/**
* Efficiently combines two Disjoint Polygons. Returns false if not disjoint.
*
* @param polygon1 ConvexPolygon2d
* @param polygon2 ConvexPolygon2d
* @param combinedPolygonToPack ConvexPolygon2d polygon in which we put the convex hull containing
* polygon1 and polygon2.
* @param connectingEdge1ToPack LineSegment2d first connecting edge between polygon1 and polygon2.
* @param connectingEdge2Topack LineSegment2d second connecting edge between polygon1 and
* polygon2.
* @return true if succeeded, false if failed
*/
public static boolean combineDisjointPolygons(
ConvexPolygon2d polygon1,
ConvexPolygon2d polygon2,
ConvexPolygon2d combinedPolygonToPack,
LineSegment2d connectingEdge1ToPack,
LineSegment2d connectingEdge2Topack) {
int[][] verticesIndices = new int[2][2];
boolean success = findConnectingEdgesVerticesIndexes(polygon1, polygon2, verticesIndices);
if (!success) return false;
combinedPolygonToPack.clear();
polygon1.addVerticesInClockwiseOrderInPolygon(
verticesIndices[0][1], verticesIndices[0][0], combinedPolygonToPack);
polygon2.addVerticesInClockwiseOrderInPolygon(
verticesIndices[1][0], verticesIndices[1][1], combinedPolygonToPack);
combinedPolygonToPack.update();
packConnectingEdges(
polygon1, polygon2, connectingEdge1ToPack, connectingEdge2Topack, verticesIndices);
return true;
}
