/// <summary>
/// Gets a support point for a given normalized direction vector.
/// </summary>
/// <param name="directionNormalized">
/// The normalized direction vector for which to get the support point.
/// </param>
/// <returns>A support point regarding the given direction.</returns>
/// <remarks>
/// A support point regarding a direction is an extreme point of the shape that is furthest away
/// from the center regarding the given direction. This point is not necessarily unique.
/// </remarks>
public override Vector3F GetSupportPointNormalized(Vector3F directionNormalized)
{
if (_scale.X == _scale.Y && _scale.Y == _scale.Z)
{
// Uniform scaling: Simply scale the support point position.
// No need to change directionNormalized. We can use GetSupportPointNormalized.
return(_shape.GetSupportPointNormalized(directionNormalized) * _scale);
}
else
{
// Non-uniform scaling: We have to scale the support direction see comments in
// GetSupportPoint(). We cannot use GetSupportPointNORMALIZED().
return(_shape.GetSupportPoint(directionNormalized, _scale));
}
}
