private static bool testOBBvsCircle(RectangleParticle ra, CircleParticle ca)
{
Vector collisionNormal = new Vector();
float collisionDepth = float.PositiveInfinity;
float[] depths = new float[2];
// first go through the axes of the rectangle
for (int i = 0; i < 2; i++)
{
Vector boxAxis = ra.axes[i];
float depth = testIntervals(ra.getProjection(boxAxis), ca.getProjection(boxAxis));
if (depth == 0) return false;
if (Math.Abs(depth) < Math.Abs(collisionDepth))
{
collisionNormal = boxAxis;
collisionDepth = depth;
}
depths[i] = depth;
}
// determine if the circle's center is in a vertex region
float r = ca.Radius;
if (Math.Abs(depths[0]) < r && Math.Abs(depths[1]) < r)
{
Vector vertex = closestVertexOnOBB(ca.samp, ra);
// get the distance from the closest vertex on rect to circle center
collisionNormal = vertex - ca.samp;
float mag = collisionNormal.magnitude();
collisionDepth = r - mag;
if (collisionDepth > 0)
{
// there is a collision in one of the vertex regions
collisionNormal /= mag;
}
else
{
// ra is in vertex region, but is not colliding
return false;
}
}
CollisionResolver.resolveParticleParticle(ra, ca, collisionNormal, collisionDepth);
return true;
}
