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

		public bool TestSegment(out float lambda, out Vec2 normal, Segment segment, float maxLambda)
		{
			lambda = 0f;
			normal = new Vec2();

			Vec2 s = segment.P1;
			Vec2 r = segment.P2 - s;
			Vec2 d = P2 - P1;
			Vec2 n = Vec2.Cross(d, 1.0f);

			float k_slop = 100.0f * Common.Settings.FLT_EPSILON;
			float denom = -Vec2.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?
				Vec2 b = s - P1;
				float a = Vec2.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 true;
					}
				}
			}

			return false;
		}