public Interval getProjection(Vector axis)
{
float radius =
_extents[0] * Math.Abs(axis.Dot(axes[0])) +
_extents[1] * Math.Abs(axis.Dot(axes[1]));
float c = samp.Dot(axis);
interval.min = c - radius;
interval.max = c + radius;
return interval;
}
public Collision getComponents(Vector collisionNormal)
{
Vector vel = this.Velocity;
float vdotn = collisionNormal.Dot(vel);
collision.vn = collisionNormal * vdotn;
collision.vt = vel - collision.vn;
return collision;
}