public void ComputeSum()
{
Vector2f[] pointsA = new Vector2f[]
{
new Vector2f(-1, -1),
new Vector2f(1, -1),
new Vector2f(0, 1)
};
Vector2f[] pointsB = new Vector2f[]
{
new Vector2f(3, -1),
new Vector2f(5, -1),
new Vector2f(5, 1),
new Vector2f(3, 1)
};
Polygon2f A = new Polygon2f(pointsA);
Polygon2f B = new Polygon2f(pointsB);
Vector2f[] points = new Vector2f[]
{
new Vector2f(2, -2),
new Vector2f(6, -2),
new Vector2f(6, 0),
new Vector2f(5, 2),
new Vector2f(3, 2),
new Vector2f(2, 0)
};
Polygon2f sum = MinkowskiSums2.ComputeSum(A, B);
CollectionAssert.AreEqual(points, sum.Positions);
}
protected override void OnPolygonComplete(Polygon2f input)
{
polygon = input;
polygon.MakeCCW();
polygon.BuildIndices();
polygon.BuildHoleIndices();
if (polygon.IsSimple && !polygon.HasHoles)
{
Polygon2f A = shape;
Polygon2f B = polygon;
sum = MinkowskiSums2.ComputeSum(A, B);
sum.BuildIndices();
sum.BuildHoleIndices();
}
else
{
sum = null;
}
}
