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@ -578,19 +578,18 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
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//faces are listed backwards from the minkowski mesh
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//faces are listed backwards from the minkowski mesh
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let v0e=self.mesh0.vert_edges(v0);
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let v0e=self.mesh0.vert_edges(v0);
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let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).borrow();
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let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).borrow();
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let e1f0_n=self.mesh0.face_nd(e1f0).0;
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Cow::Owned([(e1f1,true),(e1f0,false)].map(|(edge_face_id1,face_parity)|{
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let e1f1_n=self.mesh0.face_nd(e1f1).0;
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Cow::Owned([(e1f1,e1f1_n,true),(e1f0,e1f0_n,false)].map(|(edge_face_id1,edge_face_n,face_parity)|{
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let mut best_edge=None;
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let mut best_edge=None;
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let mut best_d=Planar64::ZERO;
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let mut best_d=Planar64::ZERO;
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let edge_face_nn=edge_face_n.dot(edge_face_n);
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let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
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let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
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for &directed_edge_id0 in v0e.iter(){
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for &directed_edge_id0 in v0e.iter(){
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let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
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let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
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//must be behind other face.
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//must be behind other face.
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let d=edge_face_n.dot(edge0_n);
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let d=edge_face1_n.dot(edge0_n);
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if d<Planar64::ZERO{
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if d<Planar64::ZERO{
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let edge0_nn=edge0_n.dot(edge0_n);
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let edge0_nn=edge0_n.dot(edge0_n);
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let dd=d*d/(edge_face_nn*edge0_nn);
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let dd=d*d/(edge_face1_nn*edge0_nn);
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if best_d<dd{
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if best_d<dd{
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best_d=dd;
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best_d=dd;
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best_edge=Some(directed_edge_id0);
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best_edge=Some(directed_edge_id0);
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@ -607,18 +606,17 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
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//tracking index with an external variable because .enumerate() is not available
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//tracking index with an external variable because .enumerate() is not available
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let v1e=self.mesh1.vert_edges(v1);
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let v1e=self.mesh1.vert_edges(v1);
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let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).borrow();
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let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).borrow();
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let e0f0_n=self.mesh0.face_nd(e0f0).0;
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Cow::Owned([(e0f0,true),(e0f1,false)].map(|(edge_face_id0,face_parity)|{
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let e0f1_n=self.mesh0.face_nd(e0f1).0;
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Cow::Owned([(e0f0,e0f0_n,true),(e0f1,e0f1_n,false)].map(|(edge_face_id0,edge_face_n,face_parity)|{
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let mut best_edge=None;
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let mut best_edge=None;
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let mut best_d=Planar64::ZERO;
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let mut best_d=Planar64::ZERO;
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let edge_face_nn=edge_face_n.dot(edge_face_n);
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let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
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let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
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for &directed_edge_id1 in v1e.iter(){
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for &directed_edge_id1 in v1e.iter(){
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let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
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let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
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let d=edge_face_n.dot(edge1_n);
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let d=edge_face0_n.dot(edge1_n);
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if d<Planar64::ZERO{
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if d<Planar64::ZERO{
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let edge1_nn=edge1_n.dot(edge1_n);
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let edge1_nn=edge1_n.dot(edge1_n);
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let dd=d*d/(edge_face_nn*edge1_nn);
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let dd=d*d/(edge_face0_nn*edge1_nn);
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if best_d<dd{
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if best_d<dd{
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best_d=dd;
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best_d=dd;
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best_edge=Some(directed_edge_id1);
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best_edge=Some(directed_edge_id1);
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