Simultaneous containment of several polygons : analysis of the contact configurations
Résumé
The main concern of this paper is the detetction of double-contact configurations for some polygons moving in translation in a polygonal environment. We first establish some general properties about such configurations, and give conditions of existence of double-contacts for two or three objects. We deduce an algorithm detecting such a position in time O(n2) (resp. O(n3)) for two (resp. three) convex polygons in a non convex polygon.