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implement face crawler algorithm using functions that don't exist

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Quaternions 2023-10-26 19:37:59 -07:00
parent bb46801610
commit a8b1ced5cd
1 changed files with 65 additions and 16 deletions
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81
src/face_crawler.rs
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@ -18,30 +18,79 @@ impl State{
fn next_transition(&self,mesh:&VirtualMesh,body:&Body,time_limit:Time)->Transition{
//conflicting derivative means it crosses in the wrong direction.
//if the transition time is equal to an already tested transition, do not replace the current best.
let mut best_time=time_limit;
let mut best_transtition=Transition::Miss;
match &self.fev{
FEV::Face(face_id)=>{
//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: Transition::Hit(Face,Time)
//if edge: Transition::NextState(State{time,fev:FEV::Edge(edge_id)})
&FEV::Face(face_id)=>{
//test own face collision time, ignoring roots with zero or conflicting derivative
//n=face.normal d=face.dot
//n.a t^2+n.v t+n.p-d==0
let (n,d)=mesh.face_nd(face_id);
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);
if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t;
best_transtition=Transition::Hit(face_id,t);
}
}
//test each edge collision time, ignoring roots with zero or conflicting derivative
for &(edge_id,test_face_id) in mesh.face_edges(face_id){
let (n,d)=mesh.face_nd(test_face_id);
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);
if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t;
best_transtition=Transition::Next(FEV::Edge(edge_id),t);
break;
}
}
}
//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: Transition::NextState(State{time,fev:FEV::Face(face_id)})
//if vert: Transition::NextState(State{time,fev:FEV::Vertex(vertex_id)})
&FEV::Edge(edge_id)=>{
//test each face collision time, ignoring roots with zero or conflicting derivative
for &test_face_id in mesh.edge_side_faces(edge_id){
let (n,d)=mesh.face_nd(test_face_id);
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);
if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t;
best_transtition=Transition::Next(FEV::Face(test_face_id),t);
break;
}
}
}
//test each vertex collision time, ignoring roots with zero or conflicting derivative
for &(vert_id,test_face_id) in mesh.edge_ends(edge_id){
let (n,d)=mesh.face_nd(test_face_id);
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);
if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t;
best_transtition=Transition::Next(FEV::Vert(vert_id),t);
break;
}
}
}
//if none:
Transition::Miss
},
FEV::Vertex(vertex_id)=>{
//test each edge collision time, ignoring edges with zero or conflicting derivative
//if some: Transition::NextState(State{time,fev:FEV::Edge(edge_id)})
&FEV::Vert(vertex_id)=>{
//test each edge collision time, ignoring roots with zero or conflicting derivative
for &(edge_id,test_face_id) in mesh.vert_edges(vertex_id){
let (n,d)=mesh.face_nd(test_face_id);
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);
if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t;
best_transtition=Transition::Next(FEV::Edge(edge_id),t);
break;
}
}
}
//if none:
Transition::Miss
},
}
best_transtition
}
}