StrafesNET/strafe-client
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typo

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Quaternions 2024-09-27 11:27:23 -07:00
parent 4eda90e178
commit 9bdb3ff403
1 changed files with 7 additions and 7 deletions
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14
src/face_crawler.rs
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@ -15,7 +15,7 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
fn next_transition(fev:&MinkowskiFEV,body_time:GigaTime,mesh:&MinkowskiMesh,body:&Body,mut best_time:GigaTime)->MinkowskiTransition{
//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.
let mut best_transtition=MinkowskiTransition::Miss;
let mut best_transition=MinkowskiTransition::Miss;
match fev{
&MinkowskiFEV::Face(face_id)=>{
//test own face collision time, ignoring roots with zero or conflicting derivative
@ -27,7 +27,7 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
for dt in Fixed::<4,128>::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
best_time=dt;
best_transtition=MinkowskiTransition::Hit(face_id,dt);
best_transition=MinkowskiTransition::Hit(face_id,dt);
break;
}
}
@ -41,7 +41,7 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
for dt in Fixed::<4,128>::zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))).fix_4(),n.dot(body.velocity).fix_4()*2,n.dot(body.acceleration).fix_4()){
if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
best_time=dt;
best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
break;
}
}
@ -61,7 +61,7 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
for dt in Fixed::<4,128>::zeroes2(n.dot(delta_pos).fix_4(),n.dot(body.velocity).fix_4()*2,n.dot(body.acceleration).fix_4()){
if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
best_time=dt;
best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Face(edge_face_id),dt);
best_transition=MinkowskiTransition::Next(MinkowskiFEV::Face(edge_face_id),dt);
break;
}
}
@ -74,7 +74,7 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
best_time=dt;
best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Vert(vert_id),dt);
best_transition=MinkowskiTransition::Next(MinkowskiFEV::Vert(vert_id),dt);
break;
}
}
@ -90,7 +90,7 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
best_time=dt;
best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
break;
}
}
@ -98,7 +98,7 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
//if none:
},
}
best_transtition
best_transition
}
pub enum CrawlResult<F,E:DirectedEdge,V>{
Miss(FEV<F,E,V>),