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implement MinkowskiMesh::edge_faces

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Quaternions 2023-11-15 17:59:47 -08:00
parent 020c704968
commit 48870b8a76
1 changed files with 42 additions and 6 deletions
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48
src/model_physics.rs
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@ -624,17 +624,53 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
}
}
fn edge_faces(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiFace;2]>{
//WRONG!!!!!!!!!!!! MORE CASES!!!!!!!!!!!!
match edge_id{
MinkowskiEdge::VertEdge(v0,e1)=>{
//also need to check v0 edges to see if they overtake the face
Cow::Owned(self.mesh1.edge_faces(e1).map(|face_id1|{
MinkowskiFace::VertFace(v0,face_id1)
let e1f=self.mesh1.edge_faces(e1);
Cow::Owned([(e1f[0],e1f[1]),(e1f[1],e1f[0])].map(|(edge_face_id1,other_edge_face_id1)|{
let mut best_edge=None;
let mut best_d=Planar64::MAX;
let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
let other_edge_face1_n=self.mesh1.face_nd(other_edge_face_id1).0;
let v0e=self.mesh0.vert_directed_edges(v0);
for &directed_edge_id0 in v0e.iter(){
let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
if edge_face1_n.dot(edge0_n)<Planar64::ZERO{
let d=other_edge_face1_n.dot(edge0_n);
if d<best_d{
best_d=d;
best_edge=Some(directed_edge_id0)
}
}
}
best_edge.map_or(
MinkowskiFace::VertFace(v0,edge_face_id1),
|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_edge_id(),e1)
)
}))
},
MinkowskiEdge::EdgeVert(e0,v1)=>{
Cow::Owned(self.mesh0.edge_faces(e0).map(|face_id0|{
MinkowskiFace::FaceVert(face_id0,v1)
let e0f=self.mesh0.edge_faces(e0);
Cow::Owned([(e0f[0],e0f[1]),(e0f[1],e0f[0])].map(|(edge_face_id0,other_edge_face_id0)|{
let mut best_edge=None;
let mut best_d=Planar64::MAX;
let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
let other_edge_face0_n=self.mesh0.face_nd(other_edge_face_id0).0;
let v1e=self.mesh1.vert_directed_edges(v1);
for &directed_edge_id1 in v1e.iter(){
let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
if edge_face0_n.dot(edge1_n)<Planar64::ZERO{
let d=other_edge_face0_n.dot(edge1_n);
if d<best_d{
best_d=d;
best_edge=Some(directed_edge_id1)
}
}
}
best_edge.map_or(
MinkowskiFace::FaceVert(edge_face_id0,v1),
|directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_edge_id())
)
}))
},
}