public static bool MeshIntersection(Mesh m1, Mesh m2, ref List <ContactPoint> contacts)
{
Vector2[] v1 = m1.verticesWorldSpace;
Vector2[] v2 = m2.verticesWorldSpace;
v1 = SortPolyClockwise(v1);
v2 = SortPolyClockwise(v2);
Vector2 a0, a1, b0, b1;
bool r = false;
ContactPoint cp = new ContactPoint();
for (int i = 0; i < v1.Length; ++i)
{
a0 = v1[i];
a1 = v1[i == v1.Length - 1 ? 0 : i + 1];
for (int j = 0; j < v2.Length; ++j)
{
b0 = v2[j];
b1 = v2[j == v2.Length - 1 ? 0 : j + 1];
if (!LineIntersection(a0, a1, b0, b1, ref cp))
{
continue;
}
r = true;
contacts.Add(cp);
}
}
return(r);
}
public static bool CircleIntersection(Vector2 center, float radius, Vector2 point, Vector2 dir, ref ContactPoint result)
{
//Line start is within circle
if ((center - point).LengthSquared < radius * radius)
{
return(false);
}
Vector2 nDir = dir.Normalized();
Vector2 nPoint = Vector2.Dot(nDir, point - center) * nDir;
float nDist = (nPoint - center).LengthSquared;
float sqrRad = radius * radius;
if (nDist > sqrRad) //NO INTERSECTION
{
return(false);
}
nDist = (float)Math.Sqrt(sqrRad - nDist);
result.point = nPoint - dir * nDist;
result.normal = (result.point - center).Normalized();
return(true);
}
public static bool LineIntersection(Vector2 a0, Vector2 a1, Vector2 b0, Vector2 b1, ref ContactPoint cp)
{
float d0 = DistanceFromPlaneDir(a0 - a1, a0, b0);
float d1 = DistanceFromPlaneDir(a0 - a1, a0, b1);
//both points are on either side of the line normal
if ((d0 > 0 && d1 > 0) || (d0 < 0 && d1 < 0))
{
return(false);
}
Vector2 x = Lerp(b0, b1, Math.Abs(d0) / (Math.Abs(d0) + Math.Abs(d1)));
Vector2 c = Lerp(a0, a1, 0.5f);
d1 = (a0 - a1).Length / 2;
//Distance from center of line a
d0 = DistanceFromPlaneNor(a0 - a1, c, x);
d0 = Math.Abs(d0);
//If distance from line center is greater than its half extent there was no intersection
if (d0 > d1)
{
return(false);
}
cp = new ContactPoint(x, (a1 - a0).GetNormal().Normalized());
return(true);
}