22 lines
586 B
Python
22 lines
586 B
Python
import numpy as np
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def ccw(A, B, C):
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return (C[1] - A[1]) * (B[0] - A[0]) - (B[1] - A[1]) * (C[0] - A[0]) > 1e-12
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def intersect(A, B, C, D):
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"""
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Checks whether line segments AB and CD intersect
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"""
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return ccw(A, C, D) != ccw(B, C, D) and ccw(A, B, C) != ccw(A, B, D)
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def check_self_collision(line_points):
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"""Checks whether line segments intersect"""
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for i, line1 in enumerate(line_points):
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for line2 in line_points[i + 2:, :, :]:
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if intersect(line1[0], line1[-1], line2[0], line2[-1]):
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return True
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return False
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