internal float Evaluate(XForm transformA, XForm transformB)
{
switch (FaceType)
{
case Type.Points:
{
Vec2 axisA = Common.Math.MulT(transformA.R, Axis);
Vec2 axisB = Common.Math.MulT(transformB.R, -Axis);
Vec2 localPointA = ShapeA.GetSupportVertex(axisA);
Vec2 localPointB = ShapeB.GetSupportVertex(axisB);
Vec2 pointA = Common.Math.Mul(transformA, localPointA);
Vec2 pointB = Common.Math.Mul(transformB, localPointB);
float separation = Vec2.Dot(pointB - pointA, Axis);
return(separation);
}
case Type.FaceA:
{
Vec2 normal = Common.Math.Mul(transformA.R, Axis);
Vec2 pointA = Common.Math.Mul(transformA, LocalPoint);
Vec2 axisB = Common.Math.MulT(transformB.R, -normal);
Vec2 localPointB = ShapeB.GetSupportVertex(axisB);
Vec2 pointB = Common.Math.Mul(transformB, localPointB);
float separation = Vec2.Dot(pointB - pointA, normal);
return(separation);
}
case Type.FaceB:
{
Vec2 normal = Common.Math.Mul(transformB.R, Axis);
Vec2 pointB = Common.Math.Mul(transformB, LocalPoint);
Vec2 axisA = Common.Math.MulT(transformA.R, -normal);
Vec2 localPointA = ShapeA.GetSupportVertex(axisA);
Vec2 pointA = Common.Math.Mul(transformA, localPointA);
float separation = Vec2.Dot(pointA - pointB, normal);
return(separation);
}
default:
Box2DNetDebug.Assert(false);
return(0.0f);
}
}
internal float Evaluate(Transform TransformA, Transform TransformB)
{
switch (FaceType)
{
case Type.Points:
{
Vector2 axisA = TransformA.InverseTransformDirection(Axis);
Vector2 axisB = TransformB.InverseTransformDirection(-Axis);
Vector2 localPointA = ShapeA.GetSupportVertex(axisA);
Vector2 localPointB = ShapeB.GetSupportVertex(axisB);
Vector2 pointA = TransformA.TransformPoint(localPointA);
Vector2 pointB = TransformB.TransformPoint(localPointB);
float separation = Vector2.Dot(pointB - pointA, Axis);
return(separation);
}
case Type.FaceA:
{
Vector2 normal = TransformA.TransformDirection(Axis);
Vector2 pointA = TransformA.TransformPoint(LocalPoint);
Vector2 axisB = TransformB.InverseTransformDirection(-normal);
Vector2 localPointB = ShapeB.GetSupportVertex(axisB);
Vector2 pointB = TransformB.TransformPoint(localPointB);
float separation = Vector2.Dot(pointB - pointA, normal);
return(separation);
}
case Type.FaceB:
{
Vector2 normal = TransformB.TransformDirection(Axis);
Vector2 pointB = TransformB.TransformPoint(LocalPoint);
Vector2 axisA = TransformA.InverseTransformDirection(-normal);
Vector2 localPointA = ShapeA.GetSupportVertex(axisA);
Vector2 pointA = TransformA.TransformPoint(localPointA);
float separation = Vector2.Dot(pointA - pointB, normal);
return(separation);
}
default:
Box2DNetDebug.Assert(false);
return(0.0f);
}
}