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sneaky double doubling bug

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Quaternions 2023-11-23 15:48:38 -08:00
parent d7042f9cba
commit d631747030
1 changed files with 3 additions and 2 deletions
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src/model_physics.rs
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@ -440,9 +440,10 @@ impl MinkowskiMesh<'_>{
for (i,&face_id) in self.edge_faces(edge_id).iter().enumerate(){ for (i,&face_id) in self.edge_faces(edge_id).iter().enumerate(){
let face_n=self.face_nd(face_id).0; let face_n=self.face_nd(face_id).0;
//edge-face boundary nd, n facing out of the face towards the edge //edge-face boundary nd, n facing out of the face towards the edge
let boundary_n=edge_n.cross(face_n)*(i as i64*4-2); let boundary_n=edge_n.cross(face_n)*(i as i64*2-1);
let boundary_d=boundary_n.dot(vert_sum); let boundary_d=boundary_n.dot(vert_sum);
if infinity_dir.dot(boundary_n)==Planar64::ZERO&&point.dot(boundary_n)<=boundary_d{ // point.dot(boundary_n) is multiplied by two because vert_sum sums two vertices.
if infinity_dir.dot(boundary_n)==Planar64::ZERO&&point.dot(boundary_n)*2<=boundary_d{
//both faces cannot pass this condition, return early if one does. //both faces cannot pass this condition, return early if one does.
return FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id); return FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id);
} }