verse.utils.utils.are_polygons_intersecting

verse.utils.utils.are_polygons_intersecting(a: ndarray | Sequence[float], b: ndarray | Sequence[float], displacement_a: ndarray | Sequence[float], displacement_b: ndarray | Sequence[float]) → Tuple[bool, bool, ndarray | None]

Checks if the two polygons are intersecting.

See https://www.codeproject.com/Articles/15573/2D-Polygon-Collision-Detection

Parameters:

• a – polygon A, as a list of [x, y] points

• b – polygon B, as a list of [x, y] points

• displacement_a – velocity of the polygon A

• displacement_b – velocity of the polygon B

Returns:

are intersecting, will intersect, translation vector