public Vector2 checkCollision(ConvexPolygonInterface polygonA, ConvexPolygonInterface polygonB, float radDistance, Vector2 velocity)
{
int edgesCountPolygonA = polygonA.getNumberOfPoints();
int edgesCountPolygonB = polygonB.getNumberOfPoints();
Vector2 centerA = polygonA.getCenter();
Vector2 centerB = polygonB.getCenter();
if (polygonA is CircularConvexPolygon && polygonB is CircularConvexPolygon)
{
Vector2 tempRet = centerA - centerB;
tempRet.Normalize();
return tempRet * radDistance;
}
else if (polygonA is CircularConvexPolygon)
{
edgesCountPolygonA = edgesCountPolygonB;
}
else if (polygonB is CircularConvexPolygon)
{
edgesCountPolygonB = edgesCountPolygonA;
}
float minDistance = float.PositiveInfinity;
Vector2 minAxis = Vector2.Zero;
Vector2 currentEdgeNormal;
for (int i = 0; i < edgesCountPolygonA + edgesCountPolygonB; i++)
{
if (i < edgesCountPolygonA)
{
if (polygonA is CircularConvexPolygon)
{
currentEdgeNormal = polygonB.getPoint(i) - centerA;
}
else
{
currentEdgeNormal = polygonA.getEdge(i);
}
}
else
{
if (polygonB is CircularConvexPolygon)
{
currentEdgeNormal = polygonA.getPoint(i - edgesCountPolygonA) - centerB;
}
else
{
currentEdgeNormal = polygonB.getEdge(i - edgesCountPolygonA);
}
}
currentEdgeNormal.Normalize();
float minA = 0, minB = 0, maxA = 0, maxB = 0;
polygonA.projectPolygonOnAxis(currentEdgeNormal, new Height(), ref minA, ref maxA);
polygonB.projectPolygonOnAxis(currentEdgeNormal, new Height(), ref minB, ref maxB);
float velocityProjection = ConvexPolygon.dotProduct(velocity, currentEdgeNormal);
if (velocityProjection < 0)
{
minA += velocityProjection;
}
else
{
maxA += velocityProjection;
}
float distance = distanceBetweenProjections(minA, maxA, minB, maxB);
if (distance > 0)
{
return Vector2.Zero;
}
distance = Math.Abs(distance);
if (distance < minDistance)
{
minDistance = distance;
if (ConvexPolygon.dotProduct(centerA - centerB, currentEdgeNormal) < 0)
{
minAxis = -currentEdgeNormal;
}
else
{
minAxis = currentEdgeNormal;
}
}
}
return minAxis * minDistance;
}
