https://github.com/winstxnhdw/2d-separating-axis-theorem

C++ implementation of a 2D separating axis algorithm.
https://github.com/winstxnhdw/2d-separating-axis-theorem

collision-detection hyperplane-separation-theorem separating-axis-theorem two-dimensional

Last synced: 24 days ago
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C++ implementation of a 2D separating axis algorithm.

• Host: GitHub
• URL: https://github.com/winstxnhdw/2d-separating-axis-theorem
• Owner: winstxnhdw
• Created: 2021-09-22T06:43:01.000Z (over 3 years ago)
• Default Branch: master
• Last Pushed: 2024-04-23T15:56:45.000Z (9 months ago)
• Last Synced: 2024-10-30T09:14:13.430Z (2 months ago)
• Topics: collision-detection, hyperplane-separation-theorem, separating-axis-theorem, two-dimensional
• Language: C++
• Homepage:
• Size: 33.2 KB
• Stars: 2
• Watchers: 2
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# 2d-separating-axis-theorem

This repository contains a simple C++ implementation of a 2D separating axis algorithm. The algorithm does not compute the [Minimum Translation Vector (MTV)](https://dyn4j.org/2010/01/sat/#sat-mtv) as it is not within my use case. For more information, read [here](https://gamedevelopment.tutsplus.com/tutorials/collision-detection-using-the-separating-axis-theorem--gamedev-169). 

> **Warning**: The comparing polygons must have an equal number of vertices. This does not necessarily have to be the case but I didn't have time to write that feature.

```yaml

:param bounds_a:            (vector) vertices of polygon A

:param bounds_b:            (vector) vertices of polygon B

:return isIntersecting:     (bool) true if the two polygons are intersecting

```

## Test

```bash

g++ main.cpp

./a.out

```

## Example

The following snippet is an example used in actual production.

```c++

for (size_t j = 0; j < static_obstacles_set.size(); j++) {

    const std::vector static_obstacle = {

        static_obstacles_set[j].points[0],

        static_obstacles_set[j].points[1],

        static_obstacles_set[j].points[2],

        static_obstacles_set[j].points[3]

    };

    const bool isIntersecting = separating_axis_intersect(vehicle_bounds, static_obstacle);

    if (intersects) {

        path.is_blocked = true;

        path.is_static_obstacle = true;

    }

}

```