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Quaternions 2024-08-19 17:50:25 -07:00
parent 46db92acd0
commit da8492d559
1 changed files with 9 additions and 2 deletions
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11
src/model_physics.rs
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@ -751,13 +751,20 @@ impl MinkowskiMesh<'_>{
}
best_edge.map(|e|(e.as_undirected(),best_time))
}
fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,integer::Time)>{
let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position);
match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
crate::face_crawler::CrawlResult::Miss(_)=>None,
crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
}
}
pub fn is_point_in_mesh(&self,point:Planar64Vec3)->bool{
let infinity_body=crate::physics::Body::new(point,Planar64Vec3::Y,Planar64Vec3::ZERO,integer::Time::ZERO);
//movement must escape the mesh forwards and backwards in time,
//otherwise the point is not inside the mesh
self.predict_collision_out(&infinity_body,integer::Time::MAX)
self.infinity_in(infinity_body)
.is_some_and(|_|
self.predict_collision_out(&-infinity_body,integer::Time::MAX)
self.infinity_in(-infinity_body)
.is_some()
)
}