/// <summary>
/// 给定两个凸体 给定迭代方向 该函数返回这两个凸体明可夫斯基差形状中的一个点
/// </summary>
/// <param name="direction">迭代方向</param>
/// <returns>点</returns>
public Fixed2 Support(Fixed2 direction)
{
int index = 0;
FixedNumber maxDot, t;
Fixed2 p;
p = GetPoint(index);
maxDot = Fixed2.Dot(p, direction);
for (; index < PointsCount; index++)
{
t = Fixed2.Dot(GetPoint(index), direction);
//Debug.Log(_points[index] + "dot" + direction + "=" + t);
if (t > maxDot)
{
maxDot = t;
p = GetPoint(index);
}
}
return(p + position);
}
/// <summary>
/// 检测是否包含原点 包含原点就发生了碰撞
/// </summary>
/// <returns>是否包含原点</returns>
public bool ContainsOrigin()
{
Fixed2 A = GetA();
Fixed2 AO = -A;
Fixed2 B = GetB();
Fixed2 AB = B - A;
if (points.Count == 3)
{
Fixed2 C = GetC();
Fixed2 AC = C - A;
Fixed2 ABnormal = AC * AB * AB;
Fixed2 ACnormal = AB * AC * AC;
if (ABnormal.Dot(AO) > 0)
{
points.Remove(C);
d = ABnormal;
}
else
{
if (ACnormal.Dot(AO) > 0)
{
points.Remove(B);
d = ACnormal;
}
else
{
return(true);
}
}
}
else
{
d = AB * AO * AB;
}
return(false);
}
