bool Geometric2DCollection::Collides(const Geometric2DCollection& geom,int obstacle) const
{
for(size_t i=0;i<geom.aabbs.size();i++) {
Box2D box; box.set(geom.aabbs[i]);
if(Collides(box,obstacle)) return true;
}
for(size_t i=0;i<geom.boxes.size();i++)
if(Collides(geom.boxes[i],obstacle)) return true;
for(size_t i=0;i<geom.circles.size();i++)
if(Collides(geom.circles[i],obstacle)) return true;
for(size_t i=0;i<geom.triangles.size();i++)
if(Collides(geom.triangles[i],obstacle)) return true;
return false;
}
bool Geometric2DCollection::Collides(const Triangle2D& tri) const
{
for(size_t i=0;i<aabbs.size();i++) {
Box2D box; box.set(aabbs[i]);
if(box.intersects(tri)) return true;
}
for(size_t i=0;i<boxes.size();i++)
if(boxes[i].intersects(tri)) return true;
for(size_t i=0;i<circles.size();i++)
if(tri.closestPoint(circles[i].center).distanceSquared(circles[i].center) < Sqr(circles[i].radius)) return true;
for(size_t i=0;i<triangles.size();i++)
if(tri.intersects(triangles[i])) return true;
return false;
}
bool Geometric2DCollection::Collides(const Triangle2D& t,int obstacle) const
{
Type type=ObstacleType(obstacle);
int index = ObstacleIndex(obstacle);
switch(type) {
case AABB:
{
Box2D box; box.set(aabbs[index]);
return box.intersects(t);
}
case Triangle:
return triangles[index].intersects(t);
case Box:
return boxes[index].intersects(t);
case Circle:
{
return (t.closestPoint(circles[index].center).distanceSquared(circles[index].center) < Sqr(circles[index].radius));
}
}
abort();
return false;
}