From d191538aa843b341d61f009fbee5a2459020730a Mon Sep 17 00:00:00 2001
From: Quaternions <krakow20@gmail.com>
Date: Thu, 16 Nov 2023 19:18:07 -0800
Subject: [PATCH] fix time inversion

---
 src/face_crawler.rs  | 8 ++++----
 src/model_physics.rs | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/face_crawler.rs b/src/face_crawler.rs
index 1c4b23a..391b566 100644
--- a/src/face_crawler.rs
+++ b/src/face_crawler.rs
@@ -101,8 +101,8 @@ enum Transition<F,E:DirectedEdge,V>{
 		}
 		best_transtition
 	}
-pub fn crawl_fev<F:Copy,E:Copy+DirectedEdge,V:Copy>(mut fev:FEV<F,E,V>,mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,time_limit:Time)->Option<(F,Time)>{	
-	let mut time=relative_body.time;
+pub fn crawl_fev<F:Copy,E:Copy+DirectedEdge,V:Copy>(mut fev:FEV<F,E,V>,mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,start_time:Time,time_limit:Time)->Option<(F,Time)>{	
+	let mut time=start_time;
 	loop{
 		match next_transition(&fev,time,mesh,relative_body,time_limit){
 			Transition::Miss=>return None,
@@ -115,10 +115,10 @@ pub enum CrawlResult<F,E:DirectedEdge,V>{
 	Closest(FEV<F,E,V>),
 	Hit(F,Time),
 }
-pub fn crawl_fev_from_negative_infinity<F:Copy,E:Copy+DirectedEdge,V:Copy>(mut fev:FEV<F,E,V>,mesh:&impl MeshQuery<F,E,V>,relative_body:&Body)->CrawlResult<F,E,V>{	
+pub fn crawl_fev_from_negative_infinity<F:Copy,E:Copy+DirectedEdge,V:Copy>(mut fev:FEV<F,E,V>,mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,time_limit:Time)->CrawlResult<F,E,V>{	
 	let mut time=Time::MIN;
 	loop{
-		match next_transition(&fev,time,mesh,relative_body,relative_body.time){
+		match next_transition(&fev,time,mesh,relative_body,time_limit){
 			Transition::Miss=>return CrawlResult::Closest(fev),
 			Transition::Next(next_fev,next_time)=>(fev,time)=(next_fev,next_time),
 			Transition::Hit(face,time)=>return CrawlResult::Hit(face,time),//algorithm breaks down inside without full fat voronoi
diff --git a/src/model_physics.rs b/src/model_physics.rs
index 295f0bb..8063d30 100644
--- a/src/model_physics.rs
+++ b/src/model_physics.rs
@@ -355,18 +355,18 @@ impl MinkowskiMesh<'_>{
 	}
 	pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
 		let start_vert=FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(self.farthest_vert((-relative_body.clone()).infinity_dir()));
-		match crate::face_crawler::crawl_fev_from_negative_infinity(start_vert,self,relative_body){
+		match crate::face_crawler::crawl_fev_from_negative_infinity(start_vert,self,relative_body,relative_body.time){
 			crate::face_crawler::CrawlResult::Closest(fev)=>{
-				crate::face_crawler::crawl_fev(fev,self,relative_body,time_limit)
+				crate::face_crawler::crawl_fev(fev,self,relative_body,relative_body.time,time_limit)
 			},
 			crate::face_crawler::CrawlResult::Hit(_,_)=>None,//already in or passed
 		}
 	}
 	pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
 		let start_vert=FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(self.farthest_vert(relative_body.infinity_dir()));
-		match crate::face_crawler::crawl_fev_from_negative_infinity(start_vert,self,&-relative_body.clone()){
+		match crate::face_crawler::crawl_fev_from_negative_infinity(start_vert,self,&-relative_body.clone(),-time_limit){
 			crate::face_crawler::CrawlResult::Closest(fev)=>{
-				crate::face_crawler::crawl_fev(fev,self,&-relative_body.clone(),-time_limit).map(|t|(t.0,-t.1))
+				crate::face_crawler::crawl_fev(fev,self,&-relative_body.clone(),-time_limit,-relative_body.time).map(|t|(t.0,-t.1))
 			},
 			crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,-time)),
 		}