private static bool FindMinSepAxis(
VoltPolygon poly1,
VoltPolygon poly2,
out Axis axis)
{
axis = new Axis(TSVector2.zero, FP.NegativeInfinity);
for (int i = 0; i < poly1.countWorld; i++)
{
Axis a = poly1.worldAxes[i];
FP min = FP.PositiveInfinity;
for (int j = 0; j < poly2.countWorld; j++)
{
TSVector2 v = poly2.worldVertices[j];
min = TSMath.Min(min, TSVector2.Dot(a.Normal, v));
}
min -= a.Width;
if (min > 0)
{
return(false);
}
if (min > axis.Width)
{
axis = new Axis(a.Normal, min);
}
}
return(true);
}
public static VoltAABB CreateMerged(VoltAABB aabb1, VoltAABB aabb2)
{
return(new VoltAABB(
TSMath.Max(aabb1.top, aabb2.top),
TSMath.Min(aabb1.bottom, aabb2.bottom),
TSMath.Min(aabb1.left, aabb2.left),
TSMath.Max(aabb1.right, aabb2.right)));
}
/// <summary>
/// Builds the AABB by combining all the shape AABBs.
/// </summary>
private void UpdateAABB()
{
FP top = FP.NegativeInfinity;
FP right = FP.NegativeInfinity;
FP bottom = FP.PositiveInfinity;
FP left = FP.PositiveInfinity;
for (int i = 0; i < this.shapeCount; i++)
{
VoltAABB aabb = this.shapes[i].AABB;
top = TSMath.Max(top, aabb.Top);
right = TSMath.Max(right, aabb.Right);
bottom = TSMath.Min(bottom, aabb.Bottom);
left = TSMath.Min(left, aabb.Left);
}
this.AABB = new VoltAABB(top, bottom, left, right);
}
private static VoltAABB ComputeBounds(
TSVector2[] vertices,
int count)
{
FP top = vertices[0].y;
FP bottom = vertices[0].y;
FP left = vertices[0].x;
FP right = vertices[0].x;
for (int i = 1; i < count; i++)
{
top = TSMath.Max(top, vertices[i].y);
bottom = TSMath.Min(bottom, vertices[i].y);
left = TSMath.Min(left, vertices[i].x);
right = TSMath.Max(right, vertices[i].x);
}
return(new VoltAABB(top, bottom, left, right));
}
public static void Min(ref TSVector2 value1, ref TSVector2 value2, out TSVector2 result)
{
result.x = TSMath.Min(value1.x, value2.x);
result.y = TSMath.Min(value1.y, value2.y);
}
public static TSVector2 Min(TSVector2 value1, TSVector2 value2)
{
return(new TSVector2(
TSMath.Min(value1.x, value2.x),
TSMath.Min(value1.y, value2.y)));
}
private static FP BiasDist(FP dist)
{
return(VoltConfig.ResolveRate * TSMath.Min(0, dist + VoltConfig.ResolveSlop));
}