getNormalAndDepth static method

({double depth, Vector2 normal}) getNormalAndDepth(
  1. List<Vector2> verticesA,
  2. List<Vector2> verticesB, {
  3. bool insverted = false,
})

Implementation

static ({Vector2 normal, double depth}) getNormalAndDepth(
  List<Vector2> verticesA,
  List<Vector2> verticesB, {
  bool insverted = false,
}) {
  var normal = Vector2.zero();
  var depth = double.maxFinite;
  for (var i = 0; i < verticesA.length; i++) {
    final va = verticesA[i];
    final vb = verticesA[(i + 1) % verticesA.length];

    final edge = vb - va;
    var axis = Vector2(-edge.y, edge.x);
    axis = axis.normalized();

    final pA = projectVertices(insverted ? verticesB : verticesA, axis);
    final pB = projectVertices(insverted ? verticesA : verticesB, axis);

    final double axisDepth = min(pB.max - pA.min, pA.max - pB.min);
    if (axisDepth < depth) {
      depth = axisDepth;
      normal = axis;
    }
  }
  return (normal: normal, depth: depth);
}