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 Gui::getSize()
{
return MathVector();
}
MathVector MathVector::getNormalized() {
double length = getLength();
return MathVector(x / length, y / length, z / length);
}
MathVector MathVector::operator-(MathVector v) {
return MathVector(x - v.x, y - v.y, z - v.z);
}
MathVector MathVector::operator+(MathVector v) {
return MathVector(x + v.x, y + v.y, z + v.z);
}
MathVector MathVector::operator/(double scalar) {
return MathVector(x / scalar, y / scalar, z / scalar);
}
MathVector MathVector::operator*(double scalar) {
return MathVector(x * scalar, y * scalar, z * scalar);
}
