private static void MinkowskiTriangleSumTest()
{
Vector2 v1 = new Vector2(0, -1), v2 = new Vector2(1, 0), v3 = new Vector2(0, 1),
w1 = new Vector2(1, -1), w2 = new Vector2(1, 1), w3 = new Vector2(0, 0),
u1 = new Vector2(1, -2), u2 = new Vector2(2, -1), u3 = new Vector2(2, 1),
u4 = new Vector2(1, 2), u5 = new Vector2(0, 1), u6 = new Vector2(0, -1);
var polygon1 = new ConvexPolygon(new[] { v1, v2, v3 });
var polygon2 = new ConvexPolygon(new[] { w1, w2, w3 });
var polygon3 = new ConvexPolygon(new[] { u1, u2, u3, u4, u5, u6 });
var sum = ConvexPolygon.MinkowskiSum(polygon1, polygon2);
Debug.Assert(sum.ToString() == polygon3.ToString());
Debug.Assert(polygon1.ContainsPoint(new Vector2(0.5, 0.25)));
Debug.Assert(!polygon1.ContainsPoint(new Vector2(2, 4)));
Debug.Assert(!polygon1.ContainsPoint(v1));
Debug.Assert(!polygon1.ContainsPoint((v1 + v2) / 2));
}
