public bool Sweep2(Vector2 speed, Circle2D c, ref SweepResult2D ret)
{
bool r = false;
float time = TimeOfClosestApproach(Center, c.Center, speed, Vector2.zero, R, c.R, out r);
if (time < 0 || time > 1)
{
return(false);
}
if (r)
{
Circle2D c2 = TestCircle;
c2.R = this.R;
c2.Center = this.Center;
c2.Center += time * speed;
if (c2.Overlap(c))
{
//DebugUtil.Log("sweep error ");
time = 0;// TimeOfClosestApproach(Center, c.Center, speed, Vector2.zero, R, c.R, out r);
c2 = this;
}
ret.time = time;
ret.normal = (c2.Center - c.Center).normalized;
ret.hit = true;
}
return(r);
}
public bool Sweep(Vector2 speed, Circle2D c, SweepResult2D ret)
{
//create the collision volume for o
Circle2D b = new Circle2D();
b.Center = c.Center;
b.R = R + c.R;
float v = speed.magnitude;
IntersectResult2D[] lcr = new IntersectResult2D[2];
lcr[0] = new IntersectResult2D();
lcr[1] = new IntersectResult2D();
Vector2 rayDir = speed.normalized;
if (b.IntersectLine2(Center, rayDir, lcr))
{
float time = Mathf.Min(lcr[0].depth, lcr[1].depth);
time /= v;
if (time < 0 || time > 1)
{
return(false);
}
Circle2D c2 = new Circle2D();
c2.R = this.R;
c2.Center = this.Center;
c2.Center += time * speed;
if (c2.Overlap(c))
{
//DebugUtil.Log("sweep error ");
time = 0;// TimeOfClosestApproach(Center, c.Center, speed, Vector2.zero, R, c.R, out r);
}
ret.pos = lcr[0].pos + rayDir * R;
ret.normal = lcr[0].normal;
ret.time = time;
return(true);
}
return(false);
}
public static bool SweepCircles(Circle2D target, List <Circle2D> Circles, Vector2 speed, ref SweepResult2D result)
{
float sweep_time = 1;
bool hit = false;
result.hit = false;
if (speed == Vector2.zero)
{
return(false);
}
for (int i = 0; i < Circles.Count; i++)
{
if (target.Sweep2(speed, Circles[i], ref result))
{
if (result.time < sweep_time)
{
hit = true;
sweep_time = result.time;
result.c = Circles[i];
result.hit = true;
}
}
}
//for test
return(hit);
}