public List <FBVerletEdge> CollisionAxes(IVerletCollidable otherShape)
{
return(collisionEdges);
}
public static bool CollidesWith(this IVerletCollidable a, IVerletCollidable b, out FBVerletCollision collisionResult)
{
collisionResult = null;
var axes = a.CollisionAxes(b);
axes.AddRange(b.CollisionAxes(a));
FBVerletCollision collisionInfo = new FBVerletCollision();
foreach (var edge in a.CollisionAxes(b))
{
var axis = edge.NormalLeft;
float aMin, aMax, bMin, bMax;
a.Project(axis, out aMin, out aMax);
b.Project(axis, out bMin, out bMax);
var intervalDistance = IntervalDistance(aMin, aMax, bMin, bMax);
if (intervalDistance >= 0)
{
return(false);
}
if ((intervalDistance = Math.Abs(intervalDistance)) < collisionInfo.mtvAmount)
{
collisionInfo.mtv = axis;
collisionInfo.mtvAmount = intervalDistance;
collisionInfo.collisionEdge = edge;
collisionInfo.collisionEdgeShape = a;
}
}
foreach (var edge in b.CollisionAxes(a))
{
var axis = edge.NormalLeft;
float aMin, aMax, bMin, bMax;
a.Project(axis, out aMin, out aMax);
b.Project(axis, out bMin, out bMax);
var intervalDistance = IntervalDistance(aMin, aMax, bMin, bMax);
if (intervalDistance >= 0)
{
return(false);
}
if ((intervalDistance = Math.Abs(intervalDistance)) < collisionInfo.mtvAmount)
{
collisionInfo.mtv = axis;
collisionInfo.mtvAmount = intervalDistance;
collisionInfo.collisionEdge = edge;
collisionInfo.collisionEdgeShape = a;
}
}
if (collisionInfo.collisionEdgeShape == b)
{
var temp = b;
b = a;
a = temp;
}
float minDistance = float.MaxValue;
foreach (var point in a.CollisionPoints())
{
var distance = (collisionInfo.mtv * (point.Position - b.Center)).LengthSquared();
if (distance < minDistance)
{
minDistance = distance;
collisionInfo.collisionPoint = point;
}
}
collisionResult = collisionInfo;
return(true);
}
