/// <seealso cref="Silver.Weight.Raw.Collide.Collider.Collide(Silver.Weight.Raw.Contact[], Silver.Weight.Raw.Body, Silver.Weight.Raw.Body)">
/// </seealso>
public virtual int Collide(Contact[] contacts, Body bodyA, Body bodyB)
{
float x1 = bodyA.GetPosition().X;
float y1 = bodyA.GetPosition().Y;
float x2 = bodyB.GetPosition().X;
float y2 = bodyB.GetPosition().Y;
bool touches = bodyA.Shape.Bounds.Touches(x1, y1, bodyB.Shape.Bounds, x2, y2);
if (!touches)
{
return 0;
}
Circle circleA = (Circle) bodyA.Shape;
Circle circleB = (Circle) bodyB.Shape;
touches = circleA.Touches(x1, y1, circleB, x2, y2);
if (!touches)
{
return 0;
}
Vector2f normal = MathUtil.Sub(bodyB.GetPosition(), bodyA.GetPosition());
float sep = (circleA.Radius + circleB.Radius) - normal.Length();
normal.Normalise();
Vector2f pt = MathUtil.Scale(normal, circleA.Radius);
pt.Add(bodyA.GetPosition());
contacts[0].Separation = - sep;
contacts[0].Position = pt;
contacts[0].Normal = normal;
FeaturePair fp = new FeaturePair();
contacts[0].Feature = fp;
return 1;
}
/// <summary> Set the contents of this pair from another
///
/// </summary>
/// <param name="other">The other pair to populate this pair from
/// </param>
public virtual void SetFromOther(FeaturePair other)
{
inEdge1 = other.inEdge1;
inEdge2 = other.inEdge2;
outEdge1 = other.outEdge1;
outEdge2 = other.outEdge2;
}
