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CrawlResult impls

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Quaternions 2025-01-21 08:30:11 -08:00
parent 195014400f
commit c2f78eab48
2 changed files with 20 additions and 16 deletions
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14
strafe-client/src/face_crawler.rs
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@ -12,6 +12,20 @@ pub enum CrawlResult<M:MeshQuery>{
Miss(FEV<M>),
Hit(M::Face,GigaTime),
}
impl<M:MeshQuery> CrawlResult<M>{
pub fn hit(self)->Option<(M::Face,GigaTime)>{
match self{
CrawlResult::Miss(_)=>None,
CrawlResult::Hit(face,time)=>Some((face,time)),
}
}
pub fn miss(self)->Option<FEV<M>>{
match self{
CrawlResult::Miss(fev)=>Some(fev),
CrawlResult::Hit(_,_)=>None,
}
}
}
impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
where

22
strafe-client/src/model_physics.rs
View File

@ -726,19 +726,13 @@ impl MinkowskiMesh<'_>{
infinity_body.acceleration=vec3::ZERO;
//crawl in from negative infinity along a tangent line to get the closest fev
// TODO: change crawl_fev args to delta time? Optional values?
match infinity_fev.crawl(self,&infinity_body,Time::MIN/4,start_time){
crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
crate::face_crawler::CrawlResult::Hit(_,_)=>None,
}
infinity_fev.crawl(self,&infinity_body,Time::MIN/4,start_time).miss()
})
}
pub fn predict_collision_in(&self,relative_body:&Body,start_time:Time,time_limit:Time)->Option<(MinkowskiFace,GigaTime)>{
self.closest_fev_not_inside(relative_body.clone(),start_time).map_or(None,|fev|{
//continue forwards along the body parabola
match fev.crawl(self,relative_body,start_time,time_limit){
crate::face_crawler::CrawlResult::Miss(_)=>None,
crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
}
fev.crawl(self,relative_body,start_time,time_limit).hit()
})
}
pub fn predict_collision_out(&self,relative_body:&Body,start_time:Time,time_limit:Time)->Option<(MinkowskiFace,GigaTime)>{
@ -746,10 +740,9 @@ impl MinkowskiMesh<'_>{
let infinity_body=-relative_body.clone();
self.closest_fev_not_inside(infinity_body,-time_limit).map_or(None,|fev|{
//continue backwards along the body parabola
match fev.crawl(self,&infinity_body,-time_limit,-start_time){
crate::face_crawler::CrawlResult::Miss(_)=>None,
crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,-time)),//no need to test -time<time_limit because of the first step
}
fev.crawl(self,&infinity_body,-time_limit,-start_time).hit()
//no need to test -time<time_limit because of the first step
.map(|(face,time)|(face,-time))
})
}
pub fn predict_collision_face_out(&self,relative_body:&Body,start_time:Time,time_limit:Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,GigaTime)>{
@ -785,10 +778,7 @@ impl MinkowskiMesh<'_>{
}
fn infinity_in(&self,infinity_body:Body)->Option<(MinkowskiFace,GigaTime)>{
let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position);
match infinity_fev.crawl(self,&infinity_body,Time::MIN/4,infinity_body.time){
crate::face_crawler::CrawlResult::Miss(_)=>None,
crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
}
infinity_fev.crawl(self,&infinity_body,Time::MIN/4,infinity_body.time).hit()
}
pub fn is_point_in_mesh(&self,point:Planar64Vec3)->bool{
let infinity_body=Body::new(point,vec3::Y,vec3::ZERO,Time::ZERO);