private static bool ContainsOrigin(Simplex s, ref Fix64Vector2 dir)
{
var a = s.GetLast();
var AO = -a;
var b = s.GetB();
var AB = b - a;
if (s.Count() == 3)
{
var c = s.GetC();
var AC = c - a;
var abPerp = CalcNomal(AC, AB, AB);
var acPerp = CalcNomal(AB, AC, AC);
if (Fix64Vector2.Dot(abPerp, AO) > Fix64.Zero)
{
s.Remove(c);
dir = abPerp;
}
else
{
if (Fix64Vector2.Dot(acPerp, AO) > Fix64.Zero)
{
s.Remove(b);
dir = acPerp;
}
else
{
return(true);
}
}
}
else
{
var abPerp = CalcNomal(AB, AO, AB);
dir = abPerp;
}
return(false);
}