public static bool SatIntersectionTest(this IIntersectable A, IIntersectable B)
{
if (A.GetSatProjectionAxes().Length == 0 || B.GetSatProjectionAxes().Length == 0)
{
return(false);
}
List <Vector2> axes = new List <Vector2>();
axes.AddRange(A.GetSatProjectionAxes());
axes.AddRange(B.GetSatProjectionAxes());
foreach (Vector2 axis in axes)
{
Range projectionA = A.Get1dProjectionOntoAxis(axis);
Range projectionB = B.Get1dProjectionOntoAxis(axis);
if (!IsThere1dProjectionOverlap(projectionA, projectionB))
{
return(false);
}
}
return(true);
}
public static Vector2?SatIntersectionTestGetMtv(this IIntersectable A, IIntersectable B)
{
if (A.GetSatProjectionAxes().Length == 0 || B.GetSatProjectionAxes().Length == 0)
{
return(null);
}
List <Vector2> axes = new List <Vector2>();
axes.AddRange(A.GetSatProjectionAxes());
axes.AddRange(B.GetSatProjectionAxes());
axes = new HashSet <Vector2>(axes).ToList(); // remove duplicated axes
float minOverlap = float.PositiveInfinity;
Vector2?minOverlapAxis = null;
foreach (Vector2 axis in axes)
{
Range projectionA = A.Get1dProjectionOntoAxis(axis);
Range projectionB = B.Get1dProjectionOntoAxis(axis);
if (!IsThere1dProjectionOverlap(projectionA, projectionB))
{
return(null);
}
float overlap = Get1dProjectionOverlap(projectionA, projectionB);
if (Math.Abs(overlap) < Math.Abs(minOverlap))
{
minOverlap = overlap;
minOverlapAxis = axis;
}
}
if (minOverlapAxis == null)
{
return(null);
}
return(minOverlapAxis * minOverlap);
}
