Library to manage 2D convex polygons.
Requires:
- Eigen (https://eigen.tuxfamily.org)
- Quickhull (https://github.com/akuukka/quickhull)
Example of usage:
// entering two new polygons
std::vector<Eigen::Vector2d> triangle{ Eigen::Vector2d(0.0,0.0), Eigen::Vector2d(2.0,0.0), Eigen::Vector2d(0.0,1.0)},
square{ Eigen::Vector2d(1.0,-1.0), Eigen::Vector2d(3.0,-1.0), Eigen::Vector2d(3.0,1.0), Eigen::Vector2d(1.0,1.0)};
Poly2d t = Poly2d(triangle), s = Poly2d(square);
// discretized circle
std::vector<Eigen::Vector2d> circle;
for(double theta = 0; theta < 2*M_PI; theta += .05 * M_PI) circle.push_back(.1 * Eigen::Vector2d(cos(theta), sin(theta)));
Poly2d c = Poly2d(circle);
// print out given polygons
std::cout << t << std::endl << std::endl << s << std::endl << std::endl << c << std::endl << std::endl;
// testing
Poly2d x = t.MinkowskiSum(c); std::cout << x << std::endl << std::endl;
Poly2d y = s.Intersection(x); std::cout << y << std::endl << std::endl;Result:
