infinity_fev edge case handling algorithm
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@ -356,6 +356,17 @@ pub struct MinkowskiMesh<'a>{
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mesh1:&'a TransformedMesh<'a>,
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}
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//infinity fev algorithm state transition
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enum Transition{
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Done,//found closest vert, no edges are better
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Vert(MinkowskiVert),//transition to vert
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Edge(MinkowskiEdge),//transition to edge, algorithm finished
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}
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enum EV{
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Vert(MinkowskiVert),
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Edge(MinkowskiEdge),
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}
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impl MinkowskiMesh<'_>{
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pub fn minkowski_sum<'a>(mesh0:&'a TransformedMesh,mesh1:&'a TransformedMesh)->MinkowskiMesh<'a>{
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MinkowskiMesh{
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@ -366,98 +377,115 @@ impl MinkowskiMesh<'_>{
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fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
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MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
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}
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fn handle_vert_degenerate_case(&self,vert_id:MinkowskiVert,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{
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let mut best_edge=None;
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let mut best_d=Planar64::ZERO;
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//find edge with highest non-negative dot with point
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let p=point-self.vert(vert_id);
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fn next_transition(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{
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let mut best_transition=Transition::Done;
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for &directed_edge_id in self.vert_edges(vert_id).iter(){
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let edge_n=self.directed_edge_n(directed_edge_id);
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let d=p.dot(edge_n);
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if best_d<d{
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best_d=d;
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best_edge=Some(directed_edge_id.as_undirected());
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}
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}
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best_edge.map_or(
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FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(vert_id),
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|edge_id|self.handle_edge_degenerate_case(edge_id,point)
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)
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}
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fn handle_edge_degenerate_case(&self,edge_id:MinkowskiEdge,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{
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//test all faces with point beyond edge-face boundary
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let mut best_face=None;
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let mut best_d=Planar64::MAX;
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let edge_n=self.edge_n(edge_id);
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let edge_verts=self.edge_verts(edge_id);
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for (i,&face_id) in self.edge_faces(edge_id).iter().enumerate(){
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let (face_n,face_d)=self.face_nd(face_id);
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//edge-face boundary nd, n facing out of the face towards the edge
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let boundary_n=edge_n.cross(face_n)*((i as i64)*4-2);
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let boundary_d=boundary_n.dot(self.vert(edge_verts[0]))+boundary_n.dot(self.vert(edge_verts[1]));
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if point.dot(boundary_n)<=boundary_d{
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//must be normalized to compare distances
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let d=point.dot(face_n)-face_d;
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let dd=d*d/face_n.dot(face_n);
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if dd<best_d{
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best_d=dd;
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best_face=Some(face_id);
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//is boundary uncrossable by a crawl from infinity
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if infinity_dir.dot(edge_n)==Planar64::ZERO{
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let edge_verts=self.edge_verts(directed_edge_id.as_undirected());
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//select opposite vertex
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let test_vert_id=edge_verts[directed_edge_id.parity() as usize];
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//test if it's closer
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let diff=point-self.vert(test_vert_id);
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let distance_squared=diff.dot(diff);
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if distance_squared<*best_distance_squared{
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best_transition=Transition::Vert(test_vert_id);
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*best_distance_squared=distance_squared;
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}
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//test the edge
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let d=diff.dot(edge_n);
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if Planar64::ZERO<d&&d<edge_n.dot(edge_n){
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let distance_squared={
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let c=diff.cross(edge_n);
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c.dot(c)/edge_n.dot(edge_n)
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};
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if distance_squared<*best_distance_squared{
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best_transition=Transition::Edge(directed_edge_id.as_undirected());
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*best_distance_squared=distance_squared;
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}
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}
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}
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}
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best_face.map_or(
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FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Edge(edge_id),
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|face_id|FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id)
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)
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best_transition
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}
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/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
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fn handle_degenerate_cases(&self,fev:FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{
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match &fev{
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FEV::Face(_)=>fev,//face has no edge cases
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&FEV::Edge(edge_id)=>self.handle_edge_degenerate_case(edge_id,point),
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&FEV::Vert(vert_id)=>self.handle_vert_degenerate_case(vert_id,point),
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fn crawl_boundaries(&self,mut vert_id:MinkowskiVert,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
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let mut best_distance_squared={
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let diff=point-self.vert(vert_id);
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diff.dot(diff)
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};
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loop{
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match self.next_transition(vert_id,&mut best_distance_squared,infinity_dir,point){
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Transition::Done=>return EV::Vert(vert_id),
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Transition::Vert(new_vert_id)=>vert_id=new_vert_id,
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Transition::Edge(edge_id)=>return EV::Edge(edge_id),
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}
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}
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}
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pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
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let mut infinity_body=relative_body.clone();
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infinity_body.acceleration=Planar64Vec3::ZERO;
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infinity_body.infinity_dir().map_or(None,|dir|{
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let start_vert=FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(self.farthest_vert(-dir));
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//crawl in from negative infinity along a tangent line to get the closest fev
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match crate::face_crawler::crawl_fev(start_vert,self,&infinity_body,crate::integer::Time::MIN,infinity_body.time){
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crate::face_crawler::CrawlResult::Miss(fev)=>{
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let closest_fev=self.handle_degenerate_cases(fev,infinity_body.position);
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//continue forwards along the body parabola
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match crate::face_crawler::crawl_fev(closest_fev,self,relative_body,relative_body.time,time_limit){
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crate::face_crawler::CrawlResult::Miss(_)=>None,
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crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
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/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
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fn infinity_fev(&self,infinity_dir:Planar64Vec3,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{
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//start on any vertex
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//cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
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//cross edge-face boundary if it's uncrossable
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match self.crawl_boundaries(self.farthest_vert(infinity_dir),infinity_dir,point){
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//if a vert is returned, it is the closest point to the infinity point
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EV::Vert(vert_id)=>FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(vert_id),
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EV::Edge(edge_id)=>{
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//cross to face if the boundary is not crossable and we are on the wrong side
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let edge_n=self.edge_n(edge_id);
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let vert_sum={
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let &[v0,v1]=self.edge_verts(edge_id).borrow();
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self.vert(v0)+self.vert(v1)
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};
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for (i,&face_id) in self.edge_faces(edge_id).iter().enumerate(){
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let face_n=self.face_nd(face_id).0;
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//edge-face boundary nd, n facing out of the face towards the edge
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let boundary_n=edge_n.cross(face_n)*(i as i64*4-2);
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let boundary_d=boundary_n.dot(vert_sum);
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if infinity_dir.dot(boundary_n)==Planar64::ZERO&&point.dot(boundary_n)<=boundary_d{
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//both faces cannot pass this condition, return early if one does.
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return FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id);
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}
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},
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}
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FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Edge(edge_id)
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},
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}
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}
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fn closest_fev_not_inside(&self,mut infinity_body:crate::physics::Body)->Option<FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>>{
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infinity_body.infinity_dir().map_or(None,|dir|{
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let infinity_fev=self.infinity_fev(-dir,infinity_body.position);
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//a line is simpler to solve than a parabola
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infinity_body.velocity=dir;
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infinity_body.acceleration=Planar64Vec3::ZERO;
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//crawl in from negative infinity along a tangent line to get the closest fev
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match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,crate::integer::Time::MIN,infinity_body.time){
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crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
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crate::face_crawler::CrawlResult::Hit(_,_)=>None,
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}
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})
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}
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pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
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self.closest_fev_not_inside(relative_body.clone()).map_or(None,|fev|{
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//continue forwards along the body parabola
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match crate::face_crawler::crawl_fev(fev,self,relative_body,relative_body.time,time_limit){
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crate::face_crawler::CrawlResult::Miss(_)=>None,
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crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
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}
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})
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}
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pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
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//create an extrapolated body at time_limit
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let infinity_body=crate::physics::Body::new(
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relative_body.extrapolated_position(time_limit),
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-relative_body.extrapolated_velocity(time_limit),
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Planar64Vec3::ZERO,
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relative_body.acceleration,
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-time_limit,
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);
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infinity_body.infinity_dir().map_or(None,|dir|{
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let start_vert=FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(self.farthest_vert(dir));
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//crawl in from positive infinity along a tangent line to get the closest fev
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match crate::face_crawler::crawl_fev(start_vert,self,&infinity_body,crate::integer::Time::MIN,-time_limit){
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crate::face_crawler::CrawlResult::Miss(fev)=>{
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let closest_fev=self.handle_degenerate_cases(fev,infinity_body.position);
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//continue backwards along the body parabola
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match crate::face_crawler::crawl_fev(closest_fev,self,&-relative_body.clone(),-time_limit,-relative_body.time){
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crate::face_crawler::CrawlResult::Miss(_)=>None,
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crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,-time)),//no need to test -time<time_limit because of the first step
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}
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},
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crate::face_crawler::CrawlResult::Hit(_,_)=>None,
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self.closest_fev_not_inside(infinity_body).map_or(None,|fev|{
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//continue backwards along the body parabola
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match crate::face_crawler::crawl_fev(fev,self,&-relative_body.clone(),-time_limit,-relative_body.time){
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crate::face_crawler::CrawlResult::Miss(_)=>None,
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crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,-time)),//no need to test -time<time_limit because of the first step
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}
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})
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}
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@ -977,14 +977,14 @@ impl Body{
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self.time=time;
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}
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pub fn infinity_dir(&self)->Option<Planar64Vec3>{
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if self.acceleration==Planar64Vec3::ZERO{
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if self.velocity==Planar64Vec3::ZERO{
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if self.velocity==Planar64Vec3::ZERO{
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if self.acceleration==Planar64Vec3::ZERO{
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None
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}else{
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Some(self.velocity)
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Some(self.acceleration)
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}
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}else{
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Some(self.acceleration)
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Some(self.velocity)
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}
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}
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pub fn grow_aabb(&self,aabb:&mut crate::aabb::Aabb,t0:Time,t1:Time){
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