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Quaternions 2023-11-20 19:57:27 -08:00
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commit 0ad99958a0
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src/model_physics.rs
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@ -446,7 +446,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).borrow();
let n=edge0_n.cross(edge1_n);
let e0d=n.dot(self.mesh0.vert(e0v0)+self.mesh0.vert(e0v1));
let e1d=n.dot(self.mesh0.vert(e1v0)+self.mesh0.vert(e1v1));
let e1d=n.dot(self.mesh1.vert(e1v0)+self.mesh1.vert(e1v1));
(n*(parity as i64*4-2),(e0d-e1d)*(parity as i64*2-1))
},
MinkowskiFace::FaceVert(f0,v1)=>{