internal static bool CircleBoxTest(ref CircleShape A, ref JVector PA, ref BoxShape B, ref JVector PB, ref JMatrix OB)
{
// find vertex closest to circles center
// move circle into boxes space
var pa = JVector.TransposedTransform(PA - PB, OB);
// find normal from box to circles center
var axis = pa;
JVector closestVertex;
// find closest vertex
B.SupportMapping(ref axis, out closestVertex);
// do a SAT test on that axis
// axis to test
JVector T = pa - closestVertex;
float TL = Math.Abs(T * axis);
float a = Math.Abs(pa * axis);
float b = Math.Abs(closestVertex * axis);
if (TL > (a + b + A.Radius))
{
return(false);
}
return(true);
}