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Quaternions 2023-11-28 17:24:51 -08:00
parent 086b47c406
commit 1f636116c0
2 changed files with 5 additions and 4 deletions
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8
src/face_crawler.rs
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@ -39,7 +39,7 @@ where <E as DirectedEdge>::UndirectedEdge:std::fmt::Debug{
let n=n.cross(edge_n); let n=n.cross(edge_n);
let verts=mesh.edge_verts(directed_edge_id.as_undirected()); let verts=mesh.edge_verts(directed_edge_id.as_undirected());
let d=n.dot(mesh.vert(verts[0])+mesh.vert(verts[1])); let d=n.dot(mesh.vert(verts[0])+mesh.vert(verts[1]));
println!("Face Edge n={} d={}",n,d/2); println!("Face Edge boundary_n={} boundary_d={}",n,d/2);
//WARNING: d is moved out of the *2 block because of adding two vertices! //WARNING: d is moved out of the *2 block because of adding two vertices!
for t in zeroes2(n.dot(body.position)*2-d,n.dot(body.velocity)*2,n.dot(body.acceleration)){ for t in zeroes2(n.dot(body.position)*2-d,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t); let t=body.time+Time::from(t);
@ -63,7 +63,7 @@ where <E as DirectedEdge>::UndirectedEdge:std::fmt::Debug{
//edge_n gets parity from the order of edge_faces //edge_n gets parity from the order of edge_faces
let n=face_n.cross(edge_n)*((i as i64)*2-1); let n=face_n.cross(edge_n)*((i as i64)*2-1);
let d=n.dot(vert_sum); let d=n.dot(vert_sum);
println!("Edge Face={:?} n={} d={}",edge_face_id,n,d/2); println!("Edge Face={:?} boundary_n={} boundary_d={}",edge_face_id,n,d/2);
//WARNING yada yada d *2 //WARNING yada yada d *2
for t in zeroes2((n.dot(body.position))*2-d,n.dot(body.velocity)*2,n.dot(body.acceleration)){ for t in zeroes2((n.dot(body.position))*2-d,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t); let t=body.time+Time::from(t);
@ -80,7 +80,7 @@ where <E as DirectedEdge>::UndirectedEdge:std::fmt::Debug{
//vertex normal gets parity from vert index //vertex normal gets parity from vert index
let n=edge_n*(1-2*(i as i64)); let n=edge_n*(1-2*(i as i64));
let d=n.dot(mesh.vert(vert_id)); let d=n.dot(mesh.vert(vert_id));
println!("Edge Vert n={} d={}",n,d); println!("Edge Vert boundary_n={} boundary_d={}",n,d);
for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){ for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t); let t=body.time+Time::from(t);
println!("dt={} low={} upp={} into={}",t-body.time,time<=t,t<best_time,n.dot(body.extrapolated_velocity(t))<Planar64::ZERO); println!("dt={} low={} upp={} into={}",t-body.time,time<=t,t<best_time,n.dot(body.extrapolated_velocity(t))<Planar64::ZERO);
@ -99,7 +99,7 @@ where <E as DirectedEdge>::UndirectedEdge:std::fmt::Debug{
//edge is directed away from vertex, but we want the dot product to turn out negative //edge is directed away from vertex, but we want the dot product to turn out negative
let n=-mesh.directed_edge_n(directed_edge_id); let n=-mesh.directed_edge_n(directed_edge_id);
let d=n.dot(mesh.vert(vert_id)); let d=n.dot(mesh.vert(vert_id));
println!("Vert Edge={:?} n={} d={}",directed_edge_id,n,d); println!("Vert Edge={:?} boundary_n={} boundary_d={}",directed_edge_id,n,d);
for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){ for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t); let t=body.time+Time::from(t);
println!("dt={} low={} upp={} into={}",t-body.time,time<=t,t<best_time,n.dot(body.extrapolated_velocity(t))<Planar64::ZERO); println!("dt={} low={} upp={} into={}",t-body.time,time<=t,t<best_time,n.dot(body.extrapolated_velocity(t))<Planar64::ZERO);

1
src/model_physics.rs
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@ -441,6 +441,7 @@ impl MinkowskiMesh<'_>{
} }
/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex /// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
fn infinity_fev(&self,infinity_dir:Planar64Vec3,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{ fn infinity_fev(&self,infinity_dir:Planar64Vec3,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{
println!("infinity_fev dir={} point={}",infinity_dir,point);
//start on any vertex //start on any vertex
//cross uncrossable vertex-edge boundaries until you find the closest vertex or edge //cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
//cross edge-face boundary if it's uncrossable //cross edge-face boundary if it's uncrossable