//Look at the GJK_EPA.h header file for documentation and instructions
bool SteerLib::GJK_EPA::intersect(float& return_penetration_depth, Util::Vector& return_penetration_vector, const std::vector<Util::Vector>& _shapeA, const std::vector<Util::Vector>& _shapeB)
{
if (CONCAVE_POLYGONS)
return Triangulate(_shapeA, _shapeB);
std::vector<Util::Vector> _simplex;
bool colliding;
colliding = Triangulate(_shapeA, _shapeB);
if (colliding)
{
EPA(return_penetration_depth, return_penetration_vector, _simplex, _shapeA, _shapeB);
return true;
}
else
{
return_penetration_depth = 0;
return_penetration_vector.zero();
return false;
}
// To make compiler happy
return false;
}
//Look at the GJK_EPA.h header file for documentation and instructions
bool SteerLib::GJK_EPA::intersect(float& return_penetration_depth, Util::Vector& return_penetration_vector, const std::vector<Util::Vector>& _shapeA, const std::vector<Util::Vector>& _shapeB)
{
std::vector<Util::Vector> _simplex;
bool colliding;
colliding = GJK(_simplex, _shapeA, _shapeB);
if (colliding)
{
EPA(return_penetration_depth, return_penetration_vector, _simplex, _shapeA, _shapeB);
return true;
}
else
{
return_penetration_depth = 0;
return_penetration_vector.zero();
return false;
}
}