true).eql(false);
|
||||
}
|
||||
|
||||
try testing.expect(?Contact, null).eql(
|
||||
circleCircleContact(Circle{.pos=vec2(0.0, 0.0), .radius = 1.0},
|
||||
Circle{.pos = vec2(2.01, 0.0), .radius = 1.0})
|
||||
);
|
||||
try testing.expect(?Contact, null).eql(circleCircleContact(Circle{ .pos = vec2(0.0, 0.0), .radius = 1.0 }, Circle{ .pos = vec2(2.01, 0.0), .radius = 1.0 }));
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue