Vec2 CollisionDetector::QuadToQuad(const Vec2 quad1[4], const Vec2 quad2[4]) {
Vec2 normals[8];
normals[0] = Vec2::Normalize(Vec2::Orthogonal(quad1[1] - quad1[0]));
normals[1] = Vec2::Normalize(Vec2::Orthogonal(quad1[2] - quad1[1]));
normals[2] = Vec2::Normalize(Vec2::Orthogonal(quad1[3] - quad1[2]));
normals[3] = Vec2::Normalize(Vec2::Orthogonal(quad1[0] - quad1[3]));
normals[4] = Vec2::Normalize(Vec2::Orthogonal(quad2[1] - quad2[0]));
normals[5] = Vec2::Normalize(Vec2::Orthogonal(quad2[2] - quad2[1]));
normals[6] = Vec2::Normalize(Vec2::Orthogonal(quad2[3] - quad2[2]));
normals[7] = Vec2::Normalize(Vec2::Orthogonal(quad2[0] - quad2[3]));
double minOverlap = 0.0;
// Index of normal axis where the overlap is smallest
int minOverlapNorm = 0;
for (int i = 0; i < 8; ++i) {
CollisionProjection proj1 = ProjectQuadToAxis(quad1, normals[i]);
CollisionProjection proj2 = ProjectQuadToAxis(quad2, normals[i]);
double overlap = TestProjectionOverlap(proj1, proj2);
// No collision if there is no overlap in at least one of the axes
if (overlap == 0.0) {
return Vec2(0.0, 0.0);
}
if (minOverlap == 0.0) {
minOverlap = overlap;
minOverlapNorm = i;
}
else if (overlap < minOverlap) {
minOverlap = overlap;
minOverlapNorm = i;
}
}
return normals[minOverlapNorm] * minOverlap;
}
bool Collision::SeparatingAxisTheorem::TestTwoObjects(Rendering::SceneObject *obj1, Rendering::SceneObject *obj2)
{
std::vector<glm::vec3> axes = GetTestingAxes(obj1, obj2);
// std::vector<glm::vec3> axes2 = GetTestingAxes(obj2, TODO);
//axes.insert(axes.end(), axes2.begin(), axes2.end());
for (auto axis : axes)
{
if (!TestProjectionOverlap(GetProjection(obj1, axis), GetProjection(obj2, axis)))
{
return false;
}
}
// for (auto axis : axes2)
// {
// if (!TestProjectionOverlap(GetProjection(obj1, axis), GetProjection(obj2, axis)))
// {
// return false;
// }
// }
return true;
}
