public Line bestEdge(Vector2d collisionNormal) // FIXME
{
double max = -Double.MAX_VALUE;
int index = -1;
System.out.println(collisionNormal);
for (int i = 0; i < vertices.size(); i++) {
double projection = collisionNormal.dot(vertices.get(i));
if (projection > max) {
max = projection;
index = i;
}
}
// now we find the most perpendicular edge
Vector2d v = vertices.get(index);
Vector2d v1, v0;
if (index + 1 == vertices.size()) v1 = vertices.get(0);
else v1 = vertices.get(index + 1);
if (index == 0) v0 = vertices.get(vertices.size() - 1);
else v0 = vertices.get(index - 1);
Vector2d left = new Vector2d(v.x - v1.x, v.y - v1.y);
Vector2d right = new Vector2d(v.x - v0.x, v.y - v0.y);
System.out.println("right: " + right + " left: " + left);
if (Math.abs(right.dot(collisionNormal)) <= Math.abs(left.dot(collisionNormal))) {
// System.out.println("return right");
v0.draw();
v.draw();
return new Line(v0, v);
} else {
// System.out.println("return left");
v.draw();
v1.draw();
return new Line(v, v1);
}
}
