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face crawler work

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Quaternions 2023-10-26 15:51:47 -07:00
parent b215578c8d
commit 19c7a8924e
1 changed files with 33 additions and 20 deletions
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53
src/face_crawler.rs
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@ -1,5 +1,5 @@
use crate::physics::Body;
use crate::integer::Time;
use crate::integer::{Time,Planar64Vec3};
struct VertexId(usize);
struct EdgeId(usize);
@ -24,24 +24,31 @@ enum Transition{
}
impl State{
fn next_transition(&self,mesh:&VirtualMesh,time_limit:Time)->Transition{
fn next_transition(&self,mesh:&VirtualMesh,body:&Body,time_limit:Time)->Transition{
//conflicting derivative means it crosses in the wrong direction.
match self.fev{
//if the transition time is equal to an already tested transition, do not replace the current best.
match &self.fev{
FEV::Face(face_id)=>{
//test own face collision time
//test own face collision time, ignoring edges with zero or conflicting derivative
//test each edge collision time, ignoring edges with zero or conflicting derivative
//if face: return (Face,Time)
//if edge: goto edge
//if face: Transition::Hit(Face,Time)
//if edge: Transition::NextState(State{time,fev:FEV::Edge(edge_id)})
//if none:
Transition::Miss
},
FEV::Edge(edge_id)=>{
//test each face collision time, ignoring faces with zero or conflicting derivative
//test each vertex collision time, ignoring vertices with zero or conflicting derivative
//if face: goto face
//if vertex: goto vertex
//if face: Transition::NextState(State{time,fev:FEV::Face(face_id)})
//if vert: Transition::NextState(State{time,fev:FEV::Vertex(vertex_id)})
//if none:
Transition::Miss
},
FEV::Vertex(vertex_id)=>{
//test each edge collision time, ignoring edges with zero or conflicting derivative
//goto edge
//if some: Transition::NextState(State{time,fev:FEV::Edge(edge_id)})
//if none:
Transition::Miss
},
}
}
@ -52,24 +59,30 @@ impl State{
//(edge,edge)
//(vertex,face)
struct VirtualMesh{
//???
struct VirtualMesh<'a>{
mesh0:&'a PhysicsMesh,
mesh1:&'a PhysicsMesh,
}
impl VirtualMesh{
pub fn minkowski_sum(mesh0:&PhysicsMesh,mesh1:&PhysicsMesh)->Self{
//?????
impl VirtualMesh<'_>{
pub fn minkowski_sum<'a>(mesh0:&PhysicsMesh,mesh1:&PhysicsMesh)->VirtualMesh<'a>{
Self{
mesh0,
mesh1,
}
}
pub fn predict_collision(&self,body:&Body,time:Time,time_limit:Time)->Option<(FaceId,Time)>{
//mesh.closest_point returns if the point is on a face, edge or vertex
let (point,fev)=self.closest_point(body.extrapolated_position(time));
fn closest_fev(&self,point:Planar64Vec3)->FEV{
//put some genius code right here
todo!()
}
pub fn predict_collision(&self,relative_body:&Body,time_limit:Time)->Option<(FaceId,Time)>{
let mut state=State{
time,
fev,
time:relative_body.time,
fev:self.closest_fev(relative_body.position),
};
//it would be possible to write down the point of closest approach...
loop{
match state.next_transition(self,time_limit){
match state.next_transition(self,relative_body,time_limit){
Transition::Miss=>return None,
Transition::NextState(next_state)=>state=next_state,
Transition::Hit(hit_face,hit_time)=>return Some((hit_face,hit_time)),