size_t collide(CircleShape &circle, BoxShape &box, float dt, Contact *pxContacts, size_t numMaxContacts) { dt, pxContacts, numMaxContacts; const Point2f &p1 = circle.body.getPosition(); const Point2f &p2 = box.body.getPosition(); // work in the box's coordinate system const Point2f kDiff = p1 - p2; // compute squared distance and closest point on box float fSqrDistance = 0.0f, fDelta; Point2f kClosest(kDiff * box.GetDir(0), kDiff * box.GetDir(1)); const Point2f &extents = box.GetExtents(); if (kClosest.x < -extents.x) { fDelta = kClosest.x + extents.x; fSqrDistance += fDelta*fDelta; kClosest.x = -extents.x; } else if (kClosest.x > extents.x) { fDelta = kClosest.x - extents.x; fSqrDistance += fDelta*fDelta; kClosest.x = extents.x; } if (kClosest.y < -extents.y) { fDelta = kClosest.y + extents.y; fSqrDistance += fDelta*fDelta; kClosest.y = -extents.y; } else if (kClosest.y > extents.y) { fDelta = kClosest.y - extents.y; fSqrDistance += fDelta*fDelta; kClosest.y = extents.y; } if (fSqrDistance > circle.GetRadius() * circle.GetRadius()) { return 0; } Point2f d = p2 + kClosest - p1; d.Normalize(); pxContacts[0] = Contact(p1 + d * circle.GetRadius(), p2 + kClosest, &circle.body, &box.body); return 1; }
size_t collide(CircleShape &circle1, CircleShape &circle2, float dt, Contact *pxContacts, size_t numMaxContacts) { dt, numMaxContacts; float rR = circle1.GetRadius() + circle2.GetRadius(); const Point2f &p1 = circle1.body.getPosition(); const Point2f &p2 = circle2.body.getPosition(); Point2f d = p2 - p1; float len = d.Length(); if (len > rR) { return 0; } d.Normalize(); pxContacts[0] = Contact(p1 + d * circle1.GetRadius(), p1 + d * (len - circle1.GetRadius()), &circle1.body, &circle2.body); return 1; }