@Override
public Vector3 localGetSupportingVertexWithoutMargin(Vector3 vec0, Vector3 out) {
Stack stack = Stack.enter();
Vector3 supVec = out;
supVec.set(0f, 0f, 0f);
float maxDot = -1e30f;
Vector3 vec = stack.alloc(vec0);
float lenSqr = vec.len2();
if (lenSqr < 0.0001f) {
vec.set(1f, 0f, 0f);
} else {
float rlen = 1f / (float) Math.sqrt(lenSqr);
vec.scl(rlen);
}
Vector3 vtx = stack.allocVector3();
float newDot;
float radius = getRadius();
Vector3 tmp1 = stack.allocVector3();
Vector3 tmp2 = stack.allocVector3();
Vector3 pos = stack.allocVector3();
{
pos.set(0f, 0f, 0f);
VectorUtil.setCoord(pos, getUpAxis(), getHalfHeight());
VectorUtil.mul(tmp1, vec, localScaling);
tmp1.scl(radius);
tmp2.set(vec).scl(getMargin());
vtx.set(pos).add(tmp1);
vtx.sub(tmp2);
newDot = vec.dot(vtx);
if (newDot > maxDot) {
maxDot = newDot;
supVec.set(vtx);
}
}
{
pos.set(0f, 0f, 0f);
VectorUtil.setCoord(pos, getUpAxis(), -getHalfHeight());
VectorUtil.mul(tmp1, vec, localScaling);
tmp1.scl(radius);
tmp2.set(vec).scl(getMargin());
vtx.set(pos).add(tmp1);
vtx.sub(tmp2);
newDot = vec.dot(vtx);
if (newDot > maxDot) {
maxDot = newDot;
supVec.set(vtx);
}
}
stack.leave();
return out;
}
@Override
public void circle(
float width,
float height,
float centerX,
float centerY,
float centerZ,
float normalX,
float normalY,
float normalZ,
int divisions,
float angleFrom,
float angleTo) {
tempV1.set(normalX, normalY, normalZ).crs(0, 0, 1);
tempV2.set(normalX, normalY, normalZ).crs(0, 1, 0);
if (tempV2.len2() > tempV1.len2()) tempV1.set(tempV2);
tempV2.set(tempV1.nor()).crs(normalX, normalY, normalZ).nor();
circle(
width, height, centerX, centerY, centerZ, normalX, normalY, normalZ, tempV1.x, tempV1.y,
tempV1.z, tempV2.x, tempV2.y, tempV2.z, divisions, angleFrom, angleTo);
}