delete aabb physics
This commit is contained in:
parent
3c443b6b6a
commit
d155517587
282
src/physics.rs
282
src/physics.rs
@ -1,7 +1,6 @@
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use crate::zeroes::zeroes2;
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use crate::instruction::{InstructionEmitter,InstructionConsumer,TimedInstruction};
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use crate::instruction::{InstructionEmitter,InstructionConsumer,TimedInstruction};
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use crate::integer::{Time,Planar64,Planar64Vec3,Planar64Mat3,Angle32,Ratio64,Ratio64Vec2};
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use crate::integer::{Time,Planar64,Planar64Vec3,Planar64Mat3,Angle32,Ratio64,Ratio64Vec2};
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use crate::model_physics::{PhysicsMesh,TransformedMesh,MinkowskiMesh};
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use crate::model_physics::{PhysicsMesh,TransformedMesh};
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#[derive(Debug)]
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#[derive(Debug)]
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pub enum PhysicsInstruction {
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pub enum PhysicsInstruction {
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@ -970,285 +969,6 @@ impl PhysicsState {
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MoveState::Water=>None,//TODO
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MoveState::Water=>None,//TODO
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}
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}
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}
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}
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fn mesh(&self) -> TreyMesh {
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let mut aabb=TreyMesh::default();
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for vertex in TreyMesh::unit_vertices(){
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aabb.grow(self.body.position+self.style.hitbox_halfsize*vertex);
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}
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aabb
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}
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fn predict_collision_end(&self,time:Time,time_limit:Time,collision_data:&ContactCollision) -> Option<TimedInstruction<PhysicsInstruction>> {
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//must treat cancollide false objects differently: you may not exit through the same face you entered.
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//RelativeCollsion must reference the full model instead of a particular face
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//this is Ctrl+C Ctrl+V of predict_collision_start but with v=-v before the calc and t=-t after the calc
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//find best t
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let mut best_time=time_limit;
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let mut exit_face:Option<TreyMeshFace>=None;
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let mesh0=self.mesh();
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let mesh1=self.models.get(collision_data.model as usize).unwrap().mesh();
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let (v,a)=(-self.body.velocity,self.body.acceleration);
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//collect x
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match collision_data.face {
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TreyMeshFace::Top|TreyMeshFace::Back|TreyMeshFace::Bottom|TreyMeshFace::Front=>{
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for t in zeroes2(mesh0.max.x()-mesh1.min.x(),v.x(),a.x()/2) {
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//negative t = back in time
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=self.body.time-Time::from(t);
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if time<=t_time&&t_time<best_time&&Planar64::ZERO<v.x()+a.x()*-t{
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//collect valid t
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best_time=t_time;
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exit_face=Some(TreyMeshFace::Left);
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break;
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}
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}
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for t in zeroes2(mesh0.min.x()-mesh1.max.x(),v.x(),a.x()/2) {
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//negative t = back in time
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=self.body.time-Time::from(t);
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if time<=t_time&&t_time<best_time&&v.x()+a.x()*-t<Planar64::ZERO{
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//collect valid t
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best_time=t_time;
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exit_face=Some(TreyMeshFace::Right);
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break;
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}
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}
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},
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TreyMeshFace::Left=>{
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//generate event if v.x<0||a.x<0
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if -v.x()<Planar64::ZERO{
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best_time=time;
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exit_face=Some(TreyMeshFace::Left);
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}
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},
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TreyMeshFace::Right=>{
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//generate event if 0<v.x||0<a.x
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if Planar64::ZERO<(-v.x()){
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best_time=time;
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exit_face=Some(TreyMeshFace::Right);
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}
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},
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}
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//collect y
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match collision_data.face {
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TreyMeshFace::Left|TreyMeshFace::Back|TreyMeshFace::Right|TreyMeshFace::Front=>{
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for t in zeroes2(mesh0.max.y()-mesh1.min.y(),v.y(),a.y()/2) {
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//negative t = back in time
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=self.body.time-Time::from(t);
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if time<=t_time&&t_time<best_time&&Planar64::ZERO<v.y()+a.y()*-t{
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//collect valid t
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best_time=t_time;
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exit_face=Some(TreyMeshFace::Bottom);
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break;
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}
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}
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for t in zeroes2(mesh0.min.y()-mesh1.max.y(),v.y(),a.y()/2) {
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//negative t = back in time
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=self.body.time-Time::from(t);
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if time<=t_time&&t_time<best_time&&v.y()+a.y()*-t<Planar64::ZERO{
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//collect valid t
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best_time=t_time;
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exit_face=Some(TreyMeshFace::Top);
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break;
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}
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}
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},
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TreyMeshFace::Bottom=>{
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//generate event if v.y<0||a.y<0
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if -v.y()<Planar64::ZERO{
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best_time=time;
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exit_face=Some(TreyMeshFace::Bottom);
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}
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},
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TreyMeshFace::Top=>{
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//generate event if 0<v.y||0<a.y
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if Planar64::ZERO<(-v.y()){
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best_time=time;
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exit_face=Some(TreyMeshFace::Top);
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}
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},
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}
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//collect z
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match collision_data.face {
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TreyMeshFace::Left|TreyMeshFace::Bottom|TreyMeshFace::Right|TreyMeshFace::Top=>{
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for t in zeroes2(mesh0.max.z()-mesh1.min.z(),v.z(),a.z()/2) {
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//negative t = back in time
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=self.body.time-Time::from(t);
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if time<=t_time&&t_time<best_time&&Planar64::ZERO<v.z()+a.z()*-t{
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//collect valid t
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best_time=t_time;
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exit_face=Some(TreyMeshFace::Front);
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break;
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}
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}
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for t in zeroes2(mesh0.min.z()-mesh1.max.z(),v.z(),a.z()/2) {
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//negative t = back in time
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=self.body.time-Time::from(t);
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if time<=t_time&&t_time<best_time&&v.z()+a.z()*-t<Planar64::ZERO{
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//collect valid t
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best_time=t_time;
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exit_face=Some(TreyMeshFace::Back);
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break;
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}
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}
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},
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TreyMeshFace::Front=>{
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//generate event if v.z<0||a.z<0
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if -v.z()<Planar64::ZERO{
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best_time=time;
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exit_face=Some(TreyMeshFace::Front);
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}
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},
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TreyMeshFace::Back=>{
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//generate event if 0<v.z||0<a.z
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if Planar64::ZERO<(-v.z()){
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best_time=time;
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exit_face=Some(TreyMeshFace::Back);
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}
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},
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}
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//generate instruction
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if let Some(_face) = exit_face{
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return Some(TimedInstruction {
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time: best_time,
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instruction: PhysicsInstruction::CollisionEnd(collision_data.clone())
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})
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}
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None
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}
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fn predict_collision_start(&self,time:Time,time_limit:Time,model_id:usize) -> Option<TimedInstruction<PhysicsInstruction>> {
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let mesh0=self.mesh();
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let mesh1=self.models.get(model_id).unwrap().mesh();
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let (p,v,a,body_time)=(self.body.position,self.body.velocity,self.body.acceleration,self.body.time);
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//find best t
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let mut best_time=time_limit;
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let mut best_face:Option<TreyMeshFace>=None;
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//collect x
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for t in zeroes2(mesh0.max.x()-mesh1.min.x(),v.x(),a.x()/2) {
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//must collide now or in the future
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=body_time+Time::from(t);
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if time<=t_time&&t_time<best_time&&Planar64::ZERO<v.x()+a.x()*t{
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let dp=self.body.extrapolated_position(t_time)-p;
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//faces must be overlapping
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if mesh1.min.y()<mesh0.max.y()+dp.y()&&mesh0.min.y()+dp.y()<mesh1.max.y()&&mesh1.min.z()<mesh0.max.z()+dp.z()&&mesh0.min.z()+dp.z()<mesh1.max.z() {
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//collect valid t
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best_time=t_time;
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best_face=Some(TreyMeshFace::Left);
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break;
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}
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}
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}
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for t in zeroes2(mesh0.min.x()-mesh1.max.x(),v.x(),a.x()/2) {
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//must collide now or in the future
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=body_time+Time::from(t);
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if time<=t_time&&t_time<best_time&&v.x()+a.x()*t<Planar64::ZERO{
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let dp=self.body.extrapolated_position(t_time)-p;
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//faces must be overlapping
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if mesh1.min.y()<mesh0.max.y()+dp.y()&&mesh0.min.y()+dp.y()<mesh1.max.y()&&mesh1.min.z()<mesh0.max.z()+dp.z()&&mesh0.min.z()+dp.z()<mesh1.max.z() {
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//collect valid t
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best_time=t_time;
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best_face=Some(TreyMeshFace::Right);
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break;
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}
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}
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}
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//collect y
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for t in zeroes2(mesh0.max.y()-mesh1.min.y(),v.y(),a.y()/2) {
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//must collide now or in the future
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=body_time+Time::from(t);
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if time<=t_time&&t_time<best_time&&Planar64::ZERO<v.y()+a.y()*t{
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let dp=self.body.extrapolated_position(t_time)-p;
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//faces must be overlapping
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if mesh1.min.x()<mesh0.max.x()+dp.x()&&mesh0.min.x()+dp.x()<mesh1.max.x()&&mesh1.min.z()<mesh0.max.z()+dp.z()&&mesh0.min.z()+dp.z()<mesh1.max.z() {
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//collect valid t
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best_time=t_time;
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best_face=Some(TreyMeshFace::Bottom);
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break;
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}
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}
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}
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for t in zeroes2(mesh0.min.y()-mesh1.max.y(),v.y(),a.y()/2) {
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//must collide now or in the future
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=body_time+Time::from(t);
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if time<=t_time&&t_time<best_time&&v.y()+a.y()*t<Planar64::ZERO{
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let dp=self.body.extrapolated_position(t_time)-p;
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//faces must be overlapping
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if mesh1.min.x()<mesh0.max.x()+dp.x()&&mesh0.min.x()+dp.x()<mesh1.max.x()&&mesh1.min.z()<mesh0.max.z()+dp.z()&&mesh0.min.z()+dp.z()<mesh1.max.z() {
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//collect valid t
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best_time=t_time;
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best_face=Some(TreyMeshFace::Top);
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break;
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}
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}
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}
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//collect z
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for t in zeroes2(mesh0.max.z()-mesh1.min.z(),v.z(),a.z()/2) {
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//must collide now or in the future
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=body_time+Time::from(t);
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if time<=t_time&&t_time<best_time&&Planar64::ZERO<v.z()+a.z()*t{
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let dp=self.body.extrapolated_position(t_time)-p;
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//faces must be overlapping
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if mesh1.min.y()<mesh0.max.y()+dp.y()&&mesh0.min.y()+dp.y()<mesh1.max.y()&&mesh1.min.x()<mesh0.max.x()+dp.x()&&mesh0.min.x()+dp.x()<mesh1.max.x() {
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//collect valid t
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best_time=t_time;
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best_face=Some(TreyMeshFace::Front);
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break;
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}
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}
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}
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for t in zeroes2(mesh0.min.z()-mesh1.max.z(),v.z(),a.z()/2) {
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//must collide now or in the future
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=body_time+Time::from(t);
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if time<=t_time&&t_time<best_time&&v.z()+a.z()*t<Planar64::ZERO{
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let dp=self.body.extrapolated_position(t_time)-p;
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//faces must be overlapping
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if mesh1.min.y()<mesh0.max.y()+dp.y()&&mesh0.min.y()+dp.y()<mesh1.max.y()&&mesh1.min.x()<mesh0.max.x()+dp.x()&&mesh0.min.x()+dp.x()<mesh1.max.x() {
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//collect valid t
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best_time=t_time;
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best_face=Some(TreyMeshFace::Back);
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break;
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}
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}
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}
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//generate instruction
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if let Some(face)=best_face{
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return Some(TimedInstruction{
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time: best_time,
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instruction:PhysicsInstruction::CollisionStart(ContactCollision{
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face,
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model:model_id
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})
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})
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}
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None
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}
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}
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}
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impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState {
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impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState {
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