Box2DX.Collision.PolygonShape.GetVertices C# (CSharp) Метод

		public Vec2[] GetVertices() { return _vertices; }

        public static void FindIncidentEdge(out ClipVertex[] c,
                                            PolygonShape poly1, XForm xf1, int edge1, PolygonShape poly2, XForm xf2)
        {
            int count1 = poly1.VertexCount;

            Vec2[] normals1 = poly1.Normals;

            int count2 = poly2.VertexCount;

            Vec2[] vertices2 = poly2.GetVertices();
            Vec2[] normals2  = poly2.Normals;

            Box2DXDebug.Assert(0 <= edge1 && edge1 < count1);

            // Get the normal of the reference edge in poly2's frame.
            Vec2 normal1 = Common.Math.MulT(xf2.R, Common.Math.Mul(xf1.R, normals1[edge1]));

            // Find the incident edge on poly2.
            int   index  = 0;
            float minDot = Settings.FLT_MAX;

            for (int i = 0; i < count2; ++i)
            {
                float dot = Vec2.Dot(normal1, normals2[i]);
                if (dot < minDot)
                {
                    minDot = dot;
                    index  = i;
                }
            }

            // Build the clip vertices for the incident edge.
            int i1 = index;
            int i2 = i1 + 1 < count2 ? i1 + 1 : 0;

            c = new ClipVertex[2];

            c[0].V = Common.Math.Mul(xf2, vertices2[i1]);
            c[0].ID.Features.ReferenceEdge  = (byte)edge1;
            c[0].ID.Features.IncidentEdge   = (byte)i1;
            c[0].ID.Features.IncidentVertex = 0;

            c[1].V = Common.Math.Mul(xf2, vertices2[i2]);
            c[1].ID.Features.ReferenceEdge  = (byte)edge1;
            c[1].ID.Features.IncidentEdge   = (byte)i2;
            c[1].ID.Features.IncidentVertex = 1;
        }