private bool IsCircleColliding( CircleParticle p )
{
p.GetCardXProjection();
double depthX = TestIntervals( p.BMin, p.BMax, minX, maxX );
if ( depthX == 0 ) return false;
p.GetCardYProjection();
double depthY = TestIntervals( p.BMin, p.BMax, minY, maxY );
if ( depthY == 0 ) return false;
// determine if the circle's center is in a vertex voronoi region
bool isInVertexX = Math.Abs( depthX ) < p.Radius;
bool isInVertexY = Math.Abs( depthY ) < p.Radius;
if ( isInVertexX && isInVertexY )
{
// get the closest vertex
double vx = center.X + Sign( p.Curr.X - center.X ) * ( rectWidth / 2 );
double vy = center.Y + Sign( p.Curr.Y - center.Y ) * ( rectHeight / 2 );
// get the distance from the vertex to circle center
double dx = p.Curr.X - vx;
double dy = p.Curr.Y - vy;
double mag = Math.Sqrt( dx * dx + dy * dy );
double pen = p.Radius - mag;
// if there is a collision in one of the vertex regions
if ( pen > 0 )
{
dx /= mag;
dy /= mag;
p.MTD.Set( dx * pen, dy * pen );
normal.Set( dx, dy );
return true;
}
return false;
}
else
{
// collision on one of the 4 edges
p.SetXYMTD( depthX, depthY );
normal.Set( p.MTD.X / Math.Abs( depthX ), p.MTD.Y / Math.Abs( depthY ) );
return true;
}
}
private bool IsCircleColliding( CircleParticle p )
{
p.GetCardXProjection();
double depthX = TestIntervals( p.BMin, p.BMax, minX, maxX );
if ( depthX == 0 ) return false;
p.GetCardYProjection();
double depthY = TestIntervals( p.BMin, p.BMax, minY, maxY );
if ( depthY == 0 ) return false;
double dx = center.X - p.Curr.X;
double dy = center.Y - p.Curr.Y;
double len = Math.Sqrt( dx * dx + dy * dy );
double pen = ( p.Radius + radius ) - len;
if ( pen > 0 )
{
dx /= len;
dy /= len;
p.MTD.Set( -dx * pen, -dy * pen );
normal.Set( -dx, -dy );
return true;
}
return false;
}