Collision Detection

Use

• project folder:

  ./CollisionDetection/demo

• documents:

  ./docs/index.html

Pics

Domain

• domain for valid workspace genrated by outputDomain() in ./demo/src/drawDomain.java

• vertices of rectangle in the scene
  with given angle/height of AOR, genrated by outputPoints() in ./demo/src/drawDomain.java

AOR

• how to approximate your moving mechanism with boxes angles are local rotation
• center for OBB is from the center of bonded AOR to the center of the rectangle

Global Offset

Obstacle

Geometry

X-positive pointing left and it's the degree zero be aware of sequence in Separating Axis Algorithm when changing to new rotation matrix

Todo

ID-Object mapping for AOR/BoundingBox objects

Suggested Graphing Parameters

domain: 0 meter to 0.74m (Meters) range: -35deg to 70deg (Radians)

Steps to make it work for actual mechanism

A-star and path interpolating (lagrange)