public CollisionResult SolveCollision(Body bodyA, Body bodyB)
{
BoxShape boxA = bodyA.Shape as BoxShape;
BoxShape boxB = bodyB.Shape as BoxShape;
Transform tfA = bodyA.Transform;
Transform tfB = bodyB.Transform;
// TODO miten toi position saatais keskelle suoraan
#if !COLLISION_USE_CENTER_POINT
Vector2 centerA = tfA.Position + new Vector2(boxA.HalfWidth, boxA.HalfHeight);
Vector2 centerB = tfB.Position + new Vector2(boxB.HalfWidth, boxB.HalfHeight);
#endif
#if COLLISION_USE_CENTER_POINT
Vector2 centerA = tfA.Position;
Vector2 centerB = tfB.Position;
#endif
boxA.CalculateOrientation(ref tfA, out axesToCheck[0]);
boxB.CalculateOrientation(ref tfB, out axesToCheck[1]);
axesToCheck[2] = new Vector2(-axesToCheck[0].Y, axesToCheck[0].X);
axesToCheck[3] = new Vector2(-axesToCheck[1].Y, axesToCheck[1].X);
Vector2 distance = centerA - centerB;
float projectedDistance = 0;
float minPenetration = float.MaxValue;
Vector2 mtv = Vector2.Zero; // minium translation vector
for (int i = 0; i < axesToCheck.Length; i++)
{
Vector2 projectionA, projectionB;
projectedDistance = Math.Abs(Vector2.Dot(distance, axesToCheck[i]));
boxA.Project(ref tfA, ref axesToCheck[i], out projectionA);
boxB.Project(ref tfB, ref axesToCheck[i], out projectionB);
float aSize = Math.Abs(projectionA.X) + Math.Abs(projectionA.Y);
float bSize = Math.Abs(projectionB.X) + Math.Abs(projectionB.Y);
float abSize = aSize + bSize;
float penetration = abSize - projectedDistance;
// seperate axis, ei collisionia
if (penetration <= 0)
{
return(CollisionResult.NoCollision);
}
if (Math.Abs(penetration) < Math.Abs(minPenetration))
{
minPenetration = penetration;
mtv = axesToCheck[i];
}
}
// distance määrittää liikkumisen suunnan
if (Vector2.Dot(distance, mtv) < 0f)
{
mtv = -mtv;
}
// seperating axis löyty, joten bodyt törmää
return(new CollisionResult()
{
Us = bodyA,
Them = bodyB,
Response = minPenetration * mtv,
IsColliding = true
});
}
