bool cCollider2D::Collide(cCollisionMesh2D* apMeshA,cCollisionMesh2D* apMeshB, cVector2f &avMTD)
{
cVector2f vAxis[32];
int lAxisNum=0;
//Check separating planes for A
for(int i=0; i<(int)apMeshA->mvNormal.size(); i++)
{
vAxis[lAxisNum] = apMeshA->mvNormal[i];
if(AxisSeparateMeshes(vAxis[lAxisNum], apMeshA, apMeshB))
{
return false;
}
lAxisNum++;
}
//Check separating planes for B
for(int i=0; i<(int)apMeshB->mvNormal.size(); i++)
{
vAxis[lAxisNum] = apMeshB->mvNormal[i];
if(AxisSeparateMeshes(vAxis[lAxisNum], apMeshA, apMeshB))
{
return false;
}
lAxisNum++;
}
avMTD = FindMTD(vAxis, lAxisNum);
return true;
}
bool World::IntersectBoxToBox(Sprite* spt1, Sprite* spt2)
{
// Get bodies' edges
Edges body1_edges = spt1->GetRigidBody()->GetEdges();
Edges body2_edges = spt2->GetRigidBody()->GetEdges();
// init helper variables
vec3 vec_axis[8];
int iNumAxis = 0;
// Check overlapped for the 1st sprite
for (int i = 0; i < 4; ++i)
{
vec_axis[iNumAxis] = vec3(-body1_edges[i].y, body1_edges[i].x);
if (AxisSeparatePolygons(vec_axis, iNumAxis, spt1->GetRigidBody(), spt2->GetRigidBody()))
return false;
}
// Check overlapped for the 2nd sprite
for (int i = 0; i < 4; ++i)
{
vec_axis[iNumAxis] = vec3(-body2_edges[i].y, body2_edges[i].x);
if (AxisSeparatePolygons(vec_axis, iNumAxis, spt1->GetRigidBody(), spt2->GetRigidBody()))
return false;
}
//Find munumum transition distance
mtd = FindMTD(vec_axis, iNumAxis);
vec3 d = spt1->GetPosition() - spt2->GetPosition();
// Reverse the mtd's sign
if (d.DotProduct(mtd) < 0.f)
mtd = -mtd;
return true;
}