private static bool FindMinSepAxis(
VoltPolygon poly1,
VoltPolygon poly2,
out Axis axis)
{
axis = new Axis(VoltVector2.zero, Fix64.MinValue);
for (int i = 0; i < poly1.countWorld; i++)
{
Axis a = poly1.worldAxes[i];
Fix64 min = Fix64.MaxValue;
for (int j = 0; j < poly2.countWorld; j++)
{
VoltVector2 v = poly2.worldVertices[j];
min = VoltMath.Min(min, VoltVector2.Dot(a.Normal, v));
}
min -= a.Width;
if (min > Fix64.Zero)
{
return(false);
}
if (min > axis.Width)
{
axis = new Axis(a.Normal, min);
}
}
return(true);
}
public static VoltAABB CreateMerged(VoltAABB aabb1, VoltAABB aabb2)
{
return(new VoltAABB(
VoltMath.Max(aabb1.top, aabb2.top),
VoltMath.Min(aabb1.bottom, aabb2.bottom),
VoltMath.Min(aabb1.left, aabb2.left),
VoltMath.Max(aabb1.right, aabb2.right)));
}
private static VoltAABB ComputeBounds(
VoltVector2[] vertices,
int count)
{
Fix64 top = vertices[0].y;
Fix64 bottom = vertices[0].y;
Fix64 left = vertices[0].x;
Fix64 right = vertices[0].x;
for (int i = 1; i < count; i++)
{
top = VoltMath.Max(top, vertices[i].y);
bottom = VoltMath.Min(bottom, vertices[i].y);
left = VoltMath.Min(left, vertices[i].x);
right = VoltMath.Max(right, vertices[i].x);
}
return(new VoltAABB(top, bottom, left, right));
}
/// <summary>
/// Builds the AABB by combining all the shape AABBs.
/// </summary>
private void UpdateAABB()
{
Fix64 top = Fix64.MinValue;
Fix64 right = Fix64.MaxValue;
Fix64 bottom = Fix64.MaxValue;
Fix64 left = Fix64.MinValue;
for (int i = 0; i < this.shapeCount; i++)
{
VoltAABB aabb = this.shapes[i].AABB;
top = VoltMath.Max(top, aabb.Top);
right = VoltMath.Max(right, aabb.Right);
bottom = VoltMath.Min(bottom, aabb.Bottom);
left = VoltMath.Min(left, aabb.Left);
}
this.AABB = new VoltAABB(top, bottom, left, right);
}
private static Fix64 BiasDist(Fix64 dist)
{
return(VoltConfig.ResolveRate * VoltMath.Min(Fix64.Zero, dist + VoltConfig.ResolveSlop));
}
