private static bool FindMinSepAxis(
VoltPolygon poly1,
VoltPolygon poly2,
out Axis axis)
{
axis = new Axis(Vector2.zero, float.NegativeInfinity);
for (int i = 0; i < poly1.countWorld; i++)
{
Axis a = poly1.worldAxes[i];
float min = float.PositiveInfinity;
for (int j = 0; j < poly2.countWorld; j++)
{
Vector2 v = poly2.worldVertices[j];
min = Mathf.Min(min, Vector2.Dot(a.Normal, v));
}
min -= a.Width;
if (min > 0)
return false;
if (min > axis.Width)
axis = new Axis(a.Normal, min);
}
return true;
}
internal Axis BodyToWorldAxis(Axis axis)
{
Vector2 normal = axis.Normal.Rotate(this.facing);
float width = Vector2.Dot(normal, this.position) + axis.Width;
return new Axis(normal, width);
}
/// <summary>
/// Returns the index of the nearest axis on the poly to a point.
/// Outputs the minimum distance between the axis and the point.
/// </summary>
internal static int FindAxisShortestDistance(
Vector2 point,
Axis[] axes,
out float minDistance)
{
int ix = 0;
minDistance = float.PositiveInfinity;
bool inside = true;
for (int i = 0; i < axes.Length; i++)
{
float dot = Vector2.Dot(axes[i].Normal, point);
float dist = axes[i].Width - dot;
if (dist < 0.0f)
inside = false;
if (dist < minDistance)
{
minDistance = dist;
ix = i;
}
}
if (inside == true)
{
minDistance = 0.0f;
ix = -1;
}
return ix;
}
private static void ComputeAxes(
Vector2[] vertices,
int count,
ref Axis[] destination)
{
if (destination.Length < count)
destination = new Axis[count];
for (int i = 0; i < count; i++)
{
Vector2 u = vertices[i];
Vector2 v = vertices[(i + 1) % count];
Vector2 normal = (v - u).Left().normalized;
destination[i] = new Axis(normal, Vector2.Dot(normal, u));
}
}
