def get_shadow_polygon(poly: "BasePolygon", normal: Vector2d) -> Tuple[float, float]:
min_shadow = float("inf")
max_shadow = -float("inf")
for point in poly.points:
product = normal.dot_product(point)
min_shadow = min(min_shadow, product)
max_shadow = max(min_shadow, product)
return min_shadow, max_shadow
def get_support_point(self, direction: Vector2d) -> Vector2d:
support_point = None
max_product = -1
for point in self.points:
product = direction.dot_product(point)
if product > max_product:
max_product = product
support_point = point
return support_point
