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double ArzRectangle::intersect(ArzCircle* circle, Object* owner, Object* target) {	Vector2D velocity = target->getVelocity() - owner->getVelocity();	Vector2D offset = target->getPosition() - owner->getPosition();	// TODO: Massively increase speed by checking that the objects are actually somewhere near each other before doing this expensive series of checks	double min = 0.0;	double max = 0.0;	Vector2D corners[] = {tl, br};	int helper_x[] = {0,1,1,0,0};	int helper_y[] = {0,0,1,1,0};	int i_a = 0;	int i_b = 1;	while(i_a < 4) {		Vector2D a = Vector2D(corners[helper_x[i_a]].x, corners[helper_y[i_a]].y);		Vector2D b = Vector2D(corners[helper_x[i_b]].x, corners[helper_y[i_b]].y);		double* r = circle->touchLine(offset, b, a, velocity);		if(r != NULL) {			if(r[0] < min) {				min = r[0];				towards = circle->getCandidate();			}			max = fmax(r[1], max);		}		i_a++;		i_b++;	}	if(min < 0.0 && max > 0.0) {		return min;	}	return 1.0;}double ArzCircle::intersect(ArzRectangle* rectangle, Object* owner, Object* target) {	return rectangle->intersect(this, target, owner);}bool ArzCircle::pointInside(Vector2D point) {	Vector2D dist = centre - point;	return(dist.norm() > radius - 0.05);}double *ArzCircle::touchLine(Vector2D offset, Vector2D lineStart, Vector2D lineEnd, Vector2D velocity) {	Vector2D effectiveCentre = centre + offset - lineStart;	Vector2D effectiveEnd = lineEnd - lineStart;	Vector2D lf = effectiveEnd.normalised();	Vector2D lfT = Vector2D(-lf.y, lf.x);	Vector2D horizontalLine = Vector2D(effectiveEnd.norm(), 0);	effectiveCentre = Vector2D(lf * effectiveCentre, lfT * effectiveCentre);	Vector2D effectiveVelocity = Vector2D(lf * velocity, lfT * velocity);	double a = effectiveVelocity.y * effectiveVelocity.y;	double b = effectiveVelocity.y * effectiveCentre.y;	double c = effectiveCentre.y * effectiveCentre.y - radius * radius;	double *t = quadratic(a, b, c);	if(t == NULL) {		return NULL;	}	double *x = new double[2];	x[0] = effectiveCentre.x + t[0] * effectiveVelocity.x; // etc	x[1] = effectiveCentre.x + t[1] * effectiveVelocity.x;	double *to = new double[2];	candidate = lfT;	double *tE0 = checkEndLineCase(horizontalLine, effectiveCentre, effectiveVelocity, x[0]);	double *tE1 = checkEndLineCase(horizontalLine, effectiveCentre, effectiveVelocity, x[1]);	if(tE0 != NULL) {		if(tE0[0] != 0 || tE0[0] != 0) {			to[0] = fmin(tE0[0], tE0[1]);			if(tE0[2] == 0) {				candidate = (lineStart - offset - centre).normalised();			}			else {				candidate = (lineEnd - offset - centre).normalised();			}			to[1] = fmax(tE0[0], tE0[1]);		}	}	else {		to[0] = t[0];		to[1] = t[0];	}	if(tE1 != NULL) {		if(tE1[0] != 0 || tE1[1] != 0) {			double temp = fmin(tE1[0], tE1[1]);			if(temp < to[0]) {				to[0] = temp;				if(tE1[2] == 0) {					candidate = (lineStart - offset - centre).normalised();				}				else {					candidate = (lineEnd - offset - centre).normalised();				}			}			to[1] = fmax(to[1], fmax(tE1[0], tE1[1]));		}	}	else {		to[0] = fmin(to[0], t[1]);		to[1] = fmax(to[1], t[1]);	}	return to;}double* ArzCircle::checkEndLineCase(Vector2D hL, Vector2D eC, Vector2D eV, double x) {	Vector2D point;	double *t = new double[3];	if(x < 0) {		point = Vector2D(0,0);		t[2] = 0; // BIGGEST HACK EVER: 0 = start of line is closest, 1 otherwise	}	else if(x > hL.x) {		point = hL;		t[2] = 1;	}	else {		return NULL;	}	/*if(x < -radius || x > hL.x + radius) {		cout << "caught case" << endl;		t[0] = 0;		t[1] = 0;		return t;	}*/	double *temp = movePointOut(eC, point, eV);	if(temp == NULL) {		return NULL;	}	t[0] = temp[0];	t[1] = temp[1];	return t;}// velocity is point velocity I think?double* ArzCircle::movePointOut(Vector2D centre, Vector2D point, Vector2D velocity) {	Vector2D alpha = point - centre;	double a = velocity * velocity;	double b = alpha * velocity;	double c = alpha * alpha - radius * radius;	double* t = quadratic(a, b, c);	return t;}