private static void FindIncidentEdge(ref FixedArray2<ClipVertex> c, EPProxy proxy1, int edge1, EPProxy proxy2)
{
int count2 = proxy2.Count;
Debug.Assert(0 <= edge1 && edge1 < proxy1.Count);
// Get the normal of the reference edge in proxy2's frame.
Vector2 normal1 = proxy1.Normals[edge1];
// Find the incident edge on proxy2.
int index = 0;
float minDot = float.MaxValue;
for (int i = 0; i < count2; ++i)
{
float dot = Vector2.Dot(normal1, proxy2.Normals[i]);
if (dot < minDot)
{
minDot = dot;
index = i;
}
}
// Build the clip vertices for the incident edge.
int i1 = index;
int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
ClipVertex cTemp = new ClipVertex();
cTemp.V = proxy2.Vertices[i1];
cTemp.ID.Features.IndexA = (byte) edge1;
cTemp.ID.Features.IndexB = (byte) i1;
cTemp.ID.Features.TypeA = (byte) ContactFeatureType.Face;
cTemp.ID.Features.TypeB = (byte) ContactFeatureType.Vertex;
c[0] = cTemp;
cTemp.V = proxy2.Vertices[i2];
cTemp.ID.Features.IndexA = (byte) edge1;
cTemp.ID.Features.IndexB = (byte) i2;
cTemp.ID.Features.TypeA = (byte) ContactFeatureType.Face;
cTemp.ID.Features.TypeB = (byte) ContactFeatureType.Vertex;
c[1] = cTemp;
}
