//get furthest point with dot product in a direction
// trying to optimize get F p
// instead of transformation on world do it on dir then take the max n transform that
public Vector3 GetFurthestPoint_2(Vector3 direction)
{
float max = float.NegativeInfinity;
Vector3 vec = Verticecs.First();
Matrix world = Rot.RotationMatrix * Matrix.CreateTranslation(Center) * ScaleMatrix;
Vector3 dir = Vector3.TransformNormal(direction, world);
foreach (var v in Verticecs)
{
float dot = Vector3.Dot(v, dir);
if (dot > max)
{
max = dot;
vec = v;
}
}
return(Vector3.Transform(vec, world));
//return vec * Scale;
}
//get furthest point with dot product in a direction
public Vector3 GetFurthestPoint(Vector3 direction)
{
Matrix world = Rot.RotationMatrix * Matrix.CreateTranslation(Center) * ScaleMatrix;
float max = float.NegativeInfinity;
Vector3 vec = Vector3.Transform(Verticecs.First(), world);
if (direction != Vector3.Zero)
{
direction.Normalize();
}
foreach (var v in Verticecs)
{
Vector3 temp = Vector3.Transform(v, world);
float dot = Vector3.Dot(temp, direction);
if (dot > max)
{
max = dot;
vec = temp;
}
}
return(vec);
//return vec * Scale;
}
