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MinkowskiMesh::edge_faces sorting against incorrect value

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Quaternions 2023-11-20 18:10:40 -08:00
parent da6b800d4e
commit 72d8186ba4
1 changed files with 21 additions and 22 deletions
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31
src/model_physics.rs
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@ -472,22 +472,22 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
fn edge_faces(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiFace;2]>{ fn edge_faces(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiFace;2]>{
match edge_id{ match edge_id{
MinkowskiEdge::VertEdge(v0,e1)=>{ MinkowskiEdge::VertEdge(v0,e1)=>{
let e1f=self.mesh1.edge_faces(e1); //tracking index with an external variable because .enumerate() is not available
let e1f0_n=self.mesh1.face_nd(e1f[0]).0; let mut i=0;
let e1f1_n=self.mesh1.face_nd(e1f[1]).0; Cow::Owned(self.mesh1.edge_faces(e1).map(|edge_face_id1|{
Cow::Owned([(e1f[0],e1f0_n,e1f1_n,true),(e1f[1],e1f1_n,e1f0_n,false)].map(|(edge_face_id1,edge_face1_n,other_edge_face1_n,face_parity)|{ let face_parity=i==0;
i+=1;
let mut best_edge=None; let mut best_edge=None;
let mut best_d=Planar64::MAX; let mut best_d=Planar64::ZERO;
let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
for &directed_edge_id0 in self.mesh0.vert_edges(v0).iter(){ for &directed_edge_id0 in self.mesh0.vert_edges(v0).iter(){
let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0); let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
if edge_face1_n.dot(edge0_n)<Planar64::ZERO{ let d=edge_face1_n.dot(edge0_n);
let d=other_edge_face1_n.dot(edge0_n);
if d<best_d{ if d<best_d{
best_d=d; best_d=d;
best_edge=Some(directed_edge_id0); best_edge=Some(directed_edge_id0);
} }
} }
}
best_edge.map_or( best_edge.map_or(
MinkowskiFace::VertFace(v0,edge_face_id1), MinkowskiFace::VertFace(v0,edge_face_id1),
|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_undirected(),e1,directed_edge_id0.parity()^face_parity) |directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_undirected(),e1,directed_edge_id0.parity()^face_parity)
@ -495,22 +495,21 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
})) }))
}, },
MinkowskiEdge::EdgeVert(e0,v1)=>{ MinkowskiEdge::EdgeVert(e0,v1)=>{
let e0f=self.mesh0.edge_faces(e0); let mut i=0;
let e0f0_n=self.mesh0.face_nd(e0f[0]).0; Cow::Owned(self.mesh0.edge_faces(e0).map(|edge_face_id0|{
let e0f1_n=self.mesh0.face_nd(e0f[1]).0; let face_parity=i==0;
Cow::Owned([(e0f[0],e0f0_n,e0f1_n,true),(e0f[1],e0f1_n,e0f0_n,false)].map(|(edge_face_id0,edge_face0_n,other_edge_face0_n,face_parity)|{ i+=1;
let mut best_edge=None; let mut best_edge=None;
let mut best_d=Planar64::MAX; let mut best_d=Planar64::ZERO;
let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
for &directed_edge_id1 in self.mesh1.vert_edges(v1).iter(){ for &directed_edge_id1 in self.mesh1.vert_edges(v1).iter(){
let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1); let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
if edge_face0_n.dot(edge1_n)<Planar64::ZERO{ let d=edge_face0_n.dot(edge1_n);
let d=other_edge_face0_n.dot(edge1_n);
if d<best_d{ if d<best_d{
best_d=d; best_d=d;
best_edge=Some(directed_edge_id1); best_edge=Some(directed_edge_id1);
} }
} }
}
best_edge.map_or( best_edge.map_or(
MinkowskiFace::FaceVert(edge_face_id0,v1), MinkowskiFace::FaceVert(edge_face_id0,v1),
|directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_undirected(),directed_edge_id1.parity()^face_parity) |directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_undirected(),directed_edge_id1.parity()^face_parity)