如何对旋转的矩形执行碰撞检测？

import math

def rotate_point(x, y, angle):
    """
    将点绕原点旋转一定角度
    """
    return x * math.cos(angle) - y * math.sin(angle), y * math.cos(angle) + x * math.sin(angle)

def get_rect_vertices(x, y, width, height, angle):
    """
    获取旋转矩形的顶点坐标
    """
    x1, y1 = -width/2, -height/2
    x2, y2 = x1, height/2
    x3, y3 = width/2, height/2
    x4, y4 = width/2, y1
    x1, y1 = rotate_point(x1, y1, angle)
    x2, y2 = rotate_point(x2, y2, angle)
    x3, y3 = rotate_point(x3, y3, angle)
    x4, y4 = rotate_point(x4, y4, angle)
    return [(x+x_, y+y_) for x_, y_ in zip([x1, x2, x3, x4], [y1, y2, y3, y4])]

def get_aabb(vertices):
    """
    获取矩形的边界盒
    """
    x_min = min(vertices, key=lambda v: v[0])[0]
    x_max = max(vertices, key=lambda v: v[0])[0]
    y_min = min(vertices, key=lambda v: v[1])[1]
    y_max = max(vertices, key=lambda v: v[1])[1]
    return x_min, y_min, x_max, y_max

def check_collision(rect1, rect2):
    """
    检测两个旋转矩形是否发生碰撞
    """
    vertices1 = get_rect_vertices(*rect1)
    vertices2 = get_rect_vertices(*rect2)
    aabb1 = get_aabb(vertices1)
    aabb2 = get_aabb(vertices2)
    if aabb1[2] < aabb2[0] or aabb1[0] > aabb2[2] or aabb1[3] < aabb2[1] or aabb1[1] > aabb2[3]:
        return False
    for i in range(4):
        edge1 = (vertices1[i], vertices1[(i+1)%4])
        for j in range(4):
            edge2 = (vertices2[j], vertices2[(j+1)%4])
            if check_edge_collision(edge1, edge2):
                return True
    return False

def check_edge_collision(edge1, edge2):
    """
    检测两条边是否发生碰撞
    """
    x1, y1 = edge1[0]
    x2, y2 = edge1[1]
    x3, y3 = edge2[0]
    x4, y4 = edge2[1]
    denom = (x1-x2)*(y3-y4)-(y1-y2)*(x3-x4)
    if denom == 0:
        return False
    t = ((x1-x3)*(y3-y4)-(y1-y3)*(x3-x4))/denom
    u = -((x1-x2)*(y1-y3)-(y1-y2)*(x1-x3))/denom
    return 0 <= t <= 1 and 0 <= u <= 1