This repository contains a simple C++ implementation of a 2D separating axis algorithm. The algorithm does not compute the Minimum Translation Vector (MTV) as it is not within my use case. For more information, read here.
Warning: The comparing polygons must have an equal number of vertices. This does not necessarily have to be the case but I didn't have time to write that feature.
:param bounds_a: (vector<x, y>) vertices of polygon A :param bounds_b: (vector<x, y>) vertices of polygon B :return isIntersecting: (bool) true if the two polygons are intersectingg++ main.cpp ./a.outThe following snippet is an example used in actual production.
for (size_t j = 0; j < static_obstacles_set.size(); j++) { const std::vector<Vector2> static_obstacle = { static_obstacles_set[j].points[0], static_obstacles_set[j].points[1], static_obstacles_set[j].points[2], static_obstacles_set[j].points[3] }; const bool isIntersecting = separating_axis_intersect(vehicle_bounds, static_obstacle); if (intersects) { path.is_blocked = true; path.is_static_obstacle = true; } }