bool collidePolygonCircle(PolygonShape polygon, ref FSTransform polyTransform, CircleShape circle, ref FSTransform circleTransform, out FSCollisionResult result)
{
result = new FSCollisionResult();
Collision.collidePolygonAndCircle(ref _manifold, polygon, ref polyTransform, circle, ref circleTransform);
if (_manifold.pointCount > 0)
{
FixedArray2 <Vector2> points;
ContactSolver.WorldManifold.initialize(ref _manifold, ref polyTransform, polygon.radius, ref circleTransform, circle.radius, out result.normal, out points);
//var circleInPolySpace = polygonFixture.Body.GetLocalPoint( circleFixture.Body.Position );
var circleInPolySpace = MathUtils.mulT(ref polyTransform, circleTransform.p);
var value1 = circleInPolySpace - _manifold.localPoint;
var value2 = _manifold.localNormal;
var separation = circle.radius - (value1.X * value2.X + value1.Y * value2.Y);
if (separation <= 0)
{
return(false);
}
result.point = points[0] * FSConvert.simToDisplay;
result.minimumTranslationVector = result.normal * separation;
#if DEBUG_FSCOLLISIONS
Debug.drawPixel(result.point, 2, Color.Red, 0.2f);
Debug.drawLine(result.point, result.point + result.normal * 20, Color.Yellow, 0.2f);
#endif
return(true);
}
return(false);
}
private bool collideWithHole(Fixture fixtureA, ref FSTransform transformA, Fixture fixtureB, ref FSTransform transformB, out FSCollisionResult result)
{
result = new FSCollisionResult();
result.fixture = fixtureB;
if (!ContactManager.shouldCollide(fixtureA, fixtureB))
{
return(false);
}
if (fixtureA.body.world.contactManager.onContactFilter != null && !fixtureA.body.world.contactManager.onContactFilter(fixtureA, fixtureB))
{
return(false);
}
return(collidePolygonCircle(fixtureB.shape as PolygonShape, ref transformB, fixtureA.shape as CircleShape, ref transformA, out result));
}
private bool colliderWithHole(Fixture self, ref Vector2 motion, out FSCollisionResult result)
{
result = new FSCollisionResult();
motion *= FSConvert.displayToSim;
AABB aabb;
FSTransform xf;
var didCollide = false;
self.body.getTransform(out xf);
xf.p += motion;
self.shape.computeAABB(out aabb, ref xf, 0);
var neighbors = ListPool <Fixture> .obtain();
self.body.world.queryAABB(ref aabb, neighbors);
if (neighbors.Count > 1)
{
for (var i = 0; i < neighbors.Count; i++)
{
if (neighbors[i].fixtureId == self.fixtureId)
{
continue;
}
if (neighbors[i].collisionCategories != CollisionSetting.tiledHoleCategory)
{
continue;
}
if (collideWithHole(self, ref motion, neighbors[i], out result))
{
xf.p += result.minimumTranslationVector;
}
}
}
ListPool <Fixture> .free(neighbors);
motion *= FSConvert.simToDisplay;
return(didCollide);
}
private bool collideWithHole(Fixture fixtureA, ref Vector2 motion, Fixture fixtureB, out FSCollisionResult result)
{
FSTransform transformA;
fixtureA.body.getTransform(out transformA);
transformA.p += motion;
FSTransform transformB;
fixtureB.body.getTransform(out transformB);
if (collideWithHole(fixtureA, ref transformA, fixtureB, ref transformB, out result))
{
motion += result.minimumTranslationVector;
return(true);
}
return(false);
}
