Esempio n. 1
0
// Recalculates the global center of the circle and the the bounding box.
func (circle *CircleShape) update(xf transform.Transform) AABB {
	//global center of the circle
	center := xf.TransformVect(circle.Position)
	circle.Tc = center
	rv := vect.Vect{circle.Radius, circle.Radius}

	return AABB{
		vect.Sub(center, rv),
		vect.Add(center, rv),
	}
}
Esempio n. 2
0
// Calculates the transformed vertices and axes and the bounding box.
func (poly *PolygonShape) update(xf transform.Transform) AABB {
	//transform axes
	{
		src := poly.Axes
		dst := poly.TAxes

		for i := 0; i < poly.NumVerts; i++ {
			n := xf.RotateVect(src[i].N)
			dst[i].N = n
			dst[i].D = vect.Dot(xf.Position, n) + src[i].D
		}
		/*
			fmt.Println("")
			fmt.Println("Started Axes")
			fmt.Println(xf.Rotation, xf.Position)
			for i:=0;i<poly.NumVerts;i++ {
				fmt.Println(src[i], dst[i])
			}
		*/
	}
	//transform verts
	{
		inf := vect.Float(math.Inf(1))
		aabb := AABB{
			Lower: vect.Vect{inf, inf},
			Upper: vect.Vect{-inf, -inf},
		}

		src := poly.Verts
		dst := poly.TVerts

		for i := 0; i < poly.NumVerts; i++ {
			v := xf.TransformVect(src[i])

			dst[i] = v
			aabb.Lower.X = vect.FMin(aabb.Lower.X, v.X)
			aabb.Upper.X = vect.FMax(aabb.Upper.X, v.X)
			aabb.Lower.Y = vect.FMin(aabb.Lower.Y, v.Y)
			aabb.Upper.Y = vect.FMax(aabb.Upper.Y, v.Y)
		}

		/*
			fmt.Println("Verts")
			for i:=0;i<poly.NumVerts;i++ {
				fmt.Println(src[i], dst[i])
			}
		*/
		return aabb
	}
}
Esempio n. 3
0
//Called to update N, Tn, Ta, Tb and the the bounding box.
func (segment *SegmentShape) update(xf transform.Transform) AABB {
	a := xf.TransformVect(segment.A)
	b := xf.TransformVect(segment.B)
	segment.Ta = a
	segment.Tb = b
	segment.N = vect.Perp(vect.Normalize(vect.Sub(segment.B, segment.A)))
	segment.Tn = xf.RotateVect(segment.N)

	rv := vect.Vect{segment.Radius, segment.Radius}

	min := vect.Min(a, b)
	min.Sub(rv)

	max := vect.Max(a, b)
	max.Add(rv)

	return AABB{
		min,
		max,
	}
}