public static bool TestIShapeWithConcavePolygon(IShape shape, Vector2 shapePos, Polygon concavePolygon, out Contact?contact)
{
List <Vector2[]> concavePolygonComponents = concavePolygon.ConvexComponents();
Vector2 concavePolygonAnchor = concavePolygon[0];
Vector2[] shapeAxes = shape.CalculateAxes();
Vector2[] axes;
foreach (Vector2[] component in concavePolygonComponents)
{
Polygon componentPolygon = new Polygon(component);
componentPolygon.Translate(concavePolygonAnchor);
axes = new Vector2[shapeAxes.Length + componentPolygon.Normals.Length];
shapeAxes.CopyTo(axes, 0);
componentPolygon.Normals.CopyTo(axes, shapeAxes.Length);
if (TestIShapeWithConvexPolygon(shape, shapePos, componentPolygon, axes, out contact))
{
return(true);
}
}
contact = null;
return(false);
}
public static bool TestIShapeWithConvexPolygon(IShape shape, Vector2 shapePos, Polygon polygon, out Contact?contact)
{
Vector2[] shapeAxes = shape.CalculateAxes();
Vector2[] axes = new Vector2[shapeAxes.Length + polygon.Normals.Length];
shapeAxes.CopyTo(axes, 0);
polygon.Normals.CopyTo(axes, shapeAxes.Length);
return(TestIShapeWithConvexPolygon(shape, shapePos, polygon, polygon.Normals, out contact));
}
public static bool TestIShapeWithIShape(IShape shapeA, Vector2 posA, IShape shapeB, Vector2 posB, out Contact?contact)
{
Vector2[] shapeAAxes = shapeA.CalculateAxes(),
shapeBAxes = shapeB.CalculateAxes();
Vector2[] axes = new Vector2[shapeAAxes.Length + shapeBAxes.Length];
shapeAAxes.CopyTo(axes, 0);
shapeBAxes.CopyTo(axes, shapeAAxes.Length);
return(TestIShapeWithIShape(shapeA, posA, shapeB, posB, axes, out contact));
}
public static bool TestLineSegmentWithIShape(Vector2 startPoint, Vector2 endPoint, IShape shape, Vector2 shapePos, out Contact?contact)
{
Vector2[] shapeAxes = shape.CalculateAxes();
Vector2[] axes = new Vector2[2 + shapeAxes.Length];
Vector2 direction = (endPoint - startPoint).Normalized();
axes[0] = direction;
axes[1] = direction.PerpendicularCW();
shapeAxes.CopyTo(axes, 2);
return(TestLineSegmentWithIShape(startPoint, endPoint, shape, shapePos, axes, out contact));
}
