MathVector tripleProduct(MathVector a, MathVector b, MathVector c)
{
MathVector U = b.multiply(c.dotProduct(a));
MathVector V = a.multiply(c.dotProduct(b));
return U.subtractVectors(V);
}
minkowskiDifference_t buildMinkowskiDifference(std::vector<MathVector> a, std::vector<MathVector> b)
{
MathVector direction = MathVector(1,1);
std::vector<MathVector> simplex;
simplex.push_back(getSupportVertex(a, b, direction));
minkowskiDifference_t difference;
direction = direction.negate();
while(true)
{
simplex.push_back(getSupportVertex(a, b, direction));
if(simplex.back().dotProduct(direction) <= 0)
{
difference.colliding = false;
difference.collisionNormal = MathVector(0,0);
difference.collisionDepth = 0;
return difference;
} else if(containsOrigin(simplex, direction) && simplex.size() == 3)
{
while(true)
{
//Perform EPA to get collision normal and penetration distance
Edge_t e = findClosestEdge(simplex);
MathVector p = getSupportVertex(a, b, direction);
double d = p.dotProduct(e.normal);
// std::cout << d - e.distance << std::endl;
// std::cout << "Simplex size: " << simplex.size() << std::endl;
if(d - e.distance < TOLERANCE)
{
difference.collisionNormal = e.normal;
difference.collisionDepth = d;
difference.colliding = true;
return difference;
} else
{
// std::cout << "Closest edge not found in this iteration, adding point to simplex and continuing." << std::endl;
simplex.insert((simplex.begin()+e.index),p);
}
}
}
}
}
MathVector getFurthestPoint(MathVector direction, std::vector<MathVector> polygon)
{
double greatestDotProduct = -std::numeric_limits<double>::max();
double currentDotProduct;
MathVector currentVertex;
MathVector bestVertex;
for(int i = 0; i < polygon.size(); i++)
{
currentVertex = polygon[i];
currentDotProduct = currentVertex.dotProduct(direction);
if(currentDotProduct > greatestDotProduct)
{
greatestDotProduct = currentDotProduct;
bestVertex = currentVertex;
}
}
return bestVertex;
}
typename MathVector<T>::value_type operator*(const MathVector<T>& lhs, const MathVector<T>& rhs)
{
return lhs.dotProduct(rhs);
}