feat: add convex polygon intersect + contained predicates - #5
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Add two new geometric predicates to HeuclidPolygonTools: - isConvexPolygonIntersect(A, B): detect any overlap between two convex polygons (mutual vertex + edge-midpoint containment tests) - isConvexPolygonContained(A, B): check if all vertices of A are inside B (used for terrain footstep placement validation) 16 GTest test cases covering: - Small/large rectangle containment (inside, outside, partial) - Vertex on boundary, rotated polygons (diamond shapes) - Overlapping, disjoint, shared edge, corner touching - Empty polygon edge cases These are generic convex polygon operations — not tied to any specific robotics application — making them reusable for footstep planning, collision detection, and spatial queries. Part of the obstacle avoidance + stair climbing demo work.
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Changes
HeuclidPolygonTools: +2 new APIsisConvexPolygonIntersect(polyA, polyB)— detect any overlap between two convex polygonsisConvexPolygonContained(polyA, polyB)— check if polyA ⊆ polyBTestPolygonPredicate.cpp: 16 GTest test casesMotivation
Generic convex polygon predicates needed for:
!isConvexPolygonIntersect)isConvexPolygonContained)Test Results
Existing tests (TestConvexHull2D, TestBeizer) still pass.
Version
This will be tagged as v2.2 after merge.