static inline struct SupportPoint
SegmentSupportPoint(const cpSegmentShape *seg, const cpVect n)
{
if(cpvdot(seg->ta, n) > cpvdot(seg->tb, n)) {
return SupportPointNew(seg->ta, 0);
} else {
return SupportPointNew(seg->tb, 1);
}
}
static inline struct SupportPoint
PolySupportPoint(const cpPolyShape *poly, const cpVect n)
{
const struct cpSplittingPlane *planes = poly->planes;
int i = PolySupportPointIndex(poly->count, planes, n);
return SupportPointNew(planes[i].v0, i);
}
static struct SupportPoint
ShapePoint(const cpShape *shape, const int i)
{
switch(shape->klass->type){
case CP_CIRCLE_SHAPE: {
return SupportPointNew(((cpCircleShape *)shape)->tc, 0);
} case CP_SEGMENT_SHAPE: {
cpSegmentShape *seg = (cpSegmentShape *)shape;
return SupportPointNew(i == 0 ? seg->ta : seg->tb, i);
} case CP_POLY_SHAPE: {
cpPolyShape *poly = (cpPolyShape *)shape;
// Poly shapes may change vertex count.
int index = (i < poly->count ? i : 0);
return SupportPointNew(poly->planes[index].v0, index);
} default: {
return SupportPointNew(cpvzero, 0);
}
}
}
static inline struct SupportPoint
CircleSupportPoint(const cpCircleShape *circle, const cpVect n)
{
return SupportPointNew(circle->tc, 0);
}
