@Override
public Vector3f supportPointLocalNegative(Vector3f direction) {
if (direction.lengthSquared() != 0) direction.normalize();
Vector3f v = QuatMath.transform(collisionshape.getInverseRotation(), direction);
float vy = 0;
float capstart =
(float)
(halfheight
/ Math.sqrt(
radius * radius
+ halfheight
* halfheight)); // VecMath.normalize(new Vector2f(radius,
// halfheight)).y;
if (Math.abs(direction.y) > capstart) {
float len = (float) new Vector2f(direction.x / capstart, direction.z / capstart).length();
vy = (float) (Math.sqrt(radius * radius - len * len));
}
vy += halfheight;
return new Vector3f(-v.x * radius, (v.y < 0 ? vy : -vy), -v.z * radius);
}
