/// <summary>
/// Method that gets overlap of two projections
/// </summary>
/// <param name="first"></param>
/// <param name="second"></param>
/// <returns></returns>
public static double GetOverlap(Projection first, Projection second)
{
double o_min, o_max;
if (first.Max >= second.Max)
{
o_max = second.Max;
}
else
{
o_max = first.Max;
}
if (first.Min <= second.Min)
{
o_min = second.Min;
}
else
{
o_min = first.Min;
}
return o_max - o_min;
}
/// <summary>
/// Method that check overlap of two projections
/// </summary>
/// <param name="first"></param>
/// <param name="second"></param>
/// <returns></returns>
public static bool IsOverlap(Projection first, Projection second)
{
if (first.Max <= second.Min || first.Min >= second.Max)
{
return false;
}
else
{
return true;
}
}
/// <summary>
///
/// </summary>
/// <param name="circleCenter"></param>
/// <param name="circleRadius"></param>
/// <param name="rectCenter"></param>
/// <param name="rectSize"></param>
/// <param name="rectAngle"></param>
/// <returns></returns>
public static MTV CollisionCircleRectangle(Vector circleCenter, double circleRadius, Vector rectCenter, Vector rectSize, Double rectAngle)
{
double smallestOverlap = 100000; //Устанавливаем значение малейшего пересечения как можно больше.
Vector smallestAxis = new Vector(0, 0); //Ось выхода из столкновения.
Vector[] rectCorners = GetRectangleVertices(rectCenter, rectSize, rectAngle);
Vector[] rectAxes = GetRectangleAxes(rectCorners); //Получить оси первой и второй фигур.
for (int i = 0; i < 2; i++) //Перебор осей первой фигуры
{
Vector axis = rectAxes[i];
Projection rectProj = Projection.GetProjection(rectCorners, axis); //Проецируем первую фигуру на данную ось
Double circleCenterProj = Vector.Multiply(axis, circleCenter);
Projection circProj = new Projection(circleCenterProj - circleRadius, circleCenterProj + circleRadius);
if (!Projection.IsOverlap(rectProj, circProj)) //Проверяем проекции на пересечение
{
return null;
}
else
{
double overlap = Projection.GetOverlap(rectProj, circProj); //Если пересекаются, ищем модуль пересечения
if (overlap < smallestOverlap) //Установления оси минимального пересечения
{
smallestOverlap = overlap;
smallestAxis = axis;
}
}
}
Vector minDistVector = rectCorners[0];
double minSDistValue = (rectCorners[0] - circleCenter).LengthSquared;
for (int i = 1; i < 4; i++)
{
double sDistValue = (rectCorners[i] - circleCenter).LengthSquared;
if (sDistValue < minSDistValue)
{
minDistVector = rectCorners[i];
minSDistValue = sDistValue;
}
}
if (minSDistValue < smallestOverlap)
{
smallestAxis = minDistVector;
smallestOverlap = minSDistValue;
}
Vector distantion_vector = (circleCenter - rectCenter);
if (smallestAxis * distantion_vector < 0)
{
smallestAxis *= -1;
}
return new MTV(smallestAxis, smallestOverlap);
}