Method ComputePolygonSeparation

CollisionB2CollideEdge.go:561–604

()

}

func (collider *B2EPCollider) ComputePolygonSeparation() B2EPAxis {

	axis := MakeB2EPAxis()
	axis.Type = B2EPAxis_Type.E_unknown
	axis.Index = -1
	axis.Separation = -B2_maxFloat

	perp := MakeB2Vec2(-collider.M_normal.Y, collider.M_normal.X)

	for i := 0; i < collider.M_polygonB.Count; i++ {
		n := collider.M_polygonB.Normals[i].OperatorNegate()

		s1 := B2Vec2Dot(n, B2Vec2Sub(collider.M_polygonB.Vertices[i], collider.M_v1))
		s2 := B2Vec2Dot(n, B2Vec2Sub(collider.M_polygonB.Vertices[i], collider.M_v2))
		s := math.Min(s1, s2)

		if s > collider.M_radius {
			// No collision
			axis.Type = B2EPAxis_Type.E_edgeB
			axis.Index = i
			axis.Separation = s
			return axis
		}

		// Adjacency
		if B2Vec2Dot(n, perp) >= 0.0 {
			if B2Vec2Dot(B2Vec2Sub(n, collider.M_upperLimit), collider.M_normal) < -B2_angularSlop {
				continue
			}
		} else {
			if B2Vec2Dot(B2Vec2Sub(n, collider.M_lowerLimit), collider.M_normal) < -B2_angularSlop {
				continue
			}
		}

		if s > axis.Separation {
			axis.Type = B2EPAxis_Type.E_edgeB
			axis.Index = i
			axis.Separation = s
		}
	}

	return axis
}

func B2CollideEdgeAndPolygon(manifold *B2Manifold, edgeA *B2EdgeShape, xfA B2Transform, polygonB *B2PolygonShape, xfB B2Transform) {
	collider := MakeB2EPCollider()