1 files changed, 36 insertions, 0 deletions
diff --git a/src/main/scala/sims/collision/PolyCircleCollision.scala b/src/main/scala/sims/collision/PolyCircleCollision.scala
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+++ b/src/main/scala/sims/collision/PolyCircleCollision.scala
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+/*
+ * Simple Mechanics Simulator (SiMS)
+ * copyright (c) 2009 Jakob Odersky
+ * made available under the MIT License
+*/
+
+package sims.collision
+
+import sims.dynamics._
+import sims.geometry._
+
+/**Collision between a convex polygon and a circle.*/
+case class PolyCircleCollision(p: ConvexPolygon, c: Circle) extends Collision {
+  require(p.isInstanceOf[Shape])
+  val shape1 = p.asInstanceOf[Shape]
+  val shape2 = c
+  
+  val normal = {
+    //minimum overlap
+    var min = (p.sides(0) distance c.pos) - c.radius
+    var axis = p.sides(0).n0
+    for (s <- p.sides; val delta = (s distance c.pos) - c.radius) if (delta <= 0 && delta < min) {
+      min = delta
+      axis = s.n0
+    }
+    for (v <- p.vertices; val delta = (v - c.pos).length - c.radius) if (delta <= 0 && delta <= min){
+      min = delta
+      axis = (c.pos - v).unit
+    }
+    axis
+  }
+  
+  val points = List(
+    c.pos - normal * c.radius
+  )
+}