private static LineSegment2D?ClosestTo(Point pt, ConvexPolygon poly)
{
FixedPoint? closest = null;
LineSegment2D edge = default;
for (var i = 0; i < poly.NumLineSegments; i++)
{
var seg = poly.GetLineSegment(i);
var dist = CollisionDetector.DetermineClosestPoint(seg, pt);
if (dist == null)
{
continue;
}
if (closest == null || dist.Value.Distance < closest)
{
closest = dist.Value.Distance;
edge = seg;
}
}
if (closest == null)
{
return(null);
}
return(edge);
}
