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implement MinkowskiMesh::predict_collision{_end}

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Quaternions 2023-11-15 20:32:10 -08:00
parent 2d3efdc2e1
commit 5bfd340d87
2 changed files with 36 additions and 31 deletions
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42
src/face_crawler.rs
View File

@ -3,24 +3,18 @@ use crate::model_physics::{FEV,MeshQuery};
use crate::integer::{Time,Planar64}; use crate::integer::{Time,Planar64};
use crate::zeroes::zeroes2; use crate::zeroes::zeroes2;
struct State<FEV>{
fev:FEV,
time:Time,
}
enum Transition<F,E,V>{ enum Transition<F,E,V>{
Miss, Miss,
Next(FEV<F,E,V>,Time), Next(FEV<F,E,V>,Time),
Hit(F,Time), Hit(F,Time),
} }
impl<F:Copy,E:Copy,V:Copy> State<FEV<F,E,V>>{ pub fn next_transition_body<F:Copy,E:Copy,V:Copy>(fev:&FEV<F,E,V>,time:Time,mesh:&impl MeshQuery<F,E,V>,body:&Body,time_limit:Time)->Transition<F,E,V>{
fn next_transition(&self,mesh:&impl MeshQuery<F,E,V>,body:&Body,time_limit:Time)->Transition<F,E,V>{
//conflicting derivative means it crosses in the wrong direction. //conflicting derivative means it crosses in the wrong direction.
//if the transition time is equal to an already tested transition, do not replace the current best. //if the transition time is equal to an already tested transition, do not replace the current best.
let mut best_time=time_limit; let mut best_time=time_limit;
let mut best_transtition=Transition::Miss; let mut best_transtition=Transition::Miss;
match &self.fev{ match fev{
&FEV::<F,E,V>::Face(face_id)=>{ &FEV::<F,E,V>::Face(face_id)=>{
//test own face collision time, ignoring roots with zero or conflicting derivative //test own face collision time, ignoring roots with zero or conflicting derivative
//n=face.normal d=face.dot //n=face.normal d=face.dot
@ -28,7 +22,7 @@ impl<F:Copy,E:Copy,V:Copy> State<FEV<F,E,V>>{
let (n,d)=mesh.face_nd(face_id); let (n,d)=mesh.face_nd(face_id);
for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){ for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t); let t=body.time+Time::from(t);
if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{ if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t; best_time=t;
best_transtition=Transition::Hit(face_id,t); best_transtition=Transition::Hit(face_id,t);
} }
@ -41,7 +35,7 @@ impl<F:Copy,E:Copy,V:Copy> State<FEV<F,E,V>>{
let d=n.dot(mesh.vert(mesh.edge_verts(edge_id)[0])); let d=n.dot(mesh.vert(mesh.edge_verts(edge_id)[0]));
for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){ for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t); let t=body.time+Time::from(t);
if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{ if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t; best_time=t;
best_transtition=Transition::Next(FEV::<F,E,V>::Edge(edge_id),t); best_transtition=Transition::Next(FEV::<F,E,V>::Edge(edge_id),t);
break; break;
@ -59,7 +53,7 @@ impl<F:Copy,E:Copy,V:Copy> State<FEV<F,E,V>>{
let d=n.dot(mesh.vert(mesh.edge_verts(edge_id)[0])); let d=n.dot(mesh.vert(mesh.edge_verts(edge_id)[0]));
for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){ for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t); let t=body.time+Time::from(t);
if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{ if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t; best_time=t;
best_transtition=Transition::Next(FEV::<F,E,V>::Face(test_face_id),t); best_transtition=Transition::Next(FEV::<F,E,V>::Face(test_face_id),t);
break; break;
@ -72,7 +66,7 @@ impl<F:Copy,E:Copy,V:Copy> State<FEV<F,E,V>>{
let d=n.dot(mesh.vert(vert_id)); let d=n.dot(mesh.vert(vert_id));
for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){ for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t); let t=body.time+Time::from(t);
if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{ if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t; best_time=t;
best_transtition=Transition::Next(FEV::<F,E,V>::Vert(vert_id),t); best_transtition=Transition::Next(FEV::<F,E,V>::Vert(vert_id),t);
break; break;
@ -88,7 +82,7 @@ impl<F:Copy,E:Copy,V:Copy> State<FEV<F,E,V>>{
let d=n.dot(mesh.vert(vert_id)); let d=n.dot(mesh.vert(vert_id));
for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){ for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t); let t=body.time+Time::from(t);
if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{ if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t; best_time=t;
best_transtition=Transition::Next(FEV::<F,E,V>::Edge(edge_id),t); best_transtition=Transition::Next(FEV::<F,E,V>::Edge(edge_id),t);
break; break;
@ -100,27 +94,13 @@ impl<F:Copy,E:Copy,V:Copy> State<FEV<F,E,V>>{
} }
best_transtition best_transtition
} }
} pub fn crawl_fev_body<F:Copy,E:Copy,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 predict_collision<F:Copy,E:Copy,V:Copy>(mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,time_limit:Time)->Option<(F,Time)>{
let mut state=State{
fev:mesh.closest_fev(relative_body.position),
time:relative_body.time,
};
//it would be possible to write down the point of closest approach...
loop{ loop{
match state.next_transition(mesh,relative_body,time_limit){ match next_transition_body(&fev,time,mesh,relative_body,time_limit){
Transition::Miss=>return None, Transition::Miss=>return None,
Transition::Next(fev,time)=>(state.fev,state.time)=(fev,time), Transition::Next(next_fev,next_time)=>(fev,time)=(next_fev,next_time),
Transition::Hit(face,time)=>return Some((face,time)), Transition::Hit(face,time)=>return Some((face,time)),
} }
} }
} }
pub fn predict_collision_end<F:Copy,E:Copy,V:Copy>(mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,time_limit:Time,ignore_face_id:F)->Option<(F,Time)>{
//imagine the mesh without the collision face
//no algorithm needed, there is only one state and three cases (Face,Edge,None)
//determine when it passes an edge ("sliding off" case) or if it leaves the surface directly
//the state can be constructed from the ContactCollision directly
None
}

25
src/model_physics.rs
View File

@ -325,6 +325,31 @@ impl MinkowskiMesh<'_>{
//put some genius code right here //put some genius code right here
todo!() todo!()
} }
pub fn predict_collision(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
crate::face_crawler::crawl_fev_body(self.closest_fev(relative_body.position),self,relative_body,time_limit)
}
pub fn predict_collision_end(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,crate::integer::Time)>{
//no algorithm needed, there is only one state and two cases (Edge,None)
//determine when it passes an edge ("sliding off" case)
let mut best_time=time_limit;
let mut best_edge=None;
let face_n=self.face_nd(contact_face_id).0;
for &edge_id in self.face_edges(contact_face_id).iter(){
let edge_n=self.edge_n(edge_id);
let n=face_n.cross(edge_n);
//picking a vert randomly is terrible
let d=n.dot(self.vert(self.edge_verts(edge_id)[0]));
for t in crate::zeroes::zeroes2((n.dot(relative_body.position)-d)*2,n.dot(relative_body.velocity)*2,n.dot(relative_body.acceleration)){
let t=relative_body.time+crate::integer::Time::from(t);
if relative_body.time<t&&t<best_time&&n.dot(relative_body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t;
best_edge=Some(edge_id);
break;
}
}
}
best_edge.map(|e|(e,best_time))
}
} }
impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){ fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){