void SteerLib::GJK_EPA::EPA(float& return_penetration_depth, Util::Vector& return_penetration_vector, const std::vector<Util::Vector>& _simplex, const std::vector<Util::Vector>& _shapeA, const std::vector<Util::Vector>& _shapeB)
{
std::vector<Util::Vector> simplex = _simplex; // Copy the original so we can expand it.
Util::Vector normal;
Edge closestEdge;
float epsilon = 0.0001; // Should be a small number.
while (true)
{
closestEdge = findClosestEdge(simplex);
Util::Vector supportVector = Support(_shapeA, _shapeB, closestEdge.normal);
float d = DotProduct(supportVector, closestEdge.normal);
if (d - closestEdge.distance < epsilon)
{
return_penetration_vector = closestEdge.normal;
return_penetration_depth = d;
return;
}
else
simplex.insert(simplex.begin() + closestEdge.index, supportVector);
}
}
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);
}
}
}
}
}