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Run formatter in all scripts
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‎src/box2dx/Box2D.NetStandard/Collision/AABB.cs‎

Lines changed: 177 additions & 177 deletions
Original file line numberDiff line numberDiff line change
@@ -32,181 +32,181 @@ Box2DX Copyright (c) 2009 Ihar Kalasouski http://code.google.com/p/box2dx
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namespace Box2D.NetStandard.Collision
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{
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/// <summary>
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/// An axis aligned bounding box.
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/// </summary>
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public struct AABB
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{
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/// <summary>
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/// The lower vertex
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/// </summary>
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internal Vector2 lowerBound;
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/// <summary>
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/// The upper vertex
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/// </summary>
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internal Vector2 upperBound;
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public Vector2 LowerBound
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{
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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get => lowerBound;
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}
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public Vector2 UpperBound
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{
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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get => upperBound;
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}
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public Vector2 Size
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{
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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get => upperBound - lowerBound;
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}
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/// Get the center of the AABB.
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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public Vector2 GetCenter() => 0.5f * (lowerBound + upperBound);
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/// Get the extents of the AABB (half-widths).
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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public Vector2 GetExtents() => 0.5f * (upperBound - lowerBound);
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/// Get the perimeter length
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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internal float GetPerimeter()
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{
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float wx = upperBound.X - lowerBound.X;
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float wy = upperBound.Y - lowerBound.Y;
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return 2.0f * (wx + wy);
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}
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/// Combine an AABB into this one.
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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internal void Combine(in AABB aabb)
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{
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lowerBound = Vector2.Min(lowerBound, aabb.lowerBound);
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upperBound = Vector2.Max(upperBound, aabb.upperBound);
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}
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/// Combine two AABBs into this one.
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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internal static AABB Combine(in AABB aabb1, in AABB aabb2)
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{
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AABB result = default;
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result.lowerBound = Vector2.Min(aabb1.lowerBound, aabb2.lowerBound);
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result.upperBound = Vector2.Max(aabb1.upperBound, aabb2.upperBound);
100-
return result;
101-
}
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internal AABB Enlarged(float amount)
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{
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Vector2 vecAmt = new Vector2(amount);
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return new AABB(lowerBound - vecAmt, upperBound + vecAmt);
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}
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internal bool Intersects(in AABB other)
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{
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return other.lowerBound.Y <= this.upperBound.Y &&
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other.upperBound.Y >= this.lowerBound.Y &&
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other.upperBound.X >= this.lowerBound.X &&
114-
other.lowerBound.X <= this.upperBound.X;
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}
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/// Does this aabb contain the provided AABB.
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
119-
internal bool Contains(in AABB aabb)
120-
{
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var result = true;
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result = result && lowerBound.X <= aabb.lowerBound.X;
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result = result && lowerBound.Y <= aabb.lowerBound.Y;
124-
result = result && aabb.upperBound.X <= upperBound.X;
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result = result && aabb.upperBound.Y <= upperBound.Y;
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return result;
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}
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private bool RayCast(out RayCastOutput output, in RayCastInput input)
130-
{
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output = default;
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float tmin = float.MinValue;
133-
float tmax = float.MaxValue;
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Vector2 p = input.p1;
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Vector2 d = input.p2 - input.p1;
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var absD = Vector2.Abs(d);
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Vector2 normal = Vector2.Zero;
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for (var i = 0; i < 2; ++i)
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{
143-
if (absD.GetIdx(i) < Settings.FLT_EPSILON)
144-
{
145-
// Parallel.
146-
if (p.GetIdx(i) < lowerBound.GetIdx(i) || upperBound.GetIdx(i) < p.GetIdx(i))
147-
{
148-
return false;
149-
}
150-
}
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else
152-
{
153-
float inv_d = 1.0f / d.GetIdx(i);
154-
float t1 = (lowerBound.GetIdx(i) - p.GetIdx(i)) * inv_d;
155-
float t2 = (upperBound.GetIdx(i) - p.GetIdx(i)) * inv_d;
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// Sign of the normal vector.
158-
float s = -1.0f;
159-
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if (t1 > t2)
161-
{
162-
float temp = t1;
163-
t1 = t2;
164-
t2 = temp;
165-
s = 1.0f;
166-
}
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// Push the min up
169-
if (t1 > tmin)
170-
{
171-
normal = new Vector2(i == 0 ? s : 0, i == 1 ? s : 0);
172-
tmin = t1;
173-
}
174-
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// Pull the max down
176-
tmax = MathF.Min(tmax, t2);
177-
178-
if (tmin > tmax)
179-
{
180-
return false;
181-
}
182-
}
183-
}
184-
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// Does the ray start inside the box?
186-
// Does the ray intersect beyond the max fraction?
187-
if (tmin < 0.0f || input.maxFraction < tmin)
188-
{
189-
return false;
190-
}
191-
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// Intersection.
193-
output.fraction = tmin;
194-
output.normal = normal;
195-
return true;
196-
}
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private bool IsValid()
199-
{
200-
Vector2 d = upperBound - lowerBound;
201-
bool valid = d.X >= 0.0f && d.Y >= 0.0f;
202-
valid = valid && lowerBound.IsValid() && upperBound.IsValid();
203-
return valid;
204-
}
205-
206-
public AABB(Vector2 lowerBound, Vector2 upperBound)
207-
{
208-
this.lowerBound = lowerBound;
209-
this.upperBound = upperBound;
210-
}
211-
}
35+
/// <summary>
36+
/// An axis aligned bounding box.
37+
/// </summary>
38+
public struct AABB
39+
{
40+
/// <summary>
41+
/// The lower vertex
42+
/// </summary>
43+
internal Vector2 lowerBound;
44+
45+
/// <summary>
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/// The upper vertex
47+
/// </summary>
48+
internal Vector2 upperBound;
49+
50+
public Vector2 LowerBound
51+
{
52+
[MethodImpl(MethodImplOptions.AggressiveInlining)]
53+
get => lowerBound;
54+
}
55+
56+
public Vector2 UpperBound
57+
{
58+
[MethodImpl(MethodImplOptions.AggressiveInlining)]
59+
get => upperBound;
60+
}
61+
62+
public Vector2 Size
63+
{
64+
[MethodImpl(MethodImplOptions.AggressiveInlining)]
65+
get => upperBound - lowerBound;
66+
}
67+
68+
/// Get the center of the AABB.
69+
[MethodImpl(MethodImplOptions.AggressiveInlining)]
70+
public Vector2 GetCenter() => 0.5f * (lowerBound + upperBound);
71+
72+
/// Get the extents of the AABB (half-widths).
73+
[MethodImpl(MethodImplOptions.AggressiveInlining)]
74+
public Vector2 GetExtents() => 0.5f * (upperBound - lowerBound);
75+
76+
/// Get the perimeter length
77+
[MethodImpl(MethodImplOptions.AggressiveInlining)]
78+
internal float GetPerimeter()
79+
{
80+
float wx = upperBound.X - lowerBound.X;
81+
float wy = upperBound.Y - lowerBound.Y;
82+
return 2.0f * (wx + wy);
83+
}
84+
85+
/// Combine an AABB into this one.
86+
[MethodImpl(MethodImplOptions.AggressiveInlining)]
87+
internal void Combine(in AABB aabb)
88+
{
89+
lowerBound = Vector2.Min(lowerBound, aabb.lowerBound);
90+
upperBound = Vector2.Max(upperBound, aabb.upperBound);
91+
}
92+
93+
/// Combine two AABBs into this one.
94+
[MethodImpl(MethodImplOptions.AggressiveInlining)]
95+
internal static AABB Combine(in AABB aabb1, in AABB aabb2)
96+
{
97+
AABB result = default;
98+
result.lowerBound = Vector2.Min(aabb1.lowerBound, aabb2.lowerBound);
99+
result.upperBound = Vector2.Max(aabb1.upperBound, aabb2.upperBound);
100+
return result;
101+
}
102+
103+
internal AABB Enlarged(float amount)
104+
{
105+
Vector2 vecAmt = new Vector2(amount);
106+
return new AABB(lowerBound - vecAmt, upperBound + vecAmt);
107+
}
108+
109+
internal bool Intersects(in AABB other)
110+
{
111+
return other.lowerBound.Y <= this.upperBound.Y &&
112+
other.upperBound.Y >= this.lowerBound.Y &&
113+
other.upperBound.X >= this.lowerBound.X &&
114+
other.lowerBound.X <= this.upperBound.X;
115+
}
116+
117+
/// Does this aabb contain the provided AABB.
118+
[MethodImpl(MethodImplOptions.AggressiveInlining)]
119+
internal bool Contains(in AABB aabb)
120+
{
121+
var result = true;
122+
result = result && lowerBound.X <= aabb.lowerBound.X;
123+
result = result && lowerBound.Y <= aabb.lowerBound.Y;
124+
result = result && aabb.upperBound.X <= upperBound.X;
125+
result = result && aabb.upperBound.Y <= upperBound.Y;
126+
return result;
127+
}
128+
129+
private bool RayCast(out RayCastOutput output, in RayCastInput input)
130+
{
131+
output = default;
132+
float tmin = float.MinValue;
133+
float tmax = float.MaxValue;
134+
135+
Vector2 p = input.p1;
136+
Vector2 d = input.p2 - input.p1;
137+
var absD = Vector2.Abs(d);
138+
139+
Vector2 normal = Vector2.Zero;
140+
141+
for (var i = 0; i < 2; ++i)
142+
{
143+
if (absD.GetIdx(i) < Settings.FLT_EPSILON)
144+
{
145+
// Parallel.
146+
if (p.GetIdx(i) < lowerBound.GetIdx(i) || upperBound.GetIdx(i) < p.GetIdx(i))
147+
{
148+
return false;
149+
}
150+
}
151+
else
152+
{
153+
float inv_d = 1.0f / d.GetIdx(i);
154+
float t1 = (lowerBound.GetIdx(i) - p.GetIdx(i)) * inv_d;
155+
float t2 = (upperBound.GetIdx(i) - p.GetIdx(i)) * inv_d;
156+
157+
// Sign of the normal vector.
158+
float s = -1.0f;
159+
160+
if (t1 > t2)
161+
{
162+
float temp = t1;
163+
t1 = t2;
164+
t2 = temp;
165+
s = 1.0f;
166+
}
167+
168+
// Push the min up
169+
if (t1 > tmin)
170+
{
171+
normal = new Vector2(i == 0 ? s : 0, i == 1 ? s : 0);
172+
tmin = t1;
173+
}
174+
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// Pull the max down
176+
tmax = MathF.Min(tmax, t2);
177+
178+
if (tmin > tmax)
179+
{
180+
return false;
181+
}
182+
}
183+
}
184+
185+
// Does the ray start inside the box?
186+
// Does the ray intersect beyond the max fraction?
187+
if (tmin < 0.0f || input.maxFraction < tmin)
188+
{
189+
return false;
190+
}
191+
192+
// Intersection.
193+
output.fraction = tmin;
194+
output.normal = normal;
195+
return true;
196+
}
197+
198+
private bool IsValid()
199+
{
200+
Vector2 d = upperBound - lowerBound;
201+
bool valid = d.X >= 0.0f && d.Y >= 0.0f;
202+
valid = valid && lowerBound.IsValid() && upperBound.IsValid();
203+
return valid;
204+
}
205+
206+
public AABB(Vector2 lowerBound, Vector2 upperBound)
207+
{
208+
this.lowerBound = lowerBound;
209+
this.upperBound = upperBound;
210+
}
211+
}
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}

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