func circle2segmentFunc(contacts []*Contact, circle *CircleShape, segment *SegmentShape) int {
rsum := circle.Radius + segment.Radius
//Calculate normal distance from segment
dn := vect.Dot(segment.Tn, circle.Tc) - vect.Dot(segment.Ta, segment.Tn)
dist := vect.FAbs(dn) - rsum
if dist > 0.0 {
return 0
}
//Calculate tangential distance along segment
dt := -vect.Cross(segment.Tn, circle.Tc)
dtMin := -vect.Cross(segment.Tn, segment.Ta)
dtMax := -vect.Cross(segment.Tn, segment.Tb)
// Decision tree to decide which feature of the segment to collide with.
if dt < dtMin {
if dt < (dtMin - rsum) {
return 0
} else {
return segmentEncapQuery(circle.Tc, segment.Ta, circle.Radius, segment.Radius, contacts[0], segment.A_tangent)
}
} else {
if dt < dtMax {
n := segment.Tn
if dn >= 0.0 {
n.Mult(-1)
}
con := contacts[0]
pos := vect.Add(circle.Tc, vect.Mult(n, circle.Radius+dist*0.5))
con.reset(pos, n, dist, 0)
return 1
} else {
if dt < (dtMax + rsum) {
return segmentEncapQuery(circle.Tc, segment.Tb, circle.Radius, segment.Radius, contacts[0], segment.B_tangent)
} else {
return 0
}
}
}
panic("Never reached")
}
func Proximity(a, b AABB) vect.Float {
return vect.FAbs(a.Lower.X+a.Upper.X-b.Lower.X-b.Upper.X) + vect.FAbs(a.Lower.Y+a.Upper.Y-b.Lower.Y-b.Upper.Y)
}