bool PhysicsSystem::CircleToPolygon(Collider2D* a_pColliderA, Collider2D* a_pColliderB, Collision2D& a_collision) const
{
    CircleCollider2D* col1 = static_cast<CircleCollider2D*>(a_pColliderA);
    PolygonCollider2D* col2 = static_cast<PolygonCollider2D*>(a_pColliderB);

    col2->UpdateCorners();
    col2->UpdateNormals();

    std::vector<igad::Vector2>& polyNormals = col2->GetNormals();
    std::vector<igad::Vector2>& polyVertices = col2->GetCorners();
    const igad::Vector2 circleCenter = col1->GetPosition();

    //Get minimum penetration using SAT
    float overlap = -FLT_MAX;
    int normalIndex = 0;
    for (int i = 0; i < polyNormals.size(); ++i)
    {
        float projection = polyNormals[i].Dot(circleCenter - polyVertices[i]);

        if (projection > col1->GetRadius())
            return false;

        if (projection > overlap)
        {
            overlap = projection;
            normalIndex = i;
        }
    }

    //Poly face vertices
    igad::Vector2 v1 = polyVertices[normalIndex];
    igad::Vector2 v2 = polyVertices[(normalIndex + 1) % polyVertices.size()];

    //Check to see if circle center is within the poly's body
    if (overlap < EPSILON)
    {
        a_collision.v2Normal = polyNormals[normalIndex];
        a_collision.fOverlap = col1->GetRadius();
        a_collision.contactPoints.push_back(std::pair<igad::Vector2, float>(a_collision.fOverlap * -a_collision.v2Normal + circleCenter, a_collision.fOverlap));
        return true;
    }

    //Determine which voronoi region is the closest to the center of the circle
    const float dot1 = (circleCenter - v1).Dot(v2 - v1);
    const float dot2 = (circleCenter - v2).Dot(v1 - v2);
    a_collision.fOverlap = col1->GetRadius() - overlap;

    //Outside v1 but close to it
    if (dot1 <= 0.0f)
    {
        if ((circleCenter - v1).SquaredMagnitude() > col1->GetRadius() * col1->GetRadius())
            return false;

        a_collision.v2Normal = (circleCenter - v1).Normalized();
        igad::Vector2 contactPoint = -a_collision.v2Normal * col1->GetRadius() + col1->GetPosition();
        float penetration = (contactPoint - v1).Magnitude();
        a_collision.contactPoints.push_back(std::pair<igad::Vector2, float>(contactPoint, penetration));
    }
    //Outside v2 but close to it
    else if (dot2 <= 0.0f)
    {
        if ((circleCenter - v2).SquaredMagnitude() > col1->GetRadius() * col1->GetRadius())
            return false;

        a_collision.v2Normal = (circleCenter - v2).Normalized();
        igad::Vector2 contactPoint = -a_collision.v2Normal * col1->GetRadius() + col1->GetPosition();
        float penetration = (contactPoint - v2).Magnitude();
        a_collision.contactPoints.push_back(std::pair<igad::Vector2, float>(contactPoint, penetration));
    }
    //Inside a region so we just take the normal of the face
    else
    {
        igad::Vector2 normal = polyNormals[normalIndex];
        if (normal.Dot(circleCenter - v1) > col1->GetRadius())
            return false;

        a_collision.v2Normal = normal;
        a_collision.contactPoints.push_back(std::pair<igad::Vector2, float>(col1->GetRadius() * -a_collision.v2Normal + circleCenter, a_collision.fOverlap));
    }
    return true;
}