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feat: Basic Shape to Shape Collision Detection

This commit is contained in:
Syntriax 2024-01-26 18:56:31 +03:00
parent 2bfd391286
commit c6d2bad23e
1 changed files with 20 additions and 1 deletions
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21
Engine.Physics2D/CollisionDetector.cs
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@ -38,7 +38,26 @@ public class CollisionDetector : ICollisionDetector
private static bool DetectShapeShape(IShapeCollider2D left, IShapeCollider2D right, out CollisionDetectionInformation? collisionInformation)
{
throw new System.NotImplementedException();
collisionInformation = default;
var vertices = left.ShapeWorld.Vertices;
int count = vertices.Count;
for (int indexProjection = 0; indexProjection < count; indexProjection++)
{
Vector2D projectionVector = vertices[indexProjection].FromTo(vertices[(indexProjection + 1) % count]).Perpendicular().Normalized;
Projection leftProjection = left.ShapeWorld.ToProjection(projectionVector);
Projection rightProjection = right.ShapeWorld.ToProjection(projectionVector);
if (!leftProjection.Overlaps(rightProjection, out float depth))
return false;
if (collisionInformation == default || Math.Abs(collisionInformation.Penetration) > Math.Abs(depth))
collisionInformation = new(left, right, projectionVector, depth);
}
return true;
}
private static bool DetectShapeCircle(IShapeCollider2D shapeCollider, ICircleCollider2D circleCollider, out CollisionDetectionInformation? collisionInformation)