| public static getClosestPointOnPolygonToPoint ( Vector2 points, Vector2 point, float &distanceSquared, Vector2 &edgeNormal ) : Vector2 | ||
| points | Vector2 | |
| point | Vector2 | Point. |
| distanceSquared | float | Distance squared. |
| edgeNormal | Vector2 | Edge normal. |
| return | Vector2 | |
public static bool circleToPolygon(Circle circle, Polygon polygon, out CollisionResult result)
{
result = new CollisionResult();
// circle position in the polygons coordinates
var poly2Circle = circle.position - polygon.position;
// first, we need to find the closest distance from the circle to the polygon
float distanceSquared;
var closestPoint = polygon.getClosestPointOnPolygonToPoint(poly2Circle, out distanceSquared, out result.normal);
// make sure the squared distance is less than our radius squared else we are not colliding
if (distanceSquared > circle.radius * circle.radius)
{
return(false);
}
// figure out the mtd
var distance = Mathf.sqrt(distanceSquared);
var mtv = (poly2Circle - closestPoint) * ((circle.radius - distance) / distance);
result.minimumTranslationVector = -mtv;
result.normal.Normalize();
return(true);
}
public static bool circleToPolygon(Circle circle, Polygon polygon, out CollisionResult result)
{
result = new CollisionResult();
// circle position in the polygons coordinates
var poly2Circle = circle.position - polygon.position;
// first, we need to find the closest distance from the circle to the polygon
float distanceSquared;
var closestPoint = Polygon.getClosestPointOnPolygonToPoint(
polygon.points,
poly2Circle,
out distanceSquared,
out result.normal);
// make sure the squared distance is less than our radius squared else we are not colliding. Note that if the Circle is fully
// contained in the Polygon the distance could be larger than the radius. Because of that we also make sure the circle position
// is not inside the poly.
var circleCenterInsidePoly = polygon.containsPoint(circle.position);
if (distanceSquared > circle.radius * circle.radius && !circleCenterInsidePoly)
{
return(false);
}
// figure out the mtv. We have to be careful to deal with circles fully contained in the polygon or with their center contained.
Vector2 mtv;
if (circleCenterInsidePoly)
{
mtv = result.normal * (Mathf.sqrt(distanceSquared) - circle.radius);
}
else
{
// if we have no distance that means the circle center is on the polygon edge. Move it only by its radius
if (distanceSquared == 0)
{
mtv = result.normal * circle.radius;
}
else
{
var distance = Mathf.sqrt(distanceSquared);
mtv = -(poly2Circle - closestPoint) * ((circle.radius - distance) / distance);
}
}
result.minimumTranslationVector = mtv;
result.point = closestPoint + polygon.position;
return(true);
}
public static bool pointToPoly(Vector2 point, Polygon poly, out CollisionResult result)
{
result = new CollisionResult();
if (poly.containsPoint(point))
{
float distanceSquared;
var closestPoint = Polygon.getClosestPointOnPolygonToPoint(poly.points, point - poly.position, out distanceSquared, out result.normal);
result.minimumTranslationVector = result.normal * Mathf.sqrt(distanceSquared);
result.point = closestPoint + poly.position;
return(true);
}
return(false);
}
public static bool circleToPolygon( Circle circle, Polygon polygon, out CollisionResult result )
{
result = new CollisionResult();
// circle position in the polygons coordinates
var poly2Circle = circle.position - polygon.position;
// first, we need to find the closest distance from the circle to the polygon
float distanceSquared;
var closestPoint = polygon.getClosestPointOnPolygonToPoint( poly2Circle, out distanceSquared, out result.normal );
// make sure the squared distance is less than our radius squared else we are not colliding
if( distanceSquared > circle.radius * circle.radius )
return false;
// figure out the mtd
var distance = Mathf.sqrt( distanceSquared );
var mtv = ( poly2Circle - closestPoint ) * ( ( circle.radius - distance ) / distance );
result.minimumTranslationVector = -mtv;
result.normal.Normalize();
return true;
}