// Gets some vector d and finds the furthest point of shape along that direction using projection method
Util::Point SteerLib::GJK_EPA::getFurthestPointinDirection(const std::vector<Util::Vector>& _shape, const Util::Vector & d)
{
Util::Point furthestPoint(0, 0, 0);
float greatestProjectionMagnitude = 0;
// Finds Furthest Point By iterating through the list
for (std::vector<Util::Vector>::const_iterator it = _shape.begin(); it != _shape.end(); ++it)
{
//compute the dot product, whhich gets the projection of the shape vector onto
float magnitude = ((*it) * d);
if (magnitude > greatestProjectionMagnitude)
{
greatestProjectionMagnitude = magnitude;
furthestPoint = Util::Point((*it).x, (*it).y, (*it).z);
}
}
return furthestPoint;
}
Util::Vector SteerLib::GJK_EPA::Minkowski_Helper(const std::vector<Util::Vector>& shape, const Util::Vector& direction) {
Util::Vector furthestPoint(0, 0, 0);
float farthestDistance = dot(shape[0], direction);
int farthestIndex = 0;
int i = 1;
while (i < shape.size()) {
float dotProduct = dot(shape[i], direction);
if (dotProduct > farthestDistance) {
farthestDistance = dotProduct;
farthestIndex = i;
}
i++;
}
furthestPoint[0] = shape[farthestIndex][0];
furthestPoint[1] = shape[farthestIndex][1];
furthestPoint[2] = shape[farthestIndex][2];
return furthestPoint;
}