// Add contacts for probably penetrating vertexes.
// This handles the degenerate case where an overlap was detected, but no vertexes fall inside
// the opposing polygon. (like a star of david)
static inline int
findVertsFallback(cpContact *arr, const cpPolyShape *poly1, const cpPolyShape *poly2, const cpVect n, const cpFloat dist)
{
int num = 0;
for(int i=0; i<poly1->numVerts; i++){
cpVect v = poly1->tVerts[i];
if(cpPolyShapeContainsVertPartial(poly2, v, cpvneg(n)))
cpContactInit(nextContactPoint(arr, &num), v, n, dist, CP_HASH_PAIR(poly1->shape.hashid, i));
}
for(int i=0; i<poly2->numVerts; i++){
cpVect v = poly2->tVerts[i];
if(cpPolyShapeContainsVertPartial(poly1, v, n))
cpContactInit(nextContactPoint(arr, &num), v, n, dist, CP_HASH_PAIR(poly2->shape.hashid, i));
}
return num;
}
// Add contacts for penetrating vertexes.
static inline int
findVerts(cpContact *arr, cpPolyShape *poly1, cpPolyShape *poly2, cpVect n, cpFloat dist)
{
int num = 0;
for(int i=0; i<poly1->numVerts; i++){
cpVect v = poly1->tVerts[i];
if(cpPolyShapeContainsVertPartial(poly2, v, cpvneg(n)))
cpContactInit(nextContactPoint(arr, &num), v, n, dist, CP_HASH_PAIR(poly1->shape.hashid, i));
}
for(int i=0; i<poly2->numVerts; i++){
cpVect v = poly2->tVerts[i];
if(cpPolyShapeContainsVertPartial(poly1, v, n))
cpContactInit(nextContactPoint(arr, &num), v, n, dist, CP_HASH_PAIR(poly2->shape.hashid, i));
}
// if(!num)
// addContactPoint(arr, &size, &num, cpContactNew(shape1->body->p, n, dist, 0));
return num;
}
