convexpolygon.h

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#ifndef PYRAMIDWORKS_GEOMETRY_CONVEXPOLYGON_H_
#define PYRAMIDWORKS_GEOMETRY_CONVEXPOLYGON_H_

#include <pyramidworks/geometry/geometricshape.h>
#include <vector>

namespace pyramidworks {
namespace geometry {

class ConvexPolygon : public GeometricShape {
  public:
    ConvexPolygon(const std::vector<ugdk::Vector2D>& vertices);

    void set_vertices(const std::vector<ugdk::Vector2D>& vertices) { vertices_ = vertices; this->calculateSize(); }

    bool Intersects(const ugdk::Vector2D& this_pos, const GeometricShape *obj, const ugdk::Vector2D& that_pos) const;
    bool Intersects(const ugdk::Vector2D& this_pos, const           Rect *obj, const ugdk::Vector2D& that_pos) const;
    bool Intersects(const ugdk::Vector2D& this_pos, const         Circle *obj, const ugdk::Vector2D& that_pos) const;
    bool Intersects(const ugdk::Vector2D& this_pos, const  ConvexPolygon *obj, const ugdk::Vector2D& that_pos) const;
    ugdk::ikdtree::Box<2> GetBoundingBox(const ugdk::Vector2D& position) const;

    double bbox_width() { return bbox_half_width_*2; }
    double bbox_height() { return bbox_half_height_*2; }

  private:
    std::vector<ugdk::Vector2D> vertices_;
    double bbox_half_width_, bbox_half_height_;

    void calculateSize();


    bool checkAxisSeparation(const std::vector<ugdk::Vector2D>& obj1, const ugdk::Vector2D& obj1pos, 
                             const std::vector<ugdk::Vector2D>& obj2, const ugdk::Vector2D& obj2pos) const;
    bool axisSeparationTest(const ugdk::Vector2D& p1, const ugdk::Vector2D& p2, const ugdk::Vector2D& ref,
                            const std::vector<ugdk::Vector2D>& obj, const ugdk::Vector2D& obj2pos) const;
    bool insideSameSpace(const ugdk::Vector2D& line, const ugdk::Vector2D& point) const;
};

} // namespace geometry
} // namespace pyramidworks


#endif /* PYRAMIDWORKS_GEOMETRY_CONVEXPOLYGON_H_ */