private bool CheckCirclePolygon(IShape A, Vector2 APos, IShape B, Vector2 BPos, out Contact[] contacts)
{
CircleShape circleA = A as CircleShape;
PolygonShape polyB = B as PolygonShape;
Polygon polygonB = new Polygon(polyB.Shape);
polygonB.Translate(BPos);
Vector2 closestPoint = polygonB.ClosestPoint(APos);
Vector2 d = closestPoint - APos;
if (Vector2.Dot(d, d) > circleA.Radius * circleA.Radius)
{
contacts = null;
return(false);
}
if (SAT.Test(circleA, APos, polygonB, out Contact? contact))
{
if (contact == null)
{
contacts = new Contact[0];
}
else
{
contacts = new Contact[] {
new Contact(closestPoint, contact.Value.Normal, contact.Value.PenetrationDepth, null)
};
}
return(true);
}
contacts = null;
return(false);
}
