In Euclidean 2D space I have a circle $A$ with radius $r$ and center $c(x_c,y_c)$, and a rectangle $B$ with height $h$, width $w$ which topleft corner is positioned at $d(x_d,y_d)$. The rectangle is not rotated, i.e. any vertex is parallel to either the $x$-axis or the $y$-axis. See the figure below for a simple sketch.
Given the values coordinates of $c$ and $d$ and the values of $r$, $h$ and $w$, how do I determine if the circle and the rectangle intersect, i.e. are overlapping? (The circle inside the rectangle without touching the borders of the rectangle, also counts as intersecting.
Background: I'm making a simple 2D game in which the player has to control two circles and has to avoid hitting blocks with this circles.