private VectorPair[] GetContactPoints_VertexEdge(Vector2 pa, Vector2[] edgeB)
{
VectorPair[] contacts = new VectorPair[1];
contacts[0].ContactA = pa;
contacts[0].ContactB = Edge_GetClosestPoint(pa, edgeB[0], edgeB[1]);
return(contacts);
}
private VectorPair[] GetContactPoints_VertexVertex(Vector2 pa, Vector2 pb)
{
VectorPair[] contacts = new VectorPair[1];
contacts[0].ContactA = pa;
contacts[0].ContactB = pb;
return(contacts);
}
private VectorPair[] GetContactPoints_EdgeVertex(Vector2[] edgeA, Vector2 PB)
{
VectorPair[] contacts = new VectorPair[1];
contacts[0].ContactA = Edge_GetClosestPoint(PB, edgeA[0], edgeA[1]);
contacts[0].ContactB = PB;
return(contacts);
}
private VectorPair[] GetContactPoints_EdgeEdge(Vector2[] edgeA, Vector2[] edgeB)
{
Vector2 dir = edgeA[1] - edgeA[0];
Vsort[] v = new[] { new Vsort(edgeA[0], dir, 0), new Vsort(edgeA[1], dir, 0), new Vsort(edgeB[0], dir, 1), new Vsort(edgeB[1], dir, 1) };
VectorPair[] contacts = new VectorPair[2];
Array.Sort(v);
for (int i = 0; i < 2; i++)
{
if (v[i + 1].bd == 0)
{
contacts[i].ContactA = v[i + 1].p;
contacts[i].ContactB = Edge_GetClosestPoint(v[i + 1].p, edgeB[0], edgeB[1]);
}
else
{
contacts[i].ContactA = Edge_GetClosestPoint(v[i + 1].p, edgeA[0], edgeA[1]);
contacts[i].ContactB = v[i + 1].p;
}
}
return(contacts);
}
internal void AddCollisionPair(PhysicsObject obj1, PhysicsObject obj2, VectorPair[] points, Vector2 normal, float penetration, bool isSecond)
{
Collision col = null;
for (int i = 0; i < collisions.Count; i++)
{
if (collisions[i].Object1 == obj1 && collisions[i].Object2 == obj2)
{
col = collisions[i];
break;
}
}
if (col == null)
{
col = new Collision();
col.SetCollision(obj1, obj2);
collisions.Add(col);
}
for (int i = 0; i < points.Length; i++)
{
if (isSecond)
col.Points.Add(new CollisionPoint(normal, points[i].ContactB, penetration));
else
col.Points.Add(new CollisionPoint(normal, points[i].ContactA, penetration));
}
}
