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Quaternions 2023-11-23 19:00:52 -08:00
parent b8a0ae6606
commit f53327d87b
1 changed files with 2 additions and 2 deletions
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4
src/model_physics.rs
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@ -499,8 +499,8 @@ impl MinkowskiMesh<'_>{
let face_n=self.face_nd(contact_face_id).0;
for &directed_edge_id in self.face_edges(contact_face_id).iter(){
let edge_n=self.directed_edge_n(directed_edge_id);
//f x e points out
let n=-face_n.cross(edge_n);
//f x e points in
let n=face_n.cross(edge_n);
let verts=self.edge_verts(directed_edge_id.as_undirected());
let d=n.dot(self.vert(verts[0])+self.vert(verts[1]));
//WARNING! d outside of *2