wip

src/push_solve.rs

@@ -14,13 +14,16 @@ pub struct Contact{
 	pub normal:Planar64Vec3,
 }
 impl Contact{
-	const fn relative_to(&self,point:Planar64Vec3)->Self{
+	fn relative_to(&self,point:Planar64Vec3)->Self{
 		Self{
 			position:self.position-point,
 			velocity:self.velocity,
 			normal:self.normal,
 		}
 	}
+	fn relative_dot(&self,direction:Planar64Vec3)->Planar64{
+		(direction-self.velocity).dot(self.normal)
+	}
 }
 
 const fn solve0()->Planar64Vec3{
@@ -88,10 +91,6 @@ fn is_space_enclosed_4(
 		||is_space_enclosed_3(b,c,d)
 }
 
-fn test_positivity(direction:Planar64Vec3,c:&Contact)->bool{
-	Planar64::ZERO<=(direction-c.velocity).dot(c.normal)
-}
-
 const fn get_push_ray_0(point:Planar64Vec3)->Option<Ray>{
 	Some(Ray{origin:point,direction:Planar64Vec3::ZERO})
 }
@@ -113,7 +112,7 @@ fn get_push_ray_1(point:Planar64Vec3,c0:&Contact)->Option<Ray>{
 	)?;
 	Some(Ray{origin,direction})
 }
-fn get_best_push_ray_and_indices_1(pnv_list:&Vec<Contact>,point:Planar64Vec3,i0:usize)->Option<(Ray,Indices)>{
+fn get_best_push_ray_and_indices_1(point:Planar64Vec3,pnv_list:&Vec<Contact>,i0:usize)->Option<(Ray,Indices)>{
 	get_push_ray_1(point,&pnv_list[i0])
 		.map(|ray|(ray,Indices::from_iter([i0])))
 }
@@ -130,12 +129,15 @@ fn get_push_ray_2(point:Planar64Vec3,c0:&Contact,c1:&Contact)->Option<Ray>{
 	)?;
 	Some(Ray{origin,direction})
 }
-fn get_best_push_ray_and_indices_2(pnv_list:&Vec<Contact>,point:Planar64Vec3,i0:usize,i1:usize)->Option<(Ray,Indices)>{
+fn get_best_push_ray_and_indices_2(point:Planar64Vec3,pnv_list:&Vec<Contact>,i0:usize,i1:usize)->Option<(Ray,Indices)>{
+	if is_space_enclosed_2(pnv_list[i0].normal,pnv_list[i1].normal){
+		return None;
+	}
 	if let Some(ray)=get_push_ray_2(point,&pnv_list[i0],&pnv_list[i1]){
 		return Some((ray,Indices::from_iter([i0,i1])));
 	}
 	if let Some(ray)=get_push_ray_1(point,&pnv_list[i0]){
-		if test_positivity(ray.direction,&pnv_list[i0]){
+		if Planar64::ZERO<=pnv_list[i1].relative_dot(ray.direction){
 			return Some((ray,Indices::from_iter([i0])));
 		}
 	}
@@ -155,22 +157,70 @@ fn get_push_ray_3(point:Planar64Vec3,c0:&Contact,c1:&Contact,c2:&Contact)->Optio
 	)?;
 	Some(Ray{origin,direction})
 }
-fn get_best_push_ray_and_indices_3(pnv_list:&Vec<Contact>,point:Planar64Vec3,i0:usize,i1:usize,i2:usize)->Option<(Ray,Indices)>{
+fn get_best_push_ray_and_indices_3(point:Planar64Vec3,pnv_list:&Vec<Contact>,i0:usize,i1:usize,i2:usize)->Option<(Ray,Indices)>{
-	get_push_ray_3(point,&pnv_list[i0],&pnv_list[i1],&pnv_list[i2])
+	if is_space_enclosed_3(pnv_list[i0].normal,pnv_list[i1].normal,pnv_list[i2].normal){
-		.map(|ray|(ray,Indices::from_iter([i0,i1,i2])))
+		return None;
+	}
+	if let Some(ray)=get_push_ray_3(point,&pnv_list[i0],&pnv_list[i1],&pnv_list[i2]){
+		return Some((ray,Indices::from_iter([i0,i1,i2])));
+	}
+	if let Some(ray)=get_push_ray_2(point,&pnv_list[i0],&pnv_list[i1]){
+		if Planar64::ZERO<=pnv_list[i2].relative_dot(ray.direction){
+			return Some((ray,Indices::from_iter([i0,i1])));
+		}
+	}
+	if let Some(ray)=get_push_ray_2(point,&pnv_list[i0],&pnv_list[i2]){
+		if Planar64::ZERO<=pnv_list[i1].relative_dot(ray.direction){
+			return Some((ray,Indices::from_iter([i0,i2])));
+		}
+	}
+	if let Some(ray)=get_push_ray_1(point,&pnv_list[i0]){
+		if Planar64::ZERO<=pnv_list[i1].relative_dot(ray.direction)
+		 &&Planar64::ZERO<=pnv_list[i2].relative_dot(ray.direction){
+			return Some((ray,Indices::from_iter([i0])));
+		}
+	}
+	return None;
+}
+
+fn get_best_push_ray_and_indices_4(point:Planar64Vec3,pnv_list:&Vec<Contact>,i0:usize,i1:usize,i2:usize,i3:usize)->Option<(Ray,Indices)>{
+	if is_space_enclosed_4(pnv_list[i0].normal,pnv_list[i1].normal,pnv_list[i2].normal,pnv_list[i3].normal){
+		return None;
+	}
+
+	let (ray012,indices012)=get_best_push_ray_and_indices_3(point,pnv_list,i0,i1,i2)?;
+	let (ray013,indices013)=get_best_push_ray_and_indices_3(point,pnv_list,i0,i1,i3)?;
+	let (ray023,indices023)=get_best_push_ray_and_indices_3(point,pnv_list,i0,i2,i3)?;
+
+	let err012=pnv_list[i3].relative_dot(ray012.direction);
+	let err013=pnv_list[i2].relative_dot(ray013.direction);
+	let err023=pnv_list[i1].relative_dot(ray023.direction);
+
+	let best_err=err012.max(err013).max(err023);
+
+	if best_err==err012{
+		return Some((ray012,indices012))
+	}else if best_err==err012{
+		return Some((ray013,indices013))
+	}else if best_err==err012{
+		return Some((ray023,indices023))
+	}
+	unreachable!()
 }
 
 fn get_best_push_ray_and_indices(
-	pnv_list:&Vec<Contact>,
 	point:Planar64Vec3,
+	pnv_list:&Vec<Contact>,
 	indices:Indices,
 )->Option<(Ray,Indices)>{
-	let is_space_enclosed=match indices.as_slice(){
+	match indices.as_slice(){
-		&[i0,i1,i2,i3]=>is_space_enclosed_4(pnv_list[i0].normal,pnv_list[i1].normal,pnv_list[i2].normal,pnv_list[i3].normal),
+		&[i0,i1,i2,i3]=>get_best_push_ray_and_indices_4(point,pnv_list,i0,i1,i2,i3),
-		&[i0,i1,i2]=>is_space_enclosed_3(pnv_list[i0].normal,pnv_list[i1].normal,pnv_list[i2].normal),
+		&[i0,i1,i2]=>get_best_push_ray_and_indices_3(point,pnv_list,i0,i1,i2),
-		&[i0,i1]=>is_space_enclosed_2(pnv_list[i0].normal,pnv_list[i1].normal),
+		&[i0,i1]=>get_best_push_ray_and_indices_2(point,pnv_list,i0,i1),
-		&[_]|&[]=>is_space_enclosed_0_1(),
+		&[i0]=>get_best_push_ray_and_indices_1(point,pnv_list,i0),
-	};
+		&[]=>get_best_push_ray_and_indices_0(point),
+		_=>unreachable!(),
+	}
 }
 
 pub fn push_solve(pnv_list:&Vec<Contact>,point:Planar64Vec3){