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brute force t for plain mesh

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Quaternions 2023-11-01 17:26:50 -07:00
parent b897d4a662
commit 6aa0e790d8
1 changed files with 22 additions and 0 deletions
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22
src/model_physics.rs
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@ -171,6 +171,28 @@ impl PhysicsMesh{
pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'a{
self.verts.iter().map(|Vert(pos)|*pos)
}
pub fn brute_t(&self,body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(FaceId,crate::integer::Time)>{
//check each face
let mut best_time=time_limit;
let mut best_face=None;
for (i,f) in self.face_topology.iter().enumerate(){
let (n,d)=self.face_nd(FaceId(i));
for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+crate::integer::Time::from(t);
if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
let p=body.extrapolated_position(t);
if f.edges.iter().all(|&(_,face_id)|{
let (n,d)=self.face_nd(face_id);
n.dot(p)<=d
}){
best_time=t;
best_face=Some(FaceId(i));
}
}
}
}
best_face.map(|f|(f,best_time))
}
}
impl MeshQuery<FaceId,EdgeId,VertId> for PhysicsMesh{
fn closest_fev(&self,point:Planar64Vec3)->FEV<FaceId,EdgeId,VertId>{