static inline bool Collide( const SHAPE_CIRCLE& aA, const SHAPE_SEGMENT& aSeg, int aClearance,
bool aNeedMTV, VECTOR2I& aMTV )
{
bool col = aA.Collide( aSeg.GetSeg(), aClearance + aSeg.GetWidth() / 2);
if( col && aNeedMTV )
{
aMTV = -pushoutForce( aA, aSeg.GetSeg(), aClearance + aSeg.GetWidth() / 2);
}
return col;
}
const SHAPE_LINE_CHAIN SegmentHull ( const SHAPE_SEGMENT& aSeg, int aClearance,
int aWalkaroundThickness )
{
int d = aSeg.GetWidth() / 2 + aClearance + aWalkaroundThickness / 2 + HULL_MARGIN;
int x = (int)( 2.0 / ( 1.0 + M_SQRT2 ) * d );
const VECTOR2I a = aSeg.GetSeg().A;
const VECTOR2I b = aSeg.GetSeg().B;
VECTOR2I dir = b - a;
VECTOR2I p0 = dir.Perpendicular().Resize( d );
VECTOR2I ds = dir.Perpendicular().Resize( x / 2 );
VECTOR2I pd = dir.Resize( x / 2 );
VECTOR2I dp = dir.Resize( d );
SHAPE_LINE_CHAIN s;
s.SetClosed( true );
s.Append( b + p0 + pd );
s.Append( b + dp + ds );
s.Append( b + dp - ds );
s.Append( b - p0 + pd );
s.Append( a - p0 - pd );
s.Append( a - dp - ds );
s.Append( a - dp + ds );
s.Append( a + p0 - pd );
// make sure the hull outline is always clockwise
if( s.CSegment( 0 ).Side( a ) < 0 )
return s.Reverse();
else
return s;
}
static inline bool Collide( const SHAPE_LINE_CHAIN& aA, const SHAPE_SEGMENT& aB, int aClearance,
bool aNeedMTV, VECTOR2I& aMTV )
{
if( aA.Collide( aB.GetSeg(), aClearance + aB.GetWidth() / 2 ) )
return true;
return false;
}
SHAPE_RECT ApproximateSegmentAsRect( const SHAPE_SEGMENT& aSeg )
{
SHAPE_RECT r;
VECTOR2I delta( aSeg.GetWidth() / 2, aSeg.GetWidth() / 2 );
VECTOR2I p0( aSeg.GetSeg().A - delta );
VECTOR2I p1( aSeg.GetSeg().B + delta );
return SHAPE_RECT( std::min( p0.x, p1.x ), std::min( p0.y, p1.y ),
std::abs( p1.x - p0.x ), std::abs( p1.y - p0.y ) );
}
static inline bool Collide( const SHAPE_SEGMENT& aA, const SHAPE_SEGMENT& aB, int aClearance,
bool aNeedMTV, VECTOR2I& aMTV )
{
return aA.Collide( aB.GetSeg(), aClearance + aB.GetWidth() / 2 );
}