public bool MinimumTranslationVectorWithContainment(
Vector2[] vertices1,
Vector2[] vertices2,
out MinimumTranslationVector?mtv)
{
double overlap = Double.PositiveInfinity; // really large value;
Vector2 smallest = default(Vector2);
Vector2[] axes1 = GetAxes(vertices1);
Vector2[] axes2 = GetAxes(vertices2);
// loop over the axes1
for (int i = 0; i < axes1.Length; i++)
{
Vector2 axis = axes1[i];
// project both shapes onto the axis
Projection p1 = Project(vertices1, axis);
Projection p2 = Project(vertices2, axis);
// do the projections overlap?
if (!p1.Overlap(p2))
{
// then we can guarantee that the shapes do not overlap
mtv = null;
return(false);
}
else
{
// get the overlap
double o = p1.GetOverlap(p2);
// check for containment
if (p1.Contains(p2) || p2.Contains(p1))
{
// get the overlap plus the distance from the minimum end points
double mins = Math.Abs(p1.Min - p2.Min);
double maxs = Math.Abs(p1.Max - p2.Max);
// NOTE: depending on which is smaller you may need to
// negate the separating axis!!
if (mins < maxs)
{
o += mins;
}
else
{
o += maxs;
}
}
// check for minimum
if (o < overlap)
{
// then set this one as the smallest
overlap = o;
smallest = axis;
}
}
}
// loop over the axes2
for (int i = 0; i < axes2.Length; i++)
{
Vector2 axis = axes2[i];
// project both shapes onto the axis
Projection p1 = Project(vertices1, axis);
Projection p2 = Project(vertices2, axis);
// do the projections overlap?
if (!p1.Overlap(p2))
{
// then we can guarantee that the shapes do not overlap
mtv = null;
return(false);
}
else
{
// get the overlap
double o = p1.GetOverlap(p2);
// check for containment
if (p1.Contains(p2) || p2.Contains(p1))
{
// get the overlap plus the distance from the minimum end points
double mins = Math.Abs(p1.Min - p2.Min);
double maxs = Math.Abs(p1.Max - p2.Max);
// NOTE: depending on which is smaller you may need to
// negate the separating axis!!
if (mins < maxs)
{
o += mins;
}
else
{
o += maxs;
}
}
// check for minimum
if (o < overlap)
{
// then set this one as the smallest
overlap = o;
smallest = axis;
}
}
}
mtv = new MinimumTranslationVector(smallest, overlap);
// if we get here then we know that every axis had overlap on it
// so we can guarantee an intersection
return(true);
}
public bool MinimumTranslationVector(
Vector2[] vertices1,
Vector2[] vertices2,
out MinimumTranslationVector?mtv)
{
double overlap = Double.PositiveInfinity; // really large value;
Vector2 smallest = default(Vector2);
Vector2[] axes1 = GetAxes(vertices1);
Vector2[] axes2 = GetAxes(vertices2);
// loop over the axes1
for (int i = 0; i < axes1.Length; i++)
{
Vector2 axis = axes1[i];
// project both shapes onto the axis
Projection p1 = Project(vertices1, axis);
Projection p2 = Project(vertices2, axis);
// do the projections overlap?
if (!p1.Overlap(p2))
{
// then we can guarantee that the shapes do not overlap
mtv = null;
return(false);
}
else
{
// get the overlap
double o = p1.GetOverlap(p2);
// check for minimum
if (o < overlap)
{
// then set this one as the smallest
overlap = o;
smallest = axis;
}
}
}
// loop over the axes2
for (int i = 0; i < axes2.Length; i++)
{
Vector2 axis = axes2[i];
// project both shapes onto the axis
Projection p1 = Project(vertices1, axis);
Projection p2 = Project(vertices2, axis);
// do the projections overlap?
if (!p1.Overlap(p2))
{
// then we can guarantee that the shapes do not overlap
mtv = null;
return(false);
}
else
{
// get the overlap
double o = p1.GetOverlap(p2);
// check for minimum
if (o < overlap)
{
// then set this one as the smallest
overlap = o;
smallest = axis;
}
}
}
mtv = new MinimumTranslationVector(smallest, overlap);
// if we get here then we know that every axis had overlap on it
// so we can guarantee an intersection
return(true);
}