public static bool Cross(Sphere2D sphere, Sphere2D other, Vector2_ tp, ref Vector2_ hit)
{
if (sphere.Intersect(other))
{
return(true);
}
var o = other.center_;
tp -= o;
sphere.SetCenter(sphere.center_ - o);
other.SetCenter(Vector2_.zero);
other.radius += sphere.radius;
var dir = tp - sphere.center_;
var rr = other.radius * other.radius * dir.sqrMagnitude;
var t = sphere.center_ + dir;
var d = sphere.x * t.y - t.x * sphere.y;
var dd = d * d;
if (rr - dd > 0)
{
var proj = Vector2_.Project(-sphere.center_, dir.normalized);
if (proj.magnitude <= dir.magnitude && Vector2_.Dot(proj, dir) > 0)
{
hit = proj + sphere.center_ + o;
return(true);
}
}
sphere.SetCenter(tp);
if (sphere.Intersect(other))
{
hit = tp + o;
return(true);
}
return(false);
}
public static bool Cross(Box2D box, Sphere2D other, Vector2_ tp, ref Vector2_ hit)
{
if (box.Intersect(other))
{
return(true);
}
var o = other.center_;
tp -= o;
box.SetCenter(box.center_ - o);
other.SetCenter(Vector2_.zero);
var dir = tp - box.center_;
var rr = other.radius * other.radius * dir.sqrMagnitude;
var t = box.topLeft + dir;
var d = box.leftEdge * t.y - t.x * box.topEdge;
var dd = d * d;
if (rr - dd > 0)
{
var proj = Vector2_.Project(-box.topLeft, dir.normalized);
if (proj.magnitude <= dir.magnitude && Vector2_.Dot(proj, dir) > 0)
{
hit = Vector2_.Project(-box.center_, dir.normalized) + box.center_ + o;
return(true);
}
}
t = box.bottomRight + dir;
d = box.rightEdge * t.y - t.x * box.bottomEdge;
dd = d * d;
if (rr - dd > 0)
{
var proj = Vector2_.Project(-box.bottomRight, dir.normalized);
if (proj.magnitude <= dir.magnitude && Vector2_.Dot(proj, dir) > 0)
{
hit = Vector2_.Project(-box.center_, dir.normalized) + box.center_ + o;
return(true);
}
}
t = box.topRight + dir;
d = box.rightEdge * t.y - t.x * box.topEdge;
dd = d * d;
if (rr - dd > 0)
{
var proj = Vector2_.Project(-box.topRight, dir.normalized);
if (proj.magnitude <= dir.magnitude && Vector2_.Dot(proj, dir) > 0)
{
hit = Vector2_.Project(-box.center_, dir.normalized) + box.center_ + o;
return(true);
}
}
t = box.bottomLeft + dir;
d = box.leftEdge * t.y - t.x * box.bottomEdge;
dd = d * d;
if (rr - dd > 0)
{
var proj = Vector2_.Project(-box.bottomLeft, dir.normalized);
if (proj.magnitude <= dir.magnitude && Vector2_.Dot(proj, dir) > 0)
{
hit = Vector2_.Project(-box.center_, dir.normalized) + box.center_ + o;
return(true);
}
}
box.SetCenter(tp);
if (box.Intersect(other))
{
hit = tp + o;
return(true);
}
return(false);
}