public static boolean combineDisjointPolygons(
FrameConvexPolygon2d polygon1,
FrameConvexPolygon2d polygon2,
FrameConvexPolygon2d combinedPolygonToPack,
FrameLineSegment2d connectingEdge1ToPack,
FrameLineSegment2d connectingEdge2ToPack) {
combinedPolygonToPack.clear(polygon1.getReferenceFrame());
combinedPolygonToPack.checkReferenceFrameMatch(connectingEdge1ToPack);
combinedPolygonToPack.checkReferenceFrameMatch(connectingEdge2ToPack);
boolean success =
combineDisjointPolygons(
polygon1.convexPolygon,
polygon2.convexPolygon,
combinedPolygonToPack.convexPolygon,
connectingEdge1ToPack.lineSegment,
connectingEdge2ToPack.lineSegment);
if (!success) return false;
combinedPolygonToPack.updateFramePoints();
return true;
}
