/// <summary>
/// Returns true if this shape intersects with the given shape.
/// </summary>
/// <param name="other"></param>
/// <returns></returns>
public bool Intersects(CollisionRectangle other)
{
Vector2 projectionA, projectionB;
foreach (Vector2 axis in this.Axes)
{
projectionA = Project(axis);
projectionB = other.Project(axis);
// check for overlap. In-lining this function to allow compiler optimization
if (projectionA.Y < projectionB.X || projectionB.Y < projectionA.X)
{
return(false);
}
}
foreach (Vector2 axis in other.Axes)
{
projectionA = Project(axis);
projectionB = other.Project(axis);
if (projectionA.Y < projectionB.X || projectionB.Y < projectionA.X)
{
return(false);
}
}
return(true);
}
/// <summary>
/// Returns true if this shape intersects with the given shape. Also returns the
/// minimum translation vector, or MTV, used to push the shapes apart.
/// </summary>
/// <param name="other"></param>
/// <param name="mtvAxis"></param>
/// <param name="mtvMagnitude"></param>
/// <returns></returns>
public bool IntersectsMTV(CollisionRectangle other, out Vector2 mtvAxis, out float mtvMagnitude)
{
mtvAxis = Vector2.Zero;
mtvMagnitude = 4000000000; // really large value
float overlap;
Vector2 projectionA, projectionB;
this.NormalizeAxes();
other.NormalizeAxes();
foreach (Vector2 axis in this.Axes)
{
projectionA = Project(axis);
projectionB = other.Project(axis);
// check for overlap. In-lining this function to allow compiler optimization
if (projectionA.Y < projectionB.X || projectionB.Y < projectionA.X)
{
return(false);
}
else
{
overlap = FindOverlap(projectionA, projectionB);
if (Math.Abs(overlap) < Math.Abs(mtvMagnitude))
{
mtvMagnitude = overlap;
mtvAxis = axis;
}
}
}
foreach (Vector2 axis in other.Axes)
{
projectionA = Project(axis);
projectionB = other.Project(axis);
if (projectionA.Y < projectionB.X || projectionB.Y < projectionA.X)
{
return(false);
}
else
{
overlap = FindOverlap(projectionA, projectionB);
if (Math.Abs(overlap) < Math.Abs(mtvMagnitude))
{
mtvMagnitude = overlap;
mtvAxis = axis;
}
}
}
return(true);
}
public bool FindTranslationMagnitude(CollisionRectangle other, Vector2 translationAxis, out float magnitude)
{
float tempMagnitude;
Vector2 projectionA, projectionB;
magnitude = 4000000000; // really large value;
this.NormalizeAxes();
other.NormalizeAxes();
if (translationAxis == Vector2.Zero)
{
return(false);
}
translationAxis.Normalize();
HashSet <Vector2> possibleAxes = new HashSet <Vector2>();
double distance;
double angle;
// Collect the axis that form an acute angle with the axis of pushback
foreach (Vector2 axis in this.Axes)
{
distance = Math.Pow((translationAxis.X - axis.X), 2) + Math.Pow((translationAxis.Y - axis.Y), 2);
angle = Math.Acos(1 - distance / 2);
if (angle < Math.PI / 2)
{
possibleAxes.Add(axis);
}
else
{
possibleAxes.Add(axis * -1);
}
}
foreach (Vector2 axis in other.Axes)
{
distance = Math.Pow((translationAxis.X - axis.X), 2) + Math.Pow((translationAxis.Y - axis.Y), 2);
angle = Math.Acos(1 - distance / 2);
if (angle < Math.PI / 2)
{
possibleAxes.Add(axis);
}
else
{
possibleAxes.Add(axis * -1);
}
}
// Calculate the shapes' for each axis. Save the minimum overlap and the axis.
foreach (Vector2 axis in possibleAxes)
{
projectionA = Project(axis);
projectionB = other.Project(axis);
// check for overlap. In-lining this function to allow compiler optimization
if (projectionA.Y < projectionB.X || projectionB.Y < projectionA.X)
{
return(false);
}
else
{
float overlap = projectionB.Y - projectionA.X;
float dotProd = (float)DotProduct(axis, translationAxis);
tempMagnitude = overlap / dotProd;
if (Math.Abs(tempMagnitude) < Math.Abs(magnitude))
{
magnitude = tempMagnitude;
}
}
}
//magnitude = mtvMagnitude / (float)DotProduct(mtvAxis, translationAxis);
return(true);
}
