private static void ComputePolygonSeperation(ref Vector2 v1, ref Vector2 v2, PolygonShape polygonB,
float radius, out EPAxis axis)
{
// PolygonB separation
axis.Type = EPAxisType.EdgeB;
axis.Index = 0;
axis.Separation = float.MinValue;
for (int i = 0; i < polygonB.Vertices.Count; ++i)
{
float s1 = Vector2.Dot(polygonB.Normals[i], v1 - polygonB.Vertices[i]);
float s2 = Vector2.Dot(polygonB.Normals[i], v2 - polygonB.Vertices[i]);
float s = Math.Min(s1, s2);
if (s > axis.Separation)
{
axis.Index = i;
axis.Separation = s;
if (s > radius)
{
break;
}
}
}
}
private static void ComputeEdgeSeperation(ref Vector2 v1, ref Vector2 n, PolygonShape polygonB, out EPAxis axis)
{
// EdgeA separation
axis.Type = EPAxisType.EdgeA;
axis.Index = 0;
axis.Separation = Vector2.Dot(n, polygonB.Vertices[0] - v1);
for (int i = 1; i < polygonB.Vertices.Count; ++i)
{
float s = Vector2.Dot(n, polygonB.Vertices[i] - v1);
if (s < axis.Separation)
{
axis.Separation = s;
}
}
}
