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Quaternions 2023-11-17 16:23:48 -08:00
parent 563ade11f7
commit e33adeadc8
1 changed files with 3 additions and 3 deletions
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src/model_physics.rs
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@ -354,12 +354,12 @@ impl MinkowskiMesh<'_>{
MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
}
pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
let mut infinity_body=-relative_body.clone();
let mut infinity_body=relative_body.clone();
infinity_body.acceleration=Planar64Vec3::ZERO;
infinity_body.infinity_dir().map_or(None,|dir|{
let start_vert=FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(self.farthest_vert(dir));
let start_vert=FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(self.farthest_vert(-dir));
//crawl in from negative infinity along a tangent line to get the closest fev
match crate::face_crawler::crawl_fev(start_vert,self,&infinity_body,crate::integer::Time::MIN,relative_body.time){
match crate::face_crawler::crawl_fev(start_vert,self,&infinity_body,crate::integer::Time::MIN,infinity_body.time){
crate::face_crawler::CrawlResult::Miss(fev)=>{
//continue forwards along the body parabola
match crate::face_crawler::crawl_fev(fev,self,relative_body,relative_body.time,time_limit){