/// <summary>
/// Build vertices to represent an oriented box.
/// </summary>
/// <param name="hx">the half-width.</param>
/// <param name="hy">the half-height.</param>
/// <param name="center">the center of the box in local coordinates.</param>
/// <param name="angle">the rotation of the box in local coordinates.</param>
public void SetAsBox(float hx, float hy, Vec2 center, float angle)
{
VertexCount = 4;
Vertices[0].Set(-hx, -hy);
Vertices[1].Set(hx, -hy);
Vertices[2].Set(hx, hy);
Vertices[3].Set(-hx, hy);
Normals[0].Set(0.0f, -1.0f);
Normals[1].Set(1.0f, 0.0f);
Normals[2].Set(0.0f, 1.0f);
Normals[3].Set(-1.0f, 0.0f);
Centroid.Set(center);
Transform xf = poolt1;
xf.P.Set(center);
xf.Q.Set(angle);
// Transform vertices and normals.
for (int i = 0; i < VertexCount; ++i)
{
Transform.MulToOut(xf, Vertices[i], Vertices[i]);
Rot.MulToOut(xf.Q, Normals[i], Normals[i]);
}
}
public void GetWorldVectorToOut(Vec2 localVector, Vec2 result)
{
Rot.MulToOut(Xf.Q, localVector, result);
}