brute force t for plain mesh

src/model_physics.rs

@@ -171,6 +171,28 @@ impl PhysicsMesh{
 	pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'a{
 		self.verts.iter().map(|Vert(pos)|*pos)
 	}
+	pub fn brute_t(&self,body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(FaceId,crate::integer::Time)>{
+		//check each face
+		let mut best_time=time_limit;
+		let mut best_face=None;
+		for (i,f) in self.face_topology.iter().enumerate(){
+			let (n,d)=self.face_nd(FaceId(i));
+			for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+				let t=body.time+crate::integer::Time::from(t);
+				if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+				let p=body.extrapolated_position(t);
+					if f.edges.iter().all(|&(_,face_id)|{
+						let (n,d)=self.face_nd(face_id);
+						n.dot(p)<=d
+					}){
+						best_time=t;
+						best_face=Some(FaceId(i));
+					}
+				}
+			}
+		}
+		best_face.map(|f|(f,best_time))
+	}
 }
 impl MeshQuery<FaceId,EdgeId,VertId> for PhysicsMesh{
 	fn closest_fev(&self,point:Planar64Vec3)->FEV<FaceId,EdgeId,VertId>{