I'm trying to implement the ClearPath pathfinding algorithm, that relys on velocity obstacles.
It is assumed, that both objects have a circular hull.
However, I do not understand how to calculate the minkowski sum of two objects.
Here's an excerpt from the paper
Apparently, the minkowski sum is simply the sum of two sets (here all possible velocities that yield a collision), but it is not explained how to calculate the set of those velocity vectors. It is only explained how to calculate a single velocity vector ( λ(p,v) ). Am I missing something ?
Also, what does this mean ?
let -A denote the object A reflected in its reference point
What is an objects reference point, and what does it mean to reflect said point ?