public static bool PointToCircle(Vector2 point, Circle circle, out CollisionResult result)
{
result = new CollisionResult();
// avoid the square root until we actually need it
var distanceSquared = Vector2.DistanceSquared(point, circle.Position);
var sumOfRadii = 1 + circle.Radius;
var collided = distanceSquared < sumOfRadii * sumOfRadii;
if (collided)
{
result.Normal = Vector2.Normalize(point - circle.Position);
var depth = sumOfRadii - MathF.Sqrt(distanceSquared);
result.MinimumTranslationVector = -depth * result.Normal;
result.Point = circle.Position + result.Normal * circle.Radius;
return(true);
}
return(false);
}
public static bool CircleToCircle(Circle first, Circle second, out CollisionResult result)
{
result = new CollisionResult();
// avoid the square root until we actually need it
var distanceSquared = Vector2.DistanceSquared(first.Position, second.Position);
var sumOfRadii = first.Radius + second.Radius;
var collided = distanceSquared < sumOfRadii * sumOfRadii;
if (collided)
{
result.Normal = Vector2.Normalize(first.Position - second.Position);
var depth = sumOfRadii - MathF.Sqrt(distanceSquared);
result.MinimumTranslationVector = -depth * result.Normal;
result.Point = second.Position + result.Normal * second.Radius;
return(true);
}
return(false);
}
public static bool CircleToBox(Circle circle, Box box, out CollisionResult result)
{
result = new CollisionResult();
var closestPointOnBounds = box.BoundingBox.GetClosestPointOnBorderToPoint(circle.Position, out result.Normal);
// deal with circles whos center is in the box first since its cheaper to see if we are contained
if (box.ContainsPoint(circle.Position))
{
result.Point = closestPointOnBounds;
// calculate mtv. Find the safe, non-collided position and get the mtv from that.
var safePlace = closestPointOnBounds + result.Normal * circle.Radius;
result.MinimumTranslationVector = circle.Position - safePlace;
return(true);
}
float sqrDistance = Vector2.DistanceSquared(closestPointOnBounds, circle.Position);
// see if the point on the box is less than radius from the circle
if (sqrDistance == 0)
{
result.MinimumTranslationVector = result.Normal * circle.Radius;
}
else if (sqrDistance <= circle.Radius * circle.Radius)
{
result.Normal = circle.Position - closestPointOnBounds;
var depth = result.Normal.Length() - circle.Radius;
result.Point = closestPointOnBounds;
Vector2Ext.Normalize(ref result.Normal);
result.MinimumTranslationVector = depth * result.Normal;
return(true);
}
return(false);
}
public static bool BoxToBox(Box first, Box second, out CollisionResult result)
{
result = new CollisionResult();
var diff = MinkowskiDifference(first, second);
if (diff.Contains(0f, 0f))
{
result.MinimumTranslationVector = diff.GetClosestPointOnBoundsToOrigin();
if (result.MinimumTranslationVector == Vector2.Zero)
{
return(false);
}
result.Normal = -result.MinimumTranslationVector;
result.Normal.Normalize();
return(true);
}
return(false);
}
public static bool PolygonToPolygon(Polygon first, Polygon second, out CollisionResult result)
{
result = new CollisionResult();
var isIntersecting = true;
var firstEdges = first.EdgeNormals;
var secondEdges = second.EdgeNormals;
var minIntervalDistance = float.PositiveInfinity;
var translationAxis = new Vector2();
var polygonOffset = first.Position - second.Position;
Vector2 axis;
// Loop through all the edges of both polygons
for (var edgeIndex = 0; edgeIndex < firstEdges.Length + secondEdges.Length; edgeIndex++)
{
// 1. Find if the polygons are currently intersecting
// Polygons have the normalized axis perpendicular to the current edge cached for us
if (edgeIndex < firstEdges.Length)
{
axis = firstEdges[edgeIndex];
}
else
{
axis = secondEdges[edgeIndex - firstEdges.Length];
}
// Find the projection of the polygon on the current axis
float minA = 0; float minB = 0; float maxA = 0; float maxB = 0;
var intervalDist = 0f;
GetInterval(axis, first, ref minA, ref maxA);
GetInterval(axis, second, ref minB, ref maxB);
// get our interval to be space of the second Polygon. Offset by the difference in Position projected on the axis.
Vector2.Dot(ref polygonOffset, ref axis, out float relativeIntervalOffset);
minA += relativeIntervalOffset;
maxA += relativeIntervalOffset;
// check if the polygon projections are currentlty intersecting
intervalDist = IntervalDistance(minA, maxA, minB, maxB);
if (intervalDist > 0)
{
isIntersecting = false;
}
// If the polygons are not intersecting and won't intersect, exit the loop
if (!isIntersecting)
{
return(false);
}
// Check if the current interval distance is the minimum one. If so store the interval distance and the current distance.
// This will be used to calculate the minimum translation vector
intervalDist = System.Math.Abs(intervalDist);
if (intervalDist < minIntervalDistance)
{
// If the intervalDist == 0, the two objects are just touching each other, not colliding.
//Todo: Fully test.
if (intervalDist == 0)
{
return(false);
}
minIntervalDistance = intervalDist;
translationAxis = axis;
if (Vector2.Dot(translationAxis, polygonOffset) < 0)
{
translationAxis = -translationAxis;
}
}
}
// The minimum translation vector can be used to push the polygons appart.
result.Normal = translationAxis;
result.MinimumTranslationVector = -translationAxis * minIntervalDistance;
return(true);
}
public override bool CollidesWithShape(Shape other, out CollisionResult result)
{
result = default(CollisionResult);
return(false);
}
public override bool CollidesWithPoint(Vector2 point, out CollisionResult result)
{
result = default(CollisionResult);
return(false);
}
