public override void HandleCollision(Manifold m, Body a, Body b)
{
Circle A = (Circle)a.shape;
Polygon B = (Polygon)b.shape;
m.contactCount = 0;
// Transform circle center to Polygon model space
// Vec2 center = a->position;
// center = B->u.Transpose( ) * (center - b->position);
Vec2 center = B.u.Transpose().Muli(a.position.Sub(b.position));
// Find edge with minimum penetration
// Exact concept as using support points in Polygon vs Polygon
float separation = -float.MaxValue;
int faceNormal = 0;
for (int i = 0; i < B.vertexCount; ++i)
{
// real s = Dot( B->m_normals[i], center - B->m_vertices[i] );
float s = Vec2.Dot(B.normals[i], center.Sub(B.vertices[i]));
if (s > A.radius)
{
return;
}
if (s > separation)
{
separation = s;
faceNormal = i;
}
}
// Grab face's vertices
Vec2 v1 = B.vertices[faceNormal];
int i2 = faceNormal + 1 < B.vertexCount ? faceNormal + 1 : 0;
Vec2 v2 = B.vertices[i2];
// Check to see if center is within polygon
if (separation < ImpulseMath.EPSILON)
{
// m->contact_count = 1;
// m->normal = -(B->u * B->m_normals[faceNormal]);
// m->contacts[0] = m->normal * A->radius + a->position;
// m->penetration = A->radius;
m.contactCount = 1;
B.u.Mul(B.normals[faceNormal], m.normal).Negi();
m.contacts[0].Set(m.normal).Muli(A.radius).Addi(a.position);
m.penetration = A.radius;
return;
}
// Determine which voronoi region of the edge center of circle lies within
// real dot1 = Dot( center - v1, v2 - v1 );
// real dot2 = Dot( center - v2, v1 - v2 );
// m->penetration = A->radius - separation;
float dot1 = Vec2.Dot(center.Sub(v1), v2.Sub(v1));
float dot2 = Vec2.Dot(center.Sub(v2), v1.Sub(v2));
m.penetration = A.radius - separation;
// Closest to v1
if (dot1 <= 0.0f)
{
if (Vec2.DistanceSq(center, v1) > A.radius * A.radius)
{
return;
}
// m->contact_count = 1;
// Vec2 n = v1 - center;
// n = B->u * n;
// n.Normalize( );
// m->normal = n;
// v1 = B->u * v1 + b->position;
// m->contacts[0] = v1;
m.contactCount = 1;
B.u.Muli(m.normal.Set(v1).Subi(center)).Normalize();
B.u.Mul(v1, m.contacts[0]).Addi(b.position);
}
// Closest to v2
else if (dot2 <= 0.0f)
{
if (Vec2.DistanceSq(center, v2) > A.radius * A.radius)
{
return;
}
// m->contact_count = 1;
// Vec2 n = v2 - center;
// v2 = B->u * v2 + b->position;
// m->contacts[0] = v2;
// n = B->u * n;
// n.Normalize( );
// m->normal = n;
m.contactCount = 1;
B.u.Muli(m.normal.Set(v2).Subi(center)).Normalize();
B.u.Mul(v2, m.contacts[0]).Addi(b.position);
}
// Closest to face
else
{
Vec2 n = B.normals[faceNormal];
if (Vec2.Dot(center.Sub(v1), n) > A.radius)
{
return;
}
// n = B->u * n;
// m->normal = -n;
// m->contacts[0] = m->normal * A->radius + a->position;
// m->contact_count = 1;
m.contactCount = 1;
B.u.Mul(n, m.normal).Negi();
m.contacts[0].Set(a.position).Addsi(m.normal, A.radius);
}
}
