public bool MinimumTranslationVectorWithContainment(Vector2[] vertices1, Vector2[] vertices2, out MinimumTranslationVector?mtv)
{
double overlap = Double.PositiveInfinity;
Vector2 smallest = default(Vector2);
Vector2[] axes1 = GetAxes(vertices1);
Vector2[] axes2 = GetAxes(vertices2);
bool MTVWC(Vector2[] axes)
{
for (int i = 0; i < axes.Length; i++)
{
Vector2 axis = axes[i];
Projection p1 = Project(vertices1, axis);
Projection p2 = Project(vertices2, axis);
if (!p1.Overlap(p2))
{
return(false);
}
else
{
double o = p1.GetOverlap(p2);
if (p1.Contains(p2) || p2.Contains(p1))
{
double mins = Math.Abs(p1.Min - p2.Min);
double maxs = Math.Abs(p1.Max - p2.Max);
o += mins < maxs ? mins : maxs;
}
if (o < overlap)
{
overlap = o;
smallest = axis;
}
}
}
return(true);
}
if (MTVWC(axes1) == false)
{
mtv = default(MinimumTranslationVector?);
return(false);
}
if (MTVWC(axes2) == false)
{
mtv = default(MinimumTranslationVector?);
return(false);
}
mtv = new MinimumTranslationVector(smallest, overlap);
return(true);
}
public bool MinimumTranslationVector(Vector2[] vertices1, Vector2[] vertices2, out MinimumTranslationVector?mtv)
{
double overlap = Double.PositiveInfinity;
Vector2 smallest = default(Vector2);
Vector2[] axes1 = GetAxes(vertices1);
Vector2[] axes2 = GetAxes(vertices2);
for (int i = 0; i < axes1.Length; i++)
{
Vector2 axis = axes1[i];
Projection p1 = Project(vertices1, axis);
Projection p2 = Project(vertices2, axis);
if (!p1.Overlap(p2))
{
mtv = default(MinimumTranslationVector?);
return(false);
}
else
{
double o = p1.GetOverlap(p2);
if (o < overlap)
{
overlap = o;
smallest = axis;
}
}
}
for (int i = 0; i < axes2.Length; i++)
{
Vector2 axis = axes2[i];
Projection p1 = Project(vertices1, axis);
Projection p2 = Project(vertices2, axis);
if (!p1.Overlap(p2))
{
mtv = default(MinimumTranslationVector?);
return(false);
}
else
{
double o = p1.GetOverlap(p2);
if (o < overlap)
{
overlap = o;
smallest = axis;
}
}
}
mtv = new MinimumTranslationVector(smallest, overlap);
return(true);
}
