@@ 118-142 (lines=25) @@ | ||
115 | self.halfDims = vector.Vector(3, data=[w / 2.0, h / 2.0, 0.0]) |
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116 | self.rotation = rotation |
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117 | ||
118 | def getFurthestPoint(self, direction): |
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119 | halfWidth = vector.Vector(3).right() * self.halfDims.vector[0] |
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120 | halfHeight = vector.Vector(3).up() * self.halfDims.vector[1] |
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121 | ||
122 | direction4 = vector.Vector(4, data=[direction.vector[0], direction.vector[1], direction.vector[2], 1.0]) |
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123 | ||
124 | vertices = [] |
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125 | vertices.append( halfWidth + halfHeight) |
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126 | vertices.append(-halfWidth + halfHeight) |
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127 | vertices.append(-halfWidth - halfHeight) |
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128 | vertices.append( halfWidth - halfHeight) |
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129 | ||
130 | translation = matrix.Matrix(4).translate(vector.Vector(4, data=[self.center.vector[0], self.center.vector[1], self.center.vector[2], 1.0])) |
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131 | world = self.rotation * translation |
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132 | ||
133 | furtherPoint = world * vector.Vector(4, data=[vertices[0].vector[0], vertices[0].vector[1], vertices[0].vector[2], 1.0]) |
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134 | ||
135 | maxDot = furtherPoint.dot(direction4) |
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136 | for i in range(1, 4, 1): |
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137 | vertex = world * vector.Vector(4, data=[vertices[i].vector[0], vertices[i].vector[1], vertices[i].vector[2], 1.0]) |
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138 | dot = vertex.dot(direction4) |
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139 | if(dot > maxDot): |
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140 | maxDot = dot |
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141 | furtherPoint = vertex |
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142 | return vector.Vector(3, data=[furtherPoint.vector[0], furtherPoint.vector[1], furtherPoint.vector[2]]) |
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143 | ||
144 | class Box(object): |
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145 | def __init__(self, center, w, h ,d , rotation): |
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@@ 87-110 (lines=24) @@ | ||
84 | bV = self.barycentric(a, b, c, p) |
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85 | return (bV[1] >= 0.0) and (bV[2] >= 0.0) and ((bV[1] + bV[2]) <= 1.0) |
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86 | ||
87 | def getFurthestPoint(self, direction): |
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88 | midBase = vector.Vector(3).right() * self.thirdDims.vector[0] |
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89 | midHeight = vector.Vector(3).up() * self.thirdDims.vector[1] |
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90 | ||
91 | direction4 = vector.Vector(4, data=[direction.vector[0], direction.vector[1], direction.vector[2], 1.0]) |
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92 | ||
93 | vertices = [] |
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94 | vertices.append( self.center.vector[1], midHeight) |
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95 | vertices.append( midBase, -midHeight) |
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96 | vertices.append(-midBase, -midHeight) |
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97 | ||
98 | translation = matrix.Matrix(4).translate(vector.Vector(4, data=[self.center.vector[0], self.center.vector[1], self.center.vector[2], 1.0])) |
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99 | world = self.rotation * translation |
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100 | ||
101 | furtherPoint = world * vector.Vector(4, data=[vertices[0].vector[0], vertices[0].vector[1], vertices[0].vector[2], 1.0]) |
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102 | ||
103 | maxDot = furtherPoint.dot(direction4) |
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104 | for i in range(1, 3, 1): |
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105 | vertex = world * vector.vector(4, data=[vertices[i].vector[0], vertices[i].vector[1], vertices[i].vector[2], 1.0]) |
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106 | dot = vertex.dot(direction4) |
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107 | if(dot > maxDot): |
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108 | maxDot = dot |
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109 | furtherPoint = vertex |
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110 | return vector.Vector(3, data=[furtherPoint.vector[0], furtherPoint.vector[1], furtherPoint.vector[2]]) |
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111 | ||
112 | class Rectangle(object): |
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113 | def __init__(self, center, w, h, rotation): |