private CollisionCollection DetectCollisions()
{
CollisionCollection collisions = new CollisionCollection();
for (int i = 0; i < objects.Count; i++)
{
for (int j = i + 1; j < objects.Count; j++)
{
PhysicsObject obj1 = objects[i];
PhysicsObject obj2 = objects[j];
Vector2 mtv;
if (obj1.IntersectsWith(obj2, out mtv))
{
Vector2 normal = mtv.Normalize();
float penetration = mtv.Length;
Vector2[] support1 = GetSupportPoints(obj1.Polygon, -normal);
Vector2[] support2 = GetSupportPoints(obj2.Polygon, normal);
VectorPair[] pairs = GetContactPoints(support1, support2);
collisions.AddCollisionPair(obj1, obj2, pairs, -normal, penetration, false);
collisions.AddCollisionPair(obj2, obj1, pairs, normal, penetration, true);
}
}
}
return(collisions);
}