public static bool Intersect(this IConvex2Polytope a, IConvex2Polytope b)
{
if (!a.WorldBounds.Overlaps(b.WorldBounds))
{
return(false);
}
foreach (var ax in a.Normals())
{
if (ax.sqrMagnitude > E && !Intersect(ax, a.Vertices(), b.Vertices()))
{
return(false);
}
}
foreach (var bx in b.Normals())
{
if (bx.sqrMagnitude > E && !Intersect(bx, a.Vertices(), b.Vertices()))
{
return(false);
}
}
return(true);
}
public static bool Contains(this IConvex2Polytope a, Vector2 point)
{
if (!a.WorldBounds.Contains(point))
{
return(false);
}
foreach (var ax in a.Normals())
{
if (ax.sqrMagnitude > E && !Contains(ax, a.Vertices(), point))
{
return(false);
}
}
return(true);
}