31 lines
1.0 KiB
Markdown
31 lines
1.0 KiB
Markdown
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---
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title: "EPA2D"
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date: 2019-09-15T11:23:43-07:00
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weight: 30
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---
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*EPA2D* is a static class containing a single public method which is used for computing the penetration vector of two overlapping shapes.
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## Methods
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##### **public static Vector2 Intersect(IShape2D shapeA, Transform2D Transform2DA, IShape2D shapeB, Transform2D Transform2DB, IEnumerable<Vector2> givenSimplexVertices)**
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Given two sets of shapes and transforms and an initial simplex, computes a penetration vector. When motion along the penetration vector is applied, the shape-transforms are guaranteed to become separated.
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**Example:**
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```cs
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var squareA = new Rectangle(-1, -1, 1, 1);
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var transformA = Transform2D.DefaultTransform;
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var squareB = new Rectangle(-1, -1, 1, 1);
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var transformB = new Transform2D(new Vector2(1.5f, 0));
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var (result, simplex) = GJK2D.TestCollision(squareA, transformA, squareB, transformB);
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if (result)
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{
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var intersection = EPA2D.Intersect(squareA, transformA, squareB, transformB, simplex);
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}
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```
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In this example, the resulting penetration vector will be (1, 0).
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