From e6c955a958c8cd3898228523918a6b5538543cd6 Mon Sep 17 00:00:00 2001
From: Quaternions <krakow20@gmail.com>
Date: Fri, 17 Nov 2023 13:43:44 -0800
Subject: [PATCH] combine crawl into one loop

---
 src/face_crawler.rs  | 14 --------------
 src/model_physics.rs | 19 +++++++------------
 2 files changed, 7 insertions(+), 26 deletions(-)

diff --git a/src/face_crawler.rs b/src/face_crawler.rs
index 391b566..012a198 100644
--- a/src/face_crawler.rs
+++ b/src/face_crawler.rs
@@ -111,17 +111,3 @@ pub fn crawl_fev<F:Copy,E:Copy+DirectedEdge,V:Copy>(mut fev:FEV<F,E,V>,mesh:&imp
 		}
 	}
 }
-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,time_limit:Time)->CrawlResult<F,E,V>{	
-	let mut time=Time::MIN;
-	loop{
-		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 b0021eb..250398a 100644
--- a/src/model_physics.rs
+++ b/src/model_physics.rs
@@ -356,23 +356,18 @@ impl MinkowskiMesh<'_>{
 	pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
 		(-relative_body.clone()).infinity_dir().map_or(None,|dir|{
 			let start_vert=FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(self.farthest_vert(dir));
-			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,relative_body.time,time_limit)
-				},
-				crate::face_crawler::CrawlResult::Hit(_,_)=>None,//already in or passed
-			}
+			let start_time=crate::integer::Time::MIN;//relative_body.time
+			crate::face_crawler::crawl_fev(start_vert,self,relative_body,start_time,time_limit)
 		})
 	}
 	pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
+		//This doesn't work if the out-path goes back in.  it must be the final exit.
 		relative_body.infinity_dir().map_or(None,|dir|{
 			let start_vert=FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(self.farthest_vert(dir));
-			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,-relative_body.time).map(|t|(t.0,-t.1))
-				},
-				crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,-time)),
-			}
+			let start_time=crate::integer::Time::MIN;//-time_limit
+			crate::face_crawler::crawl_fev(start_vert,self,&-relative_body.clone(),start_time,-relative_body.time)
+			.filter(|t|-t.1<time_limit)
+			.map(|t|(t.0,-t.1))
 		})
 	}
 	pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,crate::integer::Time)>{