public virtual void computePolygonSeparation(EPAxis axis)
{
axis.type = EPAxis.Type.UNKNOWN;
axis.index = -1;
//UPGRADE_TODO: The equivalent in .NET for field 'java.lang.Float.MIN_VALUE' may return a different value. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1043'"
axis.separation = Single.Epsilon;
perp.set_Renamed(-m_normal.y, m_normal.x);
for (int i = 0; i < m_polygonB.count; ++i)
{
n.set_Renamed(m_polygonB.normals[i]).negateLocal();
float s1 = Vec2.dot(n, temp.set_Renamed(m_polygonB.vertices[i]).subLocal(m_v1));
float s2 = Vec2.dot(n, temp.set_Renamed(m_polygonB.vertices[i]).subLocal(m_v2));
float s = MathUtils.min(s1, s2);
if (s > m_radius)
{
// No collision
axis.type = EPAxis.Type.EDGE_B;
axis.index = i;
axis.separation = s;
return;
}
// Adjacency
if (Vec2.dot(n, perp) >= 0.0f)
{
if (Vec2.dot(temp.set_Renamed(n).subLocal(m_upperLimit), m_normal) < -Settings.angularSlop)
{
continue;
}
}
else
{
if (Vec2.dot(temp.set_Renamed(n).subLocal(m_lowerLimit), m_normal) < -Settings.angularSlop)
{
continue;
}
}
if (s > axis.separation)
{
axis.type = EPAxis.Type.EDGE_B;
axis.index = i;
axis.separation = s;
}
}
}
public virtual void computeEdgeSeparation(EPAxis axis)
{
axis.type = EPAxis.Type.EDGE_A;
axis.index = m_front ? 0 : 1;
axis.separation = System.Single.MaxValue;
for (int i = 0; i < m_polygonB.count; ++i)
{
float s = Vec2.dot(m_normal, temp.set_Renamed(m_polygonB.vertices[i]).subLocal(m_v1));
if (s < axis.separation)
{
axis.separation = s;
}
}
}
private void computePolygonSeparation(EPAxis axis)
{
axis.type = EPAxisType.UNKNOWN;
axis.index = -1;
axis.separation = -float.MaxValue;
perp.x = -m_normal.y;
perp.y = m_normal.x;
for (int i = 0; i < m_polygonB.count; ++i)
{
Vec2 normalB = m_polygonB.normals[i];
Vec2 vB = m_polygonB.vertices[i];
n.x = -normalB.x;
n.y = -normalB.y;
// float s1 = Vec2.dot(n, temp.set(vB).subLocal(m_v1));
// float s2 = Vec2.dot(n, temp.set(vB).subLocal(m_v2));
float tempx = vB.x - m_v1.x;
float tempy = vB.y - m_v1.y;
float s1 = n.x*tempx + n.y*tempy;
tempx = vB.x - m_v2.x;
tempy = vB.y - m_v2.y;
float s2 = n.x*tempx + n.y*tempy;
float s = MathUtils.min(s1, s2);
if (s > m_radius)
{
// No collision
axis.type = EPAxisType.EDGE_B;
axis.index = i;
axis.separation = s;
return;
}
// Adjacency
if (n.x*perp.x + n.y*perp.y >= 0.0f)
{
temp.set(n);
temp.subLocal(m_upperLimit);
if (Vec2.dot(temp, m_normal) < -Settings.angularSlop)
{
continue;
}
}
else
{
temp.set(n);
temp.subLocal(m_lowerLimit);
if (Vec2.dot(temp, m_normal) < -Settings.angularSlop)
{
continue;
}
}
if (s > axis.separation)
{
axis.type = EPAxisType.EDGE_B;
axis.index = i;
axis.separation = s;
}
}
}
private void computeEdgeSeparation(EPAxis axis)
{
axis.type = EPAxisType.EDGE_A;
axis.index = m_front ? 0 : 1;
axis.separation = float.MaxValue;
float nx = m_normal.x;
float ny = m_normal.y;
for (int i = 0; i < m_polygonB.count; ++i)
{
Vec2 v = m_polygonB.vertices[i];
float tempx = v.x - m_v1.x;
float tempy = v.y - m_v1.y;
float s = nx*tempx + ny*tempy;
if (s < axis.separation)
{
axis.separation = s;
}
}
}
private void ComputePolygonSeparation(EPAxis axis)
{
axis.Type = EPAxis.EPAxisType.Unknown;
axis.Index = -1;
//UPGRADE_TODO: The equivalent in .NET for field 'java.lang.Float.MIN_VALUE' may return a different value. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1043'"
axis.Separation = Single.Epsilon;
perp.Set(-normal.Y, normal.X);
for (int i = 0; i < polygonB.Count; ++i)
{
n.Set(polygonB.Normals[i]).NegateLocal();
float s1 = Vec2.Dot(n, temp.Set(polygonB.Vertices[i]).SubLocal(v1));
float s2 = Vec2.Dot(n, temp.Set(polygonB.Vertices[i]).SubLocal(v2));
float s = MathUtils.Min(s1, s2);
if (s > radius)
{
// No collision
axis.Type = EPAxis.EPAxisType.EdgeB;
axis.Index = i;
axis.Separation = s;
return;
}
// Adjacency
if (Vec2.Dot(n, perp) >= 0.0f)
{
if (Vec2.Dot(temp.Set(n).SubLocal(upperLimit), normal) < -Settings.ANGULAR_SLOP)
{
continue;
}
}
else
{
if (Vec2.Dot(temp.Set(n).SubLocal(lowerLimit), normal) < -Settings.ANGULAR_SLOP)
{
continue;
}
}
if (s > axis.Separation)
{
axis.Type = EPAxis.EPAxisType.EdgeB;
axis.Index = i;
axis.Separation = s;
}
}
}
private void ComputeEdgeSeparation(EPAxis axis)
{
axis.Type = EPAxis.EPAxisType.EdgeA;
axis.Index = front ? 0 : 1;
axis.Separation = System.Single.MaxValue;
for (int i = 0; i < polygonB.Count; ++i)
{
float s = Vec2.Dot(normal, temp.Set(polygonB.Vertices[i]).SubLocal(v1));
if (s < axis.Separation)
{
axis.Separation = s;
}
}
}
