public function __construct(Coords $p0, Coords $dir, $len, $r0, $r1)
{
$vl = $dir->distance(0, 0, 0);
if ($vl == 1) {
$this->ap = atan2($dir->y, $dir->x);
$this->av = asin($dir->z);
$this->dir = clone $dir;
} else {
$this->ap = atan2($dir->y, $dir->x);
$this->av = asin($dir->z / $vl);
$this->dir = Coords::fromPolar(1, $this->ap, $this->av);
}
$this->p0 = clone $p0;
$this->p1 = $p0->translate($len * $this->dir->x, $len * $this->dir->y, $len * $this->dir->z);
$this->len = $len;
$this->r0 = $r0;
$this->r1 = $r1;
$cap = cos($this->ap - M_PI / 2);
$sap = sin($this->ap - M_PI / 2);
$sav = sin($this->av - M_PI / 2);
$points[] = new Coords($this->p0->x + $this->r0 * $cap, $this->p0->y + $this->r0 * $sap, $this->p0->z + $this->r0 * $sav);
$points[] = new Coords($this->p0->x - $this->r0 * $cap, $this->p0->y - $this->r0 * $sap, $this->p0->z - $this->r0 * $sav);
$points[] = new Coords($this->p1->x + $this->r1 * $cap, $this->p1->y + $this->r1 * $sap, $this->p1->z + $this->r1 * $sav);
$points[] = new Coords($this->p1->x - $this->r1 * $cap, $this->p1->y - $this->r1 * $sap, $this->p1->z - $this->r1 * $sav);
$this->red = new Coords(floor(min($points[0]['x'], $points[1]['x'], $points[2]['x'], $points[3]['x'])), floor(min($points[0]['y'], $points[1]['y'], $points[2]['y'], $points[3]['y'])), floor(min($points[0]['z'], $points[1]['z'], $points[2]['z'], $points[3]['z'])));
$this->blue = new Coords(ceil(max($points[0]['x'], $points[1]['x'], $points[2]['x'], $points[3]['x'])), ceil(max($points[0]['y'], $points[1]['y'], $points[2]['y'], $points[3]['y'])), ceil(max($points[0]['z'], $points[1]['z'], $points[2]['z'], $points[3]['z'])));
}
