private static Vector closestVertexOnOBB(Vector p, RectangleParticle r)
{
Vector d = p - r.samp;
Vector q = new Vector(r.samp.X, r.samp.Y);
for (int i = 0; i < 2; i++)
{
float dist = d.Dot(r.axes[i]);
if (dist >= 0) dist = r.extents(i);
else if (dist < 0) dist = -r.extents(i);
q += (r.axes[i] * dist);
}
return q;
}
private void setCorners(RectangleParticle r, int i)
{
float rx = r.curr.X;
float ry = r.curr.Y;
float ae0_x = r.axes[0].X * r.extents(0);
float ae0_y = r.axes[0].Y * r.extents(0);
float ae1_x = r.axes[1].X * r.extents(1);
float ae1_y = r.axes[1].Y * r.extents(1);
float emx = ae0_x - ae1_x;
float emy = ae0_y - ae1_y;
float epx = ae0_x + ae1_x;
float epy = ae0_y + ae1_y;
if (i == 0)
{
// 0 and 1
rca.X = rx - epx;
rca.Y = ry - epy;
rcb.X = rx + emx;
rcb.Y = ry + emy;
}
else if (i == 1)
{
// 1 and 2
rca.X = rx + emx;
rca.Y = ry + emy;
rcb.X = rx + epx;
rcb.Y = ry + epy;
}
else if (i == 2)
{
// 2 and 3
rca.X = rx + epx;
rca.Y = ry + epy;
rcb.X = rx - emx;
rcb.Y = ry - emy;
}
else if (i == 3)
{
// 3 and 0
rca.X = rx - emx;
rca.Y = ry - emy;
rcb.X = rx - epx;
rcb.Y = ry - epy;
}
}