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I test 2 circles (A and B)
- Create a ray from circle B
- Position = B.Position
- Direction = Relative velocity of A and B (B.Vel - A.Vel)
- Create a circle C by using A's position with a radius of A + B (Minkowski)
- Test ray against circle C
In code:
public static bool TestSweptCircleCircle(Shape s1, Shape s2, ref Contact2D contact)
{
CD_Circle a = (CD_Circle)s1;
CD_Circle b = (CD_Circle)s2;
//===========================================================
//---[Swept Test]--------------------------------------------
//===========================================================
// Convert the circle for b into a 2D ray
Vector2 origin = b.Position; // Origin of ray
Vector2 direction = b.Velocity - a.Velocity; // Direction of ray
// Expand the circle a by the radius of the circle b
// This transforms a circle/circle collision test into a ray/circle collision test
CD_Circle c = new CD_Circle(a.Position, a.Radius + b.Radius);
// Test ray for intersection against expanded circle
return RayCircleIntersect(origin, direction, c, ref contact);
}
private static bool RayCircleIntersect(Vector2 ray_Origin, Vector2 ray_Direction, CD_Circle circle, ref Contact2D contact)
{
Vector2 m = ray_Origin - circle.Position;
float c = Vector2.Dot(m, m) - circle.Radius * circle.Radius;
float b = Vector2.Dot(m, ray_Direction);
// Early exit if:
// - Ray origin outside circle (c > 0) AND
// - Ray pointing away from circle (b > 0)
if (c > 0.0f && b > 0.0f)
{
return false;
}
// Discriminant (Quadratic equation) = b^2 - c
float discr = b * b - c;
// A negative discriminant corresponds to Ray missing Sphere
if (discr < 0.0f)
{
return false;
}
// Now Ray must hit Sphere
// Compute smallest value of intersection (t)
float t = -b - (float)Math.Sqrt(discr);
// If (t) is negative, Ray started inside Sphere so clamp (t) to zero
if (t < 0.0f)
{
t = 0.0f;
}
//contact.penetration = t;
contact.point = ray_Origin + t * ray_Direction;
contact.normal = Vector2.Normalize(contact.point - circle.Position);
return true;
}
There is something incorrect with my method as the collision response doesn't work.
The penetration depth is incorrect and the method returns true even when the circles are not intersecting.
Can anyone point out where I have gone wrong please?
