public void addObstacle(PolygonObstacle obstacle) {
ArrayList<Mat> vertices = new ArrayList<Mat>();
for (Point2D.Double vert : obstacle.getVertices()) {
vertices.add(Mat.encodePoint(vert.x, vert.y));
}
addObstacle(new Polygon(vertices));
}
// assumes that there will be no enclosed empty spaces in the result, and that the result will
// be contiguous, and that everything is convex
public static Polygon minkowskiSumSimple(Polygon poly1, Polygon poly2) {
ArrayList<Mat> verts = new ArrayList<Mat>();
for (Mat v1 : poly1.vertices) {
for (Mat v2 : poly2.vertices) {
verts.add(Mat.add(v1, v2));
}
}
ArrayList<Point2D.Double> points = new ArrayList<Point2D.Double>();
for (Mat v : verts) {
points.add(new Point2D.Double(v.data[0][0], v.data[1][0]));
}
PolygonObstacle po = GeomUtils.convexHull(points);
verts = new ArrayList<Mat>();
for (Point2D.Double vert : po.getVertices()) {
verts.add(Mat.encodePoint(vert.x, vert.y));
}
return new Polygon(verts);
}
