bool Geometric2DCollection::Collides(const Triangle2D& tri) const
{
for(size_t i=0;i<aabbs.size();i++) {
Box2D box; box.set(aabbs[i]);
if(box.intersects(tri)) return true;
}
for(size_t i=0;i<boxes.size();i++)
if(boxes[i].intersects(tri)) return true;
for(size_t i=0;i<circles.size();i++)
if(tri.closestPoint(circles[i].center).distanceSquared(circles[i].center) < Sqr(circles[i].radius)) return true;
for(size_t i=0;i<triangles.size();i++)
if(tri.intersects(triangles[i])) return true;
return false;
}
bool Geometric2DCSpace::ObstacleOverlap(const Triangle2D& tri) const
{
AABB2D bb;
tri.getAABB(bb);
if(!domain.contains(bb)) return true;
return Geometric2DCollection::Collides(tri);
}
bool intersect2d::aabb_triangle(const AABB_2D &aabb, const Triangle2D &tri) {
//First check if any of the triangles corners is in the aabb:
if(aabb.contains(tri.p1) || aabb.contains(tri.p2) || aabb.contains(tri.p3)) return true;
//Then if any of the aabb corners are in the triangle
for(const glm::vec2 & c: aabb.corners()) {
if(tri.contains(c)) return true;
}
//Then test if any lines intersect:
return aabb_line(aabb, Line2D(tri.p1, tri.p2)) ||
aabb_line(aabb, Line2D(tri.p2, tri.p3)) ||
aabb_line(aabb, Line2D(tri.p3, tri.p1));
}
bool Geometric2DCollection::Collides(const Triangle2D& t,int obstacle) const
{
Type type=ObstacleType(obstacle);
int index = ObstacleIndex(obstacle);
switch(type) {
case AABB:
{
Box2D box; box.set(aabbs[index]);
return box.intersects(t);
}
case Triangle:
return triangles[index].intersects(t);
case Box:
return boxes[index].intersects(t);
case Circle:
{
return (t.closestPoint(circles[index].center).distanceSquared(circles[index].center) < Sqr(circles[index].radius));
}
}
abort();
return false;
}
/***********************************************************
test if inside triangle
***********************************************************/
bool Point2D::is_inside (const Triangle2D & t) const
{
return t.contains (*this);
}
