/*
* Find the vertex of p1 that is the furthest from its center in
* direction dir, and the vertex of p2 that is the furthest from
* its center in direction -1 * dir. Return these two points and
* the vector between them, all stored in a MinkDiff object.
*/
MinkDiff support(Polygon p1, Polygon p2, Vector2 dir)
{
GameObject a = new GameObject("MinkDiff");
MinkDiff minkdiff = a.AddComponent <MinkDiff>() as MinkDiff;
Destroy(a);
minkdiff.s1Point = p1.getFurthest(dir);
minkdiff.s2Point = p2.getFurthest(-1 * dir);
minkdiff.diff = minkdiff.s1Point - minkdiff.s2Point;
return(minkdiff);
}
/*
* Method that executes the GJK algorithm for finding the shortest distance
* between two polygons.
* Returns an array with two points: the point on each polygon that is closest
* to the other.
*/
public Vector2[] BARG(Polygon p1, Polygon p2)
{
dir = p1.vertices [0] - p2.vertices [0];
List <MinkDiff> simplex = new List <MinkDiff> (2);
simplex.Add(support(p1, p2, dir));
simplex.Add(support(p1, p2, dir));
dir = closestPointToOrigin(simplex [0].diff, simplex [1].diff);
for (int i = 0; i < 30; i++)
{
dir = -1 * dir;
if (dir.magnitude == 0)
{
return(new Vector2[2] {
Vector2.zero, Vector2.zero
});
}
MinkDiff c = support(p1, p2, dir);
if (Vector2.Dot(c.diff, dir) - Vector2.Dot(simplex [0].diff, dir) < TOL)
{
Vector2[] closestPoints = findClosestPoints(simplex);
return(closestPoints);
}
Vector2 v1 = closestPointToOrigin(simplex [0].diff, c.diff);
Vector2 v2 = closestPointToOrigin(simplex [1].diff, c.diff);
if (v1.magnitude < v2.magnitude)
{
simplex [1] = c;
dir = v1;
}
else
{
simplex [0] = c;
dir = v2;
}
}
Vector2[] closestPointss = findClosestPoints(simplex);
return(closestPointss);
}
/*
* Method that performs the GJK algorithm between two convex polygons
* return true if they are interpenetrating false otherwise.
* A lot of the stuff in here is drawing code for the tutorial since Unity
* wont allow us to separate this
*/
public bool GARB(Polygon p1, Polygon p2)
{
dir = p1.vertices [0] - p2.vertices [0];
List <MinkDiff> simplex = new List <MinkDiff> ();
MinkDiff a = support(p1, p2, dir);
simplex.Add(a);
if (tutorialMode && currIterations < maxIterations)
{
foreach (GameObject gameobj in GameObject.FindObjectsOfType <GameObject>())
{
if (gameobj.name == "TutorialDot")
{
Destroy(gameobj);
}
}
a.draw(0);
}
dir = -1 * dir;
loopcounter = 0;
while (true && loopcounter < 1000 && true && !false || false)
{
if (tutorialMode)
{
currIterations++;
if (currIterations > maxIterations)
{
return(false);
}
}
a = support(p1, p2, dir);
simplex.Add(a);
if (tutorialMode)
{
a.draw(loopcounter + 1);
}
if (tutorialMode)
{
List <Vector3> minkidiffipoints = jarvis(simplex);
minkidiffipoints.Add(minkidiffipoints [0]);
line.numPositions = minkidiffipoints.Count;
line.SetPositions(minkidiffipoints.ToArray());
}
if (!canContainOrigin(a.diff, dir))
{
return(false);
}
else if (containsOrigin(simplex))
{
return(true);
}
loopcounter++;
}
p1.GetComponent <Renderer> ().material.color = Color.magenta;
p2.GetComponent <Renderer> ().material.color = Color.magenta;
return(false);
}
