public bool TestCollisionCompatibility(ICollisionVolume other)
{
if (other is SATCollisionVolume) return true;
else return false;
}
/// <summary>
/// Tests if two collision volumes are overlapping
/// </summary>
/// <param name="otherCV">The collision volume to test against</param>
/// <returns>True if there is an overlap.</returns>
public bool TestCollision(ICollisionVolume other)
{
if (other == this) return false;
if (TestCollisionCompatibility(other) == false) return false;
SATCollisionVolume otherCV = (SATCollisionVolume)other;
float thisMin, thisMax, otherMin, otherMax;
float location; //projected location of the vertex along the axis
List<Vector2> allAxes = new List<Vector2>();
//initialize collection of all axes to be tested
foreach (Vector2 axis in TestAxes)
allAxes.Add(axis);
foreach (Vector2 axis in otherCV.TestAxes)
allAxes.Add(axis);
foreach (Vector2 axis in allAxes)
{
//reset the min and max for this axis test
thisMin = otherMin = float.PositiveInfinity;
thisMax = otherMax = float.NegativeInfinity;
//find this object's min and max when projected against this axis
foreach (Vector2 vertex in cachedWorldCoordinateVertices)
{
location = Vector2.Dot(vertex, axis);
if (location < thisMin) thisMin = location;
if (location > thisMax) thisMax = location;
}
//find the other object's min and max when projected against this axis
foreach (Vector2 vertex in otherCV.cachedWorldCoordinateVertices)
{
location = Vector2.Dot(vertex, axis);
if (location < otherMin) otherMin = location;
if (location > otherMax) otherMax = location;
}
//determine if the segments overlap
if (thisMax < otherMin || thisMin > otherMax)
return false;
}
//if the loop has completed and the projected segments overlap on all axes then the objects are touching.
return true;
}
