Package frc.lib.math

Class SeparatingAxis

java.lang.Object

frc.lib.math.SeparatingAxis

public final class SeparatingAxis
extends Object

Implementation of Separating Axis Theorem solver.

Method Summary

Modifier and Type	Method	Description
static boolean	solve(ConvexShape shape1, ConvexShape shape2, Penetration penetration)	Solve the for the separating axis between two convex shape.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

solve

public static boolean solve(ConvexShape shape1,
 ConvexShape shape2,
 Penetration penetration)

Solve the for the separating axis between two convex shape.

Parameters:

shape1 - resolving object. Result contains the transform for this shape to no longer be penetrating.

shape2 - pseudo-static object. Result assumes this shape does not move.

penetration - out-parameter. Contains the direction and length of the minimum translation vector.

Returns:

true if shape1 and shape2 are intersecting. If false, penetration is unmodified.