@SuppressWarnings("OverlyLongMethod")
@Nullable
@Override
protected CollisionInfo collideOneWay(@Nonnull Body bodyA, @Nonnull Body bodyB) {
RectangularForm rectangularFormA = (RectangularForm) bodyA.getForm();
CircularForm circularFormB = (CircularForm) bodyB.getForm();
Point2D[] pointsA = rectangularFormA.getPoints(bodyA.getPosition(), bodyA.getAngle(), epsilon);
int pointACount = pointsA.length;
if (!GeometryUtil.isPointOutsideConvexPolygon(bodyB.getPosition(), pointsA, epsilon)) {
double minDistanceFromB = Double.POSITIVE_INFINITY;
Line2D nearestLineA = null;
for (int pointAIndex = 0; pointAIndex < pointACount; ++pointAIndex) {
Point2D point1A = pointsA[pointAIndex];
Point2D point2A = pointsA[pointAIndex == pointACount - 1 ? 0 : pointAIndex + 1];
Line2D lineA = Line2D.getLineByTwoPoints(point1A, point2A);
double distanceFromB = lineA.getDistanceFrom(bodyB.getPosition());
if (distanceFromB < minDistanceFromB) {
minDistanceFromB = distanceFromB;
nearestLineA = lineA;
}
}
if (nearestLineA != null) {
return new CollisionInfo(
bodyA,
bodyB,
bodyB.getPosition(),
nearestLineA.getUnitNormal().negate(),
circularFormB.getRadius() - nearestLineA.getSignedDistanceFrom(bodyB.getPosition()),
epsilon);
}
}
CollisionInfo collisionInfo = null;
for (int pointAIndex = 0; pointAIndex < pointACount; ++pointAIndex) {
Point2D point1A = pointsA[pointAIndex];
Point2D point2A = pointsA[pointAIndex == pointACount - 1 ? 0 : pointAIndex + 1];
CollisionInfo lineCollisionInfo =
LineAndCircleCollider.collideOneWay(
bodyA, bodyB, point1A, point2A, circularFormB, epsilon);
if (lineCollisionInfo != null
&& (collisionInfo == null || lineCollisionInfo.getDepth() > collisionInfo.getDepth())) {
collisionInfo = lineCollisionInfo;
}
}
return collisionInfo;
}
@Override
protected boolean matchesOneWay(@Nonnull Body bodyA, @Nonnull Body bodyB) {
return bodyA.getForm().getShape() == Shape.RECTANGLE
&& bodyB.getForm().getShape() == Shape.CIRCLE;
}