Collision detection of triangles in 2D implemented in python 2/3

TriTri2D.py

#2D Triangle-Triangle collisions in python
#Release by Tim Sheerman-Chase 2016 under CC0

import numpy as np

def CheckTriWinding(tri, allowReversed):
	trisq = np.ones((3,3))
	trisq[:,0:2] = np.array(tri)
	detTri = np.linalg.det(trisq)
	if detTri < 0.0:
		if allowReversed:
			a = trisq[2,:].copy()
			trisq[2,:] = trisq[1,:]
			trisq[1,:] = a
		else: raise ValueError("triangle has wrong winding direction")
	return trisq

def TriTri2D(t1, t2, eps = 0.0, allowReversed = False, onBoundary = True):
	#Trangles must be expressed anti-clockwise
	t1s = CheckTriWinding(t1, allowReversed)
	t2s = CheckTriWinding(t2, allowReversed)

	if onBoundary:
		#Points on the boundary are considered as colliding
		chkEdge = lambda x: np.linalg.det(x) < eps
	else:
		#Points on the boundary are not considered as colliding
		chkEdge = lambda x: np.linalg.det(x) <= eps

	#For edge E of trangle 1,
	for i in range(3):
		edge = np.roll(t1s, i, axis=0)[:2,:]

		#Check all points of trangle 2 lay on the external side of the edge E. If
		#they do, the triangles do not collide.
		if (chkEdge(np.vstack((edge, t2s[0]))) and
			chkEdge(np.vstack((edge, t2s[1]))) and  
			chkEdge(np.vstack((edge, t2s[2])))):
			return False

	#For edge E of trangle 2,
	for i in range(3):
		edge = np.roll(t2s, i, axis=0)[:2,:]

		#Check all points of trangle 1 lay on the external side of the edge E. If
		#they do, the triangles do not collide.
		if (chkEdge(np.vstack((edge, t1s[0]))) and
			chkEdge(np.vstack((edge, t1s[1]))) and  
			chkEdge(np.vstack((edge, t1s[2])))):
			return False

	#The triangles collide
	return True

if __name__=="__main__":
	t1 = [[0,0],[5,0],[0,5]]
	t2 = [[0,0],[5,0],[0,6]]
	print (TriTri2D(t1, t2), True)

	t1 = [[0,0],[0,5],[5,0]]
	t2 = [[0,0],[0,6],[5,0]]
	print (TriTri2D(t1, t2, allowReversed = True), True)

	t1 = [[0,0],[5,0],[0,5]]
	t2 = [[-10,0],[-5,0],[-1,6]]
	print (TriTri2D(t1, t2), False)

	t1 = [[0,0],[5,0],[2.5,5]]
	t2 = [[0,4],[2.5,-1],[5,4]]
	print (TriTri2D(t1, t2), True)

	t1 = [[0,0],[1,1],[0,2]]
	t2 = [[2,1],[3,0],[3,2]]
	print (TriTri2D(t1, t2), False)

	t1 = [[0,0],[1,1],[0,2]]
	t2 = [[2,1],[3,-2],[3,4]]
	print (TriTri2D(t1, t2), False)

	#Barely touching
	t1 = [[0,0],[1,0],[0,1]]
	t2 = [[1,0],[2,0],[1,1]]
	print (TriTri2D(t1, t2, onBoundary = True), True)

	#Barely touching
	t1 = [[0,0],[1,0],[0,1]]
	t2 = [[1,0],[2,0],[1,1]]
	print (TriTri2D(t1, t2, onBoundary = False), False)