public bool Intersects(Line other)
{
Vector2f lineSegmentStart = new Vector2f(other.GetX1(), other.GetY1());
Vector2f lineSegmentEnd = new Vector2f(other.GetX2(), other.GetY2());
Vector2f circleCenter = new Vector2f(GetCenterX(), GetCenterY());
Vector2f closest;
Vector2f segv = lineSegmentEnd.Sub(lineSegmentStart);
Vector2f ptv = circleCenter.Sub(lineSegmentStart);
float segvLength = segv.Len();
float projvl = ptv.Dot(segv) / segvLength;
if (projvl < 0)
{
closest = lineSegmentStart;
}
else if (projvl > segvLength)
{
closest = lineSegmentEnd;
}
else
{
Vector2f projv = segv.Mul(projvl / segvLength);
closest = lineSegmentStart.Add(projv);
}
bool intersects = circleCenter.Sub(closest).LengthSquared() <= GetRadius()
* GetRadius();
return(intersects);
}
public float DistanceSquared(Vector2f point)
{
GetClosestPoint(point, closest);
closest.Sub(point);
float result = closest.LengthSquared();
return(result);
}
public PRodJoint(PBody b1_0, PBody b2_1, float rel1x, float rel1y, float rel2x,
float rel2y, float distance) {
this.b1 = b1_0;
this.b2 = b2_1;
localAnchor1 = new Vector2f(rel1x, rel1y);
localAnchor2 = new Vector2f(rel2x, rel2y);
b1_0.mAng.Transpose().MulEqual(localAnchor1);
b2_1.mAng.Transpose().MulEqual(localAnchor2);
dist = distance;
anchor1 = b1_0.mAng.Mul(localAnchor1).Add(b1_0.pos);
anchor2 = b2_1.mAng.Mul(localAnchor2).Add(b2_1.pos);
normal = anchor1.Sub(anchor2);
normal.Normalize();
type = Physics.PJointType.ROD_JOINT;
}
public void Set(Vector2f start_0, Vector2f end_1) {
base.pointsDirty = true;
if (this.start == null) {
this.start = new Vector2f();
}
this.start.Set(start_0);
if (this.end == null) {
this.end = new Vector2f();
}
this.end.Set(end_1);
vec = new Vector2f(end_1);
vec.Sub(start_0);
}
public PSpringJoint(PBody b1_0, PBody i_2, float rel1x, float rel1y,
float rel2x, float rel2y, float distance, float strength,
float damping) {
this.b1 = b1_0;
this.b2 = i_2;
str = strength;
damp = damping;
localAnchor1 = new Vector2f(rel1x, rel1y);
localAnchor2 = new Vector2f(rel2x, rel2y);
b1_0.mAng.Transpose().MulEqual(localAnchor1);
i_2.mAng.Transpose().MulEqual(localAnchor2);
dist = distance;
anchor1 = b1_0.mAng.Mul(localAnchor1).Add(b1_0.pos);
anchor2 = i_2.mAng.Mul(localAnchor2).Add(i_2.pos);
normal = anchor1.Sub(anchor2);
normal.Normalize();
type = Physics.PJointType.SPRING_JOINT;
}
public void Set(Vector2f start_0, Vector2f end_1)
{
base.pointsDirty = true;
if (this.start == null)
{
this.start = new Vector2f();
}
this.start.Set(start_0);
if (this.end == null)
{
this.end = new Vector2f();
}
this.end.Set(end_1);
vec = new Vector2f(end_1);
vec.Sub(start_0);
}
public void GetClosestPoint(Vector2f point, Vector2f result)
{
loc.Set(point);
loc.Sub(start);
float projDistance = vec.Dot(loc);
projDistance /= vec.LengthSquared();
if (projDistance < 0)
{
result.Set(start);
return;
}
if (projDistance > 1)
{
result.Set(end);
return;
}
result.x = start.GetX() + projDistance * vec.GetX();
result.y = start.GetY() + projDistance * vec.GetY();
}
public bool Intersects(Line other) {
Vector2f lineSegmentStart = new Vector2f(other.GetX1(), other.GetY1());
Vector2f lineSegmentEnd = new Vector2f(other.GetX2(), other.GetY2());
Vector2f circleCenter = new Vector2f(GetCenterX(), GetCenterY());
Vector2f closest;
Vector2f segv = lineSegmentEnd.Sub(lineSegmentStart);
Vector2f ptv = circleCenter.Sub(lineSegmentStart);
float segvLength = segv.Len();
float projvl = ptv.Dot(segv) / segvLength;
if (projvl < 0) {
closest = lineSegmentStart;
} else if (projvl > segvLength) {
closest = lineSegmentEnd;
} else {
Vector2f projv = segv.Mul(projvl / segvLength);
closest = lineSegmentStart.Add(projv);
}
bool intersects = circleCenter.Sub(closest).LengthSquared() <= GetRadius()
* GetRadius();
return intersects;
}
