Box2DX.Collision.EdgeShape.TestSegment C# (CSharp) Метод

        public override SegmentCollide TestSegment(Transform xf, out float lambda, out Vector2 normal, Segment segment, float maxLambda)
        {
            Vector2 r = segment.P2 - segment.P1;
            Vector2 v1 = xf.TransformPoint(_v1);
            Vector2 d = ((Vector2)xf.TransformPoint(_v2)) - v1;
            Vector2 n = d.CrossScalarPostMultiply(1.0f);

            float k_slop = 100.0f * Common.Settings.FLT_EPSILON;
            float denom = -Vector2.Dot(r, n);

            // Cull back facing collision and ignore parallel segments.
            if (denom > k_slop)
            {
                // Does the segment intersect the infinite line associated with this segment?
                Vector2 b = segment.P1 - v1;
                float a = Vector2.Dot(b, n);

                if (0.0f <= a && a <= maxLambda * denom)
                {
                    float mu2 = -r.x * b.y + r.y * b.x;

                    // Does the segment intersect this segment?
                    if (-k_slop * denom <= mu2 && mu2 <= denom * (1.0f + k_slop))
                    {
                        a /= denom;
                        n.Normalize();
                        lambda = a;
                        normal = n;
                        return SegmentCollide.HitCollide;
                    }
                }
            }

            lambda = 0;
            normal = new Vector2();
            return SegmentCollide.MissCollide;
        }