def aabb_poly(A, B, collision_class=Collision):
if shadow_x(A, B) < 0 or shadow_y(A, B) < 0:
return None
A_poly = Rectangle(A.rect_coords)
col = collision_poly(A_poly, B)
if col is not None:
return collision_class(A, B, pos=col.pos, normal=col.normal,
delta=col.delta)
else:
return None
def circle_aabb(A, B):
'''Reutiliza a lógica de Circle/Poly para realizar a colisão com AABBs'''
if shadow_x(A, B) < 0 or shadow_y(A, B) < 0:
return None
B_poly = Rectangle(bbox=B.bbox)
col = circle_poly(A, B_poly)
if col is not None:
return Collision(A, B, pos=col.pos, normal=col.normal, delta=col.delta)
else:
return None
def aabb_poly(A, B):
'''Implementa a colisão entre um polígono arbitrário e uma caixa AABB'''
if shadow_x(A, B) < 0 or shadow_y(A, B) < 0:
return None
A_poly = Rectangle(bbox=A.bbox)
col = collision_poly(A_poly, B)
if col is not None:
return Collision(A, B, pos=col.pos, normal=col.normal, delta=col.delta)
else:
return None
def circle_poly(A, B):
'''Implementa a colisão entre um círculo arbitrário um polígono.
A normal resultante sempre sai do círculo na direção do polígono.
'''
# Verifica as AABB
if shadow_x(A, B) < 0 or shadow_y(A, B) < 0:
return None
# Procura o ponto mais próximo de B
vertices = B.vertices
N = len(vertices)
center = A.pos
normals = [(i, v - center, v) for i, v in enumerate(vertices)]
idx, _, pos = min(normals, key=lambda x: x[1].norm())
# A menor distância para o centro pode ser do tipo vértice-ponto ou
# aresta-ponto. Assumimos o vértice inicialmente.
distance = (pos - center).norm()
# Agora verificamos cada face
P0 = pos
P = vertices[(idx - 1) % N]
v = center - P
u = P0 - P
L = u.norm()
delta = v.cross(u) / L
# Verifica se o ponto mais próximo se encontra no segmento
if delta < distance and u.dot(v) < L**2:
pos = P + (u.dot(v) / L**2) * u
distance = delta
# Mesmo teste para a face do ponto posterior
P = vertices[(idx + 1) % N]
v = center - P
u = P0 - P
L = u.norm()
delta = -v.cross(u) / L
if delta < distance and u.dot(v) < L ** 2:
pos = P + (u.dot(v) / L ** 2) * u
distance = delta
# Verificamos se houve colisão ou não na direção esperada
delta = A.radius - distance
normal = (pos - center).normalized()
if delta > 0:
return Collision(A, B, pos=pos, normal=normal, delta=delta)
else:
return None
def aabb_poly(A, B, collision_class=Collision):
if shadow_x(A, B) < 0 or shadow_y(A, B) < 0:
return None
A_poly = Rectangle(A.rect_coords)
col = collision_poly(A_poly, B)
if col is not None:
return collision_class(A,
B,
pos=col.pos,
normal=col.normal,
delta=col.delta)
else:
return None
def circle_poly(A, B, collision_class=Collision):
if shadow_x(A, B) < 0 or shadow_y(A, B) < 0:
return None
# Searches for the nearest point to B
vertices = B.vertices
center = A.pos
normals = [(i, v - center, v) for i, v in enumerate(vertices)]
idx, _, pos = min(normals, key=lambda x: x[1].norm())
# The smaller distance to the center can be vertex-center or side-center.
# We need to detect this.
separation = (pos - center).norm()
# Verify each face
P0 = pos
N = len(vertices)
for idx in [(idx - 1) % N, (idx + 1) % N]:
P = vertices[idx]
v = center - P
u = P0 - P
L = u.norm()
distance = abs(v.cross(u) / L)
# Verify if closest point is inside segment
if distance < separation and u.dot(v) < L ** 2:
pos = P + (u.dot(v) / L ** 2) * u
separation = distance
# Verify if there is collision in the direction of smaller separation
delta = A.radius - separation
normal = (pos - center).normalize()
if delta > 0:
return collision_class(A, B, pos=pos, normal=normal, delta=delta)
else:
return None
def circle_poly(A, B, collision_class=Collision):
if shadow_x(A, B) < 0 or shadow_y(A, B) < 0:
return None
# Searches for the nearest point to B
vertices = B.vertices
center = A.pos
normals = [(i, v - center, v) for i, v in enumerate(vertices)]
idx, _, pos = min(normals, key=lambda x: x[1].norm())
# The smaller distance to the center can be vertex-center or side-center.
# We need to detect this.
separation = (pos - center).norm()
# Verify each face
P0 = pos
N = len(vertices)
for idx in [(idx - 1) % N, (idx + 1) % N]:
P = vertices[idx]
v = center - P
u = P0 - P
L = u.norm()
distance = abs(v.cross(u) / L)
# Verify if closest point is inside segment
if distance < separation and u.dot(v) < L**2:
pos = P + (u.dot(v) / L**2) * u
separation = distance
# Verify if there is collision in the direction of smaller separation
delta = A.radius - separation
normal = (pos - center).normalize()
if delta > 0:
return collision_class(A, B, pos=pos, normal=normal, delta=delta)
else:
return None