bool circleLineIntersect(Vec2D const& p, float const r, Vec2D const& l1, Vec2D const& l2, float const lr)
{
Vec2D ld = l2 - l1;
Vec2D ln = ld.normal();
Vec2D l1p = p - l1;
Vec2D l2p = p - l2;
if(ln.cross(l1p) * ln.cross(l2p) < 0)
{
return l1p.projectioni(ln).lengthSquared() <= (r + lr) * (r + lr);
}
else if(l1p.lengthSquared() < l2p.lengthSquared())
{
return l1p.lengthSquared() <= (r + lr) * (r + lr);
}
else
{
return l2p.lengthSquared() <= (r + lr) * (r + lr);
}
}
