This repository contains a simple C++ implementation of a 2D separating axis algorithm. The algorithm does not compute the Minimum Translation Vector (MTV) as it is not within my use case. For more information, read here.
Warning: The comparing polygons must have an equal number of vertices. This does not necessarily have to be the case but I didn't have time to write that feature.
:param bounds_a: (vector<x, y>) vertices of polygon A
:param bounds_b: (vector<x, y>) vertices of polygon B
:return isIntersecting: (bool) true if the two polygons are intersectingg++ main.cpp
./a.outThe following snippet is an example used in actual production.
for (size_t j = 0; j < static_obstacles_set.size(); j++) {
const std::vector<Vector2> static_obstacle = {
static_obstacles_set[j].points[0],
static_obstacles_set[j].points[1],
static_obstacles_set[j].points[2],
static_obstacles_set[j].points[3]
};
const bool isIntersecting = separating_axis_intersect(vehicle_bounds, static_obstacle);
if (intersects) {
path.is_blocked = true;
path.is_static_obstacle = true;
}
}
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