forked from StrafesNET/strafe-client
566 lines
17 KiB
Rust
566 lines
17 KiB
Rust
use crate::integer::{Planar64,Planar64Vec3};
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use std::borrow::Cow;
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#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
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pub struct VertId(usize);
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#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
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pub struct EdgeId(usize);
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#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
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pub struct FaceId(usize);
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//Vertex <-> Edge <-> Face -> Collide
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pub enum FEV<F,E,V>{
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Face(F),
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Edge(E),
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Vert(V),
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}
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//use Unit32 #[repr(C)] for map files
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struct Face{
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normal:Planar64Vec3,
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dot:Planar64,
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}
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impl Face{
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fn nd(&self)->(Planar64Vec3,Planar64){
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(self.normal,self.dot)
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}
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}
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struct Vert(Planar64Vec3);
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struct FaceRefs{
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edges:Vec<(EdgeId,FaceId)>,
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//verts:Vec<VertId>,
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}
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struct EdgeRefs{
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faces:[FaceId;2],//left, right
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verts:[VertId;2],//bottom, top
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}
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struct VertRefs{
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//faces:Vec<FaceId>,
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edges:Vec<EdgeId>,
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}
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pub struct PhysicsMesh{
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faces:Vec<Face>,
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verts:Vec<Vert>,
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face_topology:Vec<FaceRefs>,
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edge_topology:Vec<EdgeRefs>,
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vert_topology:Vec<VertRefs>,
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}
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#[derive(Default,Clone)]
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struct VertRefGuy{
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edges:std::collections::HashSet<EdgeId>,
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}
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#[derive(Clone,Hash,Eq,PartialEq)]
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struct EdgeIdGuy([VertId;2]);
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impl EdgeIdGuy{
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fn new(v0:VertId,v1:VertId)->Self{
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if v0.0<v1.0{
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Self([v0,v1])
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}else{
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Self([v1,v0])
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}
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}
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}
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struct EdgeRefGuy([FaceId;2]);
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impl EdgeRefGuy{
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fn new()->Self{
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Self([FaceId(0);2])
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}
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fn push(&mut self,i:usize,face_id:FaceId){
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self.0[i]=face_id;
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}
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}
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struct FaceRefGuy(Vec<EdgeId>);
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#[derive(Default)]
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struct EdgePool{
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edge_guys:Vec<(EdgeIdGuy,EdgeRefGuy)>,
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edge_id_from_guy:std::collections::HashMap<EdgeIdGuy,usize>,
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}
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impl EdgePool{
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fn push(&mut self,edge_id_guy:EdgeIdGuy)->(&mut EdgeRefGuy,EdgeId,bool){
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if let Some(&edge_id)=self.edge_id_from_guy.get(&edge_id_guy){
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(&mut unsafe{self.edge_guys.get_unchecked_mut(edge_id)}.1,EdgeId(edge_id),true)
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}else{
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let edge_id=self.edge_guys.len();
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self.edge_guys.push((edge_id_guy.clone(),EdgeRefGuy::new()));
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self.edge_id_from_guy.insert(edge_id_guy,edge_id);
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(&mut unsafe{self.edge_guys.get_unchecked_mut(edge_id)}.1,EdgeId(edge_id),false)
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}
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}
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}
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impl From<&crate::model::IndexedModel> for PhysicsMesh{
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fn from(indexed_model:&crate::model::IndexedModel)->Self{
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let verts=indexed_model.unique_pos.iter().map(|v|Vert(v.clone())).collect();
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let mut vert_edges=vec![VertRefGuy::default();indexed_model.unique_pos.len()];
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let mut edge_pool=EdgePool::default();
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let (faces,face_ref_guys):(Vec<Face>,Vec<FaceRefGuy>)=indexed_model.groups[0].polys.iter().enumerate().map(|(i,poly)|{
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let face_id=FaceId(i);
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//one face per poly
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let mut normal=Planar64Vec3::ZERO;
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let len=poly.vertices.len();
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let face_edges=poly.vertices.iter().enumerate().map(|(i,&vert_id)|{
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let vert0_id=vert_id as usize;
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let vert1_id=poly.vertices[(i+1)%len] as usize;
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//https://www.khronos.org/opengl/wiki/Calculating_a_Surface_Normal (Newell's Method)
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let v0=indexed_model.unique_pos[vert0_id];
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let v1=indexed_model.unique_pos[vert1_id];
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normal+=Planar64Vec3::new(
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(v0.y()-v1.y())*(v0.z()+v1.z()),
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(v0.z()-v1.z())*(v0.x()+v1.x()),
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(v0.x()-v1.x())*(v0.y()+v1.y()),
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);
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//get/create edge and push face into it
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let edge_id_guy=EdgeIdGuy::new(VertId(vert0_id),VertId(vert1_id));
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let (edge_ref_guy,edge_id,exists)=edge_pool.push(edge_id_guy);
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if exists{
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edge_ref_guy.push(1,face_id);
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}else{
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edge_ref_guy.push(0,face_id);
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}
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//index edge into vertices
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unsafe{vert_edges.get_unchecked_mut(vert0_id)}.edges.insert(edge_id);
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unsafe{vert_edges.get_unchecked_mut(vert1_id)}.edges.insert(edge_id);
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//return edge_id
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edge_id
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}).collect();
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//choose precision loss randomly idk
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normal=normal/len as i64;
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let mut dot=Planar64::ZERO;
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for &v in poly.vertices.iter(){
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dot+=normal.dot(indexed_model.unique_pos[v as usize]);
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}
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(Face{normal,dot:dot/len as i64},FaceRefGuy(face_edges))
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}).unzip();
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//conceivably faces, edges, and vertices exist now
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Self{
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faces,
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verts,
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face_topology:face_ref_guys.into_iter().enumerate().map(|(i,face_ref_guy)|{
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let face_id=FaceId(i);
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FaceRefs{edges:face_ref_guy.0.into_iter().map(|edge_id|{
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//get the edge face that's not this face
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let edge_faces=edge_pool.edge_guys[edge_id.0].1.0;
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if edge_faces[0]==face_id{
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(edge_id,edge_faces[1])
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}else if edge_faces[1]==face_id{
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(edge_id,edge_faces[0])
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}else{
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panic!("edge does not contain face")
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}
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}).collect()}
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}).collect(),
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edge_topology:edge_pool.edge_guys.into_iter().map(|(edge_id_guy,edge_ref_guy)|
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EdgeRefs{faces:edge_ref_guy.0,verts:edge_id_guy.0}
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).collect(),
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vert_topology:vert_edges.into_iter().map(|vert_ref_guy|
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VertRefs{edges:vert_ref_guy.edges.into_iter().collect()}
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).collect(),
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}
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}
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}
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pub trait MeshQuery<FACE:Clone,EDGE:Clone,VERT:Clone>{
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fn closest_fev(&self,point:Planar64Vec3)->FEV<FACE,EDGE,VERT>;
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fn edge_n(&self,edge_id:EDGE)->Planar64Vec3{
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let verts=self.edge_verts(edge_id);
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self.vert(verts[1].clone())-self.vert(verts[0].clone())
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}
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fn vert(&self,vert_id:VERT)->Planar64Vec3;
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fn face_nd(&self,face_id:FACE)->(Planar64Vec3,Planar64);
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fn face_edges(&self,face_id:FACE)->Cow<Vec<(EDGE,FACE)>>;
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fn edge_faces(&self,edge_id:EDGE)->Cow<[FACE;2]>;
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fn edge_verts(&self,edge_id:EDGE)->Cow<[VERT;2]>;
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fn vert_edges(&self,vert_id:VERT)->Cow<Vec<EDGE>>;
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}
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impl PhysicsMesh{
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pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'a{
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self.verts.iter().map(|Vert(pos)|*pos)
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}
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pub fn brute(&self,body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(FaceId,crate::integer::Time)>{
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//check each face
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let mut best_time=time_limit;
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let mut best_face=None;
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for (i,face) in self.faces.iter().enumerate(){
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let face_id=FaceId(i);
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let (n,d)=face.nd();
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for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
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let t=body.time+crate::integer::Time::from(t);
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if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
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let p=body.extrapolated_position(t);
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if self.face_edges(face_id).iter().all(|&(_,face_id)|{
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let (n,d)=self.face_nd(face_id);
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n.dot(p)<=d
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}){
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best_time=t;
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best_face=Some(face_id);
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}
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}
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}
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}
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best_face.map(|f|(f,best_time))
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}
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}
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impl MeshQuery<FaceId,EdgeId,VertId> for PhysicsMesh{
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fn closest_fev(&self,point:Planar64Vec3)->FEV<FaceId,EdgeId,VertId>{
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//TODO: put some genius code right here
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//brute force for now
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let mut best_distance_squared=Planar64::MAX;
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//make something up as default ret
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//hopefully empty meshes don't make their way through here
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let mut best_fev=FEV::<FaceId,EdgeId,VertId>::Vert(VertId(0));
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//check each vert
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for (i,v) in self.verts.iter().enumerate(){
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let d=(v.0-point).dot(v.0-point);
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if d<best_distance_squared{
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best_distance_squared=d;
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best_fev=FEV::<FaceId,EdgeId,VertId>::Vert(VertId(i));
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}
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}
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//check each edge
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for (i,e) in self.edge_topology.iter().enumerate(){
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let v0=self.vert(e.verts[0]);
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let v1=self.vert(e.verts[1]);
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let n=v1-v0;
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//n.cross(point-v0)=sin(t)*n*dis
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let d=n.dot(point-v0);
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if d<n.dot(v1)&&n.dot(v0)<d{
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let c=n.cross(point-v0);
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let edge_distance_squared=c.dot(c)/n.dot(n);
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if edge_distance_squared<best_distance_squared{
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best_distance_squared=edge_distance_squared;
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best_fev=FEV::<FaceId,EdgeId,VertId>::Edge(EdgeId(i));
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}
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}
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}
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let face_dots:Vec<Planar64>=self.faces.iter().map(|f|f.normal.dot(point)).collect();
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//check each face
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for (i,f) in self.face_topology.iter().enumerate(){
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if face_dots[i]<best_distance_squared&&f.edges.iter().all(|&(_,face_id)|face_dots[face_id.0]<=Planar64::ZERO){
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best_distance_squared=face_dots[i];
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best_fev=FEV::<FaceId,EdgeId,VertId>::Face(FaceId(i));
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}
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}
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best_fev
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}
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fn face_nd(&self,face_id:FaceId)->(Planar64Vec3,Planar64){
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(self.faces[face_id.0].normal,self.faces[face_id.0].dot)
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}
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//ideally I never calculate the vertex position, but I have to for the graphical meshes...
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fn vert(&self,vert_id:VertId)->Planar64Vec3{
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self.verts[vert_id.0].0
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}
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fn face_edges(&self,face_id:FaceId)->Cow<Vec<(EdgeId,FaceId)>>{
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Cow::Borrowed(&self.face_topology[face_id.0].edges)
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}
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fn edge_faces(&self,edge_id:EdgeId)->Cow<[FaceId;2]>{
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Cow::Borrowed(&self.edge_topology[edge_id.0].faces)
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}
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fn edge_verts(&self,edge_id:EdgeId)->Cow<[VertId;2]>{
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Cow::Borrowed(&self.edge_topology[edge_id.0].verts)
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}
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fn vert_edges(&self,vert_id:VertId)->Cow<Vec<EdgeId>>{
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Cow::Borrowed(&self.vert_topology[vert_id.0].edges)
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}
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}
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pub struct TransformedMesh<'a>{
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mesh:&'a PhysicsMesh,
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transform:&'a crate::integer::Planar64Affine3,
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normal_transform:&'a crate::integer::Planar64Mat3,
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normal_determinant:Planar64,
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}
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impl TransformedMesh<'_>{
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pub fn new<'a>(
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mesh:&'a PhysicsMesh,
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transform:&'a crate::integer::Planar64Affine3,
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normal_transform:&'a crate::integer::Planar64Mat3,
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normal_determinant:Planar64
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)->TransformedMesh<'a>{
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TransformedMesh{
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mesh,
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transform,
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normal_transform,
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normal_determinant,
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}
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}
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pub fn brute_in(&self,body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(FaceId,crate::integer::Time)>{
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//check each face
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let mut best_time=time_limit;
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let mut best_face=None;
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for i in 0..self.mesh.faces.len(){
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let face_id=FaceId(i);
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let (n,d)=self.face_nd(face_id);
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for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
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let t=body.time+crate::integer::Time::from(t);
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if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
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let p=body.extrapolated_position(t);
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if self.face_edges(face_id).iter().all(|&(_,face_id)|{
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let (n,d)=self.face_nd(face_id);
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n.dot(p)<=d
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}){
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best_time=t;
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best_face=Some(face_id);
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}
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}
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}
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}
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best_face.map(|f|(f,best_time))
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}
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pub fn brute_out(&self,body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(FaceId,crate::integer::Time)>{
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//check each face
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let mut best_time=time_limit;
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let mut best_face=None;
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for i in 0..self.mesh.faces.len(){
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let face_id=FaceId(i);
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let (n,d)=self.face_nd(face_id);
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for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
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let t=body.time+crate::integer::Time::from(t);
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if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))>Planar64::ZERO{
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let p=body.extrapolated_position(t);
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if self.face_edges(face_id).iter().all(|&(_,face_id)|{
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let (n,d)=self.face_nd(face_id);
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n.dot(p)<=d
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}){
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best_time=t;
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best_face=Some(face_id);
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}
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}
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}
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}
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best_face.map(|f|(f,best_time))
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}
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pub fn brute_out_face(&self,body:&crate::physics::Body,time_limit:crate::integer::Time,face_id:FaceId)->Option<(FaceId,crate::integer::Time)>{
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//check each face
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let mut best_time=time_limit;
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let mut best_face=None;
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for &(edge_id,face_id) in self.mesh.face_edges(face_id).iter(){
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let (n,d)=self.face_nd(face_id);
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for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
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let t=body.time+crate::integer::Time::from(t);
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if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))>Planar64::ZERO{
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best_time=t;
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best_face=Some(face_id);
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}
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}
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}
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best_face.map(|f|(f,best_time))
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}
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}
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impl MeshQuery<FaceId,EdgeId,VertId> for TransformedMesh<'_>{
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fn closest_fev(&self,point:Planar64Vec3)->FEV<FaceId,EdgeId,VertId>{
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//TODO: put some genius code right here
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//brute force for now
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let mut best_distance_squared=Planar64::MAX;
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//make something up as default ret
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//hopefully empty meshes don't make their way through here
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let mut best_fev=FEV::<FaceId,EdgeId,VertId>::Vert(VertId(0));
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//check each vert
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for i in 0..self.mesh.verts.len(){
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let v=self.vert(VertId(i));
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let d=(v-point).dot(v-point);
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if d<best_distance_squared{
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best_distance_squared=d;
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best_fev=FEV::<FaceId,EdgeId,VertId>::Vert(VertId(i));
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}
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}
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//check each edge
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for (i,e) in self.mesh.edge_topology.iter().enumerate(){
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let v0=self.vert(e.verts[0]);
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let v1=self.vert(e.verts[1]);
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let n=v1-v0;
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//n.cross(point-v0)=sin(t)*n*dis
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let d=n.dot(point-v0);
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if d<n.dot(v1)&&n.dot(v0)<d{
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let c=n.cross(point-v0);
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let edge_distance_squared=c.dot(c)/n.dot(n);
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if edge_distance_squared<best_distance_squared{
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best_distance_squared=edge_distance_squared;
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best_fev=FEV::<FaceId,EdgeId,VertId>::Edge(EdgeId(i));
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}
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}
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}
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let face_dots:Vec<Planar64>=self.mesh.faces.iter().map(|f|(*self.normal_transform*f.normal).dot(point)).collect();
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//check each face
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for (i,f) in self.mesh.face_topology.iter().enumerate(){
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if face_dots[i]<best_distance_squared&&f.edges.iter().all(|&(_,face_id)|face_dots[face_id.0]<=Planar64::ZERO){
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best_distance_squared=face_dots[i];
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best_fev=FEV::<FaceId,EdgeId,VertId>::Face(FaceId(i));
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}
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}
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best_fev
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}
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fn face_nd(&self,face_id:FaceId)->(Planar64Vec3,Planar64){
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let (n,d)=self.mesh.face_nd(face_id);
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(*self.normal_transform*n,self.normal_determinant*d)
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}
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fn vert(&self,vert_id:VertId)->Planar64Vec3{
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self.transform.transform_point3(self.mesh.vert(vert_id))
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}
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#[inline]
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fn face_edges(&self,face_id:FaceId)->Cow<Vec<(EdgeId,FaceId)>>{
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self.mesh.face_edges(face_id)
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}
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#[inline]
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fn edge_faces(&self,edge_id:EdgeId)->Cow<[FaceId;2]>{
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self.mesh.edge_faces(edge_id)
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}
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#[inline]
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fn edge_verts(&self,edge_id:EdgeId)->Cow<[VertId;2]>{
|
|
self.mesh.edge_verts(edge_id)
|
|
}
|
|
#[inline]
|
|
fn vert_edges(&self,vert_id:VertId)->Cow<Vec<EdgeId>>{
|
|
self.mesh.vert_edges(vert_id)
|
|
}
|
|
}
|
|
|
|
//Note that a face on a minkowski mesh refers to a pair of fevs on the meshes it's summed from
|
|
//(face,vertex)
|
|
//(edge,edge)
|
|
//(vertex,face)
|
|
#[derive(Clone,Copy)]
|
|
enum MinkowskiVert{
|
|
VertVert(VertId,VertId),
|
|
}
|
|
#[derive(Clone,Copy)]
|
|
enum MinkowskiEdge{
|
|
VertEdge(VertId,EdgeId),
|
|
EdgeVert(EdgeId,VertId),
|
|
}
|
|
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
|
|
pub enum MinkowskiFace{
|
|
FaceVert(FaceId,VertId),
|
|
EdgeEdge(EdgeId,EdgeId),
|
|
VertFace(VertId,FaceId),
|
|
}
|
|
|
|
pub struct MinkowskiMesh<'a>{
|
|
mesh0:&'a TransformedMesh<'a>,
|
|
mesh1:&'a TransformedMesh<'a>,
|
|
}
|
|
|
|
impl MinkowskiMesh<'_>{
|
|
pub fn minkowski_sum<'a>(mesh0:&'a TransformedMesh,mesh1:&'a TransformedMesh)->MinkowskiMesh<'a>{
|
|
MinkowskiMesh{
|
|
mesh0,
|
|
mesh1,
|
|
}
|
|
}
|
|
}
|
|
impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
|
|
fn closest_fev(&self,point:Planar64Vec3)->FEV<MinkowskiFace,MinkowskiEdge,MinkowskiVert>{
|
|
//put some genius code right here
|
|
todo!()
|
|
}
|
|
fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){
|
|
match face_id{
|
|
MinkowskiFace::FaceVert(f0,v1)=>{
|
|
let (n,d)=self.mesh0.face_nd(f0);
|
|
(n,d+n.dot(self.mesh1.vert(v1)))
|
|
},
|
|
MinkowskiFace::EdgeEdge(e0,e1)=>{
|
|
let [e0f0,e0f1]=self.mesh0.edge_faces(e0).into_owned();
|
|
let [e1f0,e1f1]=self.mesh1.edge_faces(e1).into_owned();
|
|
//cross edge faces
|
|
//cross crosses
|
|
todo!()
|
|
},
|
|
MinkowskiFace::VertFace(v0,f1)=>{
|
|
let (n,d)=self.mesh1.face_nd(f1);
|
|
(-n,d-n.dot(self.mesh0.vert(v0)))
|
|
},
|
|
}
|
|
}
|
|
fn vert(&self,vert_id:MinkowskiVert)->Planar64Vec3{
|
|
match vert_id{
|
|
MinkowskiVert::VertVert(v0,v1)=>{
|
|
self.mesh0.vert(v0)-self.mesh1.vert(v1)
|
|
},
|
|
}
|
|
}
|
|
fn face_edges(&self,face_id:MinkowskiFace)->Cow<Vec<(MinkowskiEdge,MinkowskiFace)>>{
|
|
match face_id{
|
|
MinkowskiFace::FaceVert(f0,v1)=>{
|
|
Cow::Owned(self.mesh0.face_edges(f0).iter().map(|&(edge_id0,face_id0)|{
|
|
(MinkowskiEdge::EdgeVert(edge_id0,v1),MinkowskiFace::FaceVert(face_id0,v1))
|
|
}).collect())
|
|
},
|
|
MinkowskiFace::EdgeEdge(e0,e1)=>{
|
|
/*
|
|
let e0v=self.mesh0.edge_verts(e0);
|
|
let e1v=self.mesh1.edge_verts(e1);
|
|
let [r0,r1]=e0v.map(|vert_id0|{
|
|
//sort e1 ends by e0 edge dir to get v1
|
|
//find face normal formulation without cross products
|
|
let v1=if 0<(e0.v1-e0.v0).dot(e1.v1-e1.v0){
|
|
e1.v0
|
|
}else{
|
|
e1.v1
|
|
};
|
|
(MinkowskiEdge::VertEdge(vert_id0,e1),MinkowskiFace::FaceVert(face_id0,v1))
|
|
});
|
|
let [r2,r3]=e1v.map(|vert_id1|{
|
|
//sort e0 ends by e1 edge dir to get v0
|
|
let v0=if 0<(e0.v1-e0.v0).dot(e1.v1-e1.v0){
|
|
e0.v0
|
|
}else{
|
|
e0.v1
|
|
};
|
|
(MinkowskiEdge::EdgeVert(e0,vert_id1),MinkowskiFace::VertFace(v0,face_id1))
|
|
});
|
|
Cow::Owned(vec![r0,r1,r2,r3])
|
|
*/
|
|
todo!()
|
|
},
|
|
MinkowskiFace::VertFace(v0,f1)=>{
|
|
Cow::Owned(self.mesh1.face_edges(f1).iter().map(|&(edge_id1,face_id1)|{
|
|
(MinkowskiEdge::VertEdge(v0,edge_id1),MinkowskiFace::VertFace(v0,face_id1))
|
|
}).collect())
|
|
},
|
|
}
|
|
}
|
|
fn edge_faces(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiFace;2]>{
|
|
match edge_id{
|
|
MinkowskiEdge::VertEdge(v0,e1)=>{
|
|
Cow::Owned(self.mesh1.edge_faces(e1).map(|face_id1|{
|
|
MinkowskiFace::VertFace(v0,face_id1)
|
|
}))
|
|
},
|
|
MinkowskiEdge::EdgeVert(e0,v1)=>{
|
|
Cow::Owned(self.mesh0.edge_faces(e0).map(|face_id0|{
|
|
MinkowskiFace::FaceVert(face_id0,v1)
|
|
}))
|
|
},
|
|
}
|
|
}
|
|
fn edge_verts(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiVert;2]>{
|
|
match edge_id{
|
|
MinkowskiEdge::VertEdge(v0,e1)=>{
|
|
Cow::Owned(self.mesh1.edge_verts(e1).map(|vert_id1|{
|
|
MinkowskiVert::VertVert(v0,vert_id1)
|
|
}))
|
|
},
|
|
MinkowskiEdge::EdgeVert(e0,v1)=>{
|
|
Cow::Owned(self.mesh0.edge_verts(e0).map(|vert_id0|{
|
|
MinkowskiVert::VertVert(vert_id0,v1)
|
|
}))
|
|
},
|
|
}
|
|
}
|
|
fn vert_edges(&self,vert_id:MinkowskiVert)->Cow<Vec<MinkowskiEdge>>{
|
|
match vert_id{
|
|
MinkowskiVert::VertVert(v0,v1)=>{
|
|
let v0e=self.mesh0.vert_edges(v0);
|
|
let v1e=self.mesh1.vert_edges(v1);
|
|
//uh oh dot product
|
|
//pass all dots?
|
|
//it's a convex hull of {v0e,-v1e}
|
|
//each edge needs to know which vert to use from the other mesh
|
|
todo!()
|
|
},
|
|
}
|
|
}
|
|
}
|