private static bool Raycast(float2 from, float2 to, CircleCollider circle)
{
float2 delta = to - from;
float a = delta.x * delta.x + delta.y * delta.y;
float b = 2 * (delta.x * (from.x - circle.position.x) + delta.y * (from.y - circle.position.y));
float c = (from.x - circle.position.x) * (from.x - circle.position.x) + (from.y - circle.position.y) * (from.y - circle.position.y) - (circle.radius * circle.radius);
float discriminant = b * b - 4 * a * c;
if (0 > discriminant)
{
return(false);
}
float positive = (-b + math.sqrt(discriminant)) / (2 * a);
if (positive >= 0 && 1 >= positive)
{
return(true);
}
float negative = (-b - math.sqrt(discriminant)) / (2 * a);
return(negative >= 0 && 1 >= negative);
}
private static bool Intersects(CircleCollider circle, ShapeCollider shape)
{
float2 nearest = shape.position + shape.points[0];
float minDistance = math.distancesq(circle.position, nearest);
for (int i = 1; shape.points.Count > i; i++)
{
float distance = math.distancesq(circle.position, shape.position + shape.points[i]);
if (minDistance > distance)
{
minDistance = distance;
nearest = shape.position + shape.points[i];
}
}
float2 axis = math.normalizesafe(nearest - circle.position);
if (LineOverlap(Project(shape, axis), Project(circle, axis)) == 0)
{
return(false);
}
for (int i = 0; shape.points.Count > i; i++)
{
axis = math.normalizesafe(shape.edges[i].perpendicular());
if (LineOverlap(Project(shape, axis), Project(circle, axis)) == 0)
{
return(false);
}
}
return(true);
}
private static float2 Depenetrate(CircleCollider circleA, CircleCollider circleB)
{
float2 direction = circleA.position - circleB.position;
float summedRadii = circleA.radius + circleB.radius;
float distance = math.length(direction);
return(summedRadii > distance?math.normalizesafe(direction) * (summedRadii - distance) : float2.zero);
}
private static bool ContainedBy(ShapeCollider shapeCollider, CircleCollider circleCollider)
{
for (int i = 0; shapeCollider.points.Count > i; i++)
{
if (!ContainedBy(shapeCollider.position + shapeCollider.points[i], circleCollider))
{
return(false);
}
}
return(true);
}
private static float2 Depenetrate(CircleCollider circle, ShapeCollider shape)
{
float2 nearest = shape.position + shape.points[0];
float lowest = math.distancesq(circle.position, nearest);
for (int i = 1; shape.points.Count > i; i++)
{
float distance = math.distancesq(circle.position, shape.position + shape.points[i]);
if (lowest > distance)
{
lowest = distance;
nearest = shape.position + shape.points[i];
}
}
float2 depenetration = float2.zero;
float depth = float.PositiveInfinity;
float2 axis = math.normalizesafe(nearest - circle.position);
float overlap = LineOverlap(Project(shape, axis), Project(circle, axis));
if (overlap == 0)
{
return(float2.zero);
}
if (depth > overlap)
{
depth = overlap;
depenetration = axis;
}
for (int i = 0; shape.points.Count > i; i++)
{
axis = math.normalizesafe(shape.edges[i].perpendicular());
overlap = LineOverlap(Project(shape, axis), Project(circle, axis));
if (overlap == 0)
{
return(float2.zero);
}
if (depth > overlap)
{
depth = overlap;
depenetration = axis;
}
}
return(depenetration * depth * (math.dot(depenetration, shape.position - circle.position) >= 0 ? -1 : 1));
}
private static float2 Depenetrate <T>(CircleCollider circleColliderA, T colliderB) where T : AbstractCollider
{
switch (colliderB)
{
case CircleCollider circleColliderB:
return(Depenetrate(circleColliderA, circleColliderB));
case ShapeCollider shapeColliderB:
return(Depenetrate(circleColliderA, shapeColliderB));
default:
return(float2.zero);
}
}
private static bool ContainedBy <T>(CircleCollider circleColliderA, T colliderB) where T : AbstractCollider
{
switch (colliderB)
{
case CircleCollider circleColliderB:
return(ContainedBy(circleColliderA, circleColliderB));
case ShapeCollider shapeColliderB:
return(ContainedBy(shapeColliderB, circleColliderA));
default:
return(false);
}
}
private static bool Intersects <T>(CircleCollider circleColliderA, T colliderB) where T : AbstractCollider
{
switch (colliderB)
{
case CircleCollider circleColliderB:
return(Intersects(circleColliderA, circleColliderB));
case ShapeCollider shapeColliderB:
return(Intersects(circleColliderA, shapeColliderB));
default:
return(false);
}
}
private static float2 Depenetrate(ShapeCollider shape, CircleCollider circle) => - Depenetrate(circle, shape);
private static float2 Project(CircleCollider circle, float2 axis)
{
float dot = math.dot(circle.position, axis);
return(new float2(dot - circle.radius, dot + circle.radius));
}
public CircleCollider(CircleCollider circleCollider) : this(circleCollider.radius)
{
}
public AABB(CircleCollider collider) : this(collider.position, collider.radius)
{
}
private static bool ContainedBy(float2 point, CircleCollider circleCollider) => circleCollider.radius * circleCollider.radius > math.distancesq(point, circleCollider.position);
private static bool ContainedBy(CircleCollider circleColliderA, CircleCollider circleColliderB) => (circleColliderB.radius - circleColliderA.radius) * (circleColliderB.radius - circleColliderA.radius) > math.distancesq(circleColliderA.position, circleColliderB.position);
private static bool Intersects(ShapeCollider shape, CircleCollider circle) => Intersects(circle, shape);
private static bool Intersects(CircleCollider circleA, CircleCollider circleB) => (circleA.radius + circleB.radius) * (circleA.radius + circleB.radius) > math.distancesq(circleA.position, circleB.position);