public static bool IsColliding(
NativeArray <ColliderVertex> v0,
NativeArray <ColliderVertex> v1,
NativeArray <EdgeNormal> n0,
NativeArray <EdgeNormal> n1)
{
for (int i = 0; i < n0.Length; i++)
{
var normal = n0[i].Value;
var p0 = new Projection(normal, v0);
var p1 = new Projection(normal, v1);
if (!Projection.DoesOverlap(p0, p1))
{
return(false);
}
}
for (int i = 0; i < n1.Length; i++)
{
var normal = n1[i].Value;
var p0 = new Projection(normal, v0);
var p1 = new Projection(normal, v1);
if (!Projection.DoesOverlap(p0, p1))
{
return(false);
}
}
return(true);
}
public static bool IsColliding(CircleCollider c0, CircleCollider c1)
{
var n = math.normalizesafe(c0.Center - c1.Center);
var p0 = new Projection(n, c0);
var p1 = new Projection(n, c1);
return(Projection.DoesOverlap(p0, p1));
}
public static bool IsColliding(CircleCollider c0, CircleCollider c1, out MTV mtv)
{
mtv = new MTV();
var n = math.normalizesafe(c0.Center - c1.Center);
var p0 = new Projection(n, c0);
var p1 = new Projection(n, c1);
if (Projection.DoesOverlap(p0, p1))
{
mtv.Calculate(n, p0, p1, c0.Center, c1.Center);
return(true);
}
return(false);
}
public static bool IsColliding(
CircleCollider circle,
NativeArray <ColliderVertex> vertices,
NativeArray <EdgeNormal> normals,
float2 center,
out MTV mtv)
{
mtv = MTV.Max;
var shouldCheckCorner = true;
for (int i = 0; i < normals.Length; i++)
{
var n = normals[i].Value;
var p0 = new Projection(n, circle);
var p1 = new Projection(n, vertices);
var d = math.dot(circle.Center, n);
shouldCheckCorner = shouldCheckCorner && !Projection.DoesOverlap(p1, d);
if (!Projection.DoesOverlap(p0, p1))
{
return(false);
}
mtv.Calculate(n, p0, p1, circle.Center, center);
}
if (shouldCheckCorner)
{
var closest = ClosestPoint(circle.Center, vertices);
var n = math.normalizesafe(closest - circle.Center);
var p0 = new Projection(n, circle);
var p1 = new Projection(n, vertices);
if (!Projection.DoesOverlap(p0, p1))
{
return(false);
}
mtv.Calculate(n, p0, p1, circle.Center, center);
}
return(true);
}
public static bool IsColliding(
NativeArray <ColliderVertex> v0,
NativeArray <ColliderVertex> v1,
NativeArray <EdgeNormal> n0,
NativeArray <EdgeNormal> n1,
float2 center0,
float2 center1,
out MTV mtv)
{
mtv = MTV.Max;
for (int i = 0; i < n0.Length; i++)
{
var normal = n0[i].Value;
var p0 = new Projection(normal, v0);
var p1 = new Projection(normal, v1);
if (!Projection.DoesOverlap(p0, p1))
{
return(false);
}
mtv.Calculate(normal, p0, p1, center0, center1);
}
for (int i = 0; i < n1.Length; i++)
{
var normal = n1[i].Value;
var p0 = new Projection(normal, v0);
var p1 = new Projection(normal, v1);
if (!Projection.DoesOverlap(p0, p1))
{
return(false);
}
mtv.Calculate(normal, p0, p1, center1, center0);
}
return(true);
}
