bool GJKCollisionDetector::detect(const Convex& convex1, const Transform2& transform1, const Convex& convex2,
const Transform2& transform2, Penetration& penetration)
{
if (convex1.getType() == ConvexType::CIRCLE && convex2.getType() == ConvexType::CIRCLE)
{
return CircleDetector::detect(
reinterpret_cast<const Circle&>(convex1),
transform1,
reinterpret_cast<const Circle&>(convex2),
transform2,
penetration);
}
vector<fvec2> simplex;
MinkowskiSum minkowskiSum(convex1, transform1, convex2, transform2);
fvec2 direction = calcInitialDirection(convex1, transform1, convex2, transform2);
if (detect(minkowskiSum, simplex, direction))
{
penetrationSolver->findPenetration(simplex, minkowskiSum, penetration);
return true;
}
return false;
}
bool GJKCollisionDetector::detect(
const Convex& convex1,
const Transform2& transform1,
const Convex& convex2,
const Transform2& transform2)
{
if (convex1.getType() == ConvexType::CIRCLE && convex2.getType() == ConvexType::CIRCLE)
{
return CircleDetector::detect(
reinterpret_cast<const Circle&>(convex1),
transform1,
reinterpret_cast<const Circle&>(convex2),
transform2);
}
vector<fvec2> simplex;
MinkowskiSum minkowskiSum(convex1, transform1, convex2, transform2);
fvec2 direction = calcInitialDirection(convex1, transform1, convex2, transform2);
return detect(minkowskiSum, simplex, direction);
}