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correct MinkowskiMesh::face_edges FaceVert + VertFace cases

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Quaternions 2023-11-10 16:48:30 -08:00
parent 4fc09806f6
commit f7c613dfa6
1 changed files with 51 additions and 4 deletions
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55
src/model_physics.rs
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@ -535,8 +535,34 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
fn face_edges(&self,face_id:MinkowskiFace)->Cow<Vec<(MinkowskiEdge,MinkowskiFace)>>{
match face_id{
MinkowskiFace::FaceVert(f0,v1)=>{
Cow::Owned(self.mesh0.face_edges(f0).iter().map(|&(edge_id0,face_id0)|{
(MinkowskiEdge::EdgeVert(edge_id0,v1),MinkowskiFace::FaceVert(face_id0,v1))
let face0_n=self.mesh0.face_nd(f0).0;
Cow::Owned(self.mesh0.face_edges(f0).iter().map(|&(edge_id0,edge_face_id0)|{
//compare v1 edges
//candidate edges have negative dot with edge_face_id0 normal
//choose the edge with the smallest edgedir dot with f0 normal
//MinkowskiFace::EdgeEdge(edge_id0,edge_id1)
//if there is no candidate edges
//MinkowskiFace::FaceVert(edge_face_id0,v1)
(MinkowskiEdge::EdgeVert(edge_id0,v1),{
let mut best_edge=None;
let mut best_d=Planar64::MAX;
let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
let v1e=self.mesh1.vert_directed_edges(v1);
for &directed_edge_id1 in v1e.iter(){
let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
if edge_face0_n.dot(edge1_n)<Planar64::ZERO{
let d=face0_n.dot(edge1_n);
if d<best_d{
best_d=d;
best_edge=Some(directed_edge_id1)
}
}
}
best_edge.map_or(
MinkowskiFace::FaceVert(edge_face_id0,v1),
|directed_edge_id1|MinkowskiFace::EdgeEdge(edge_id0,directed_edge_id1.as_edge_id())
)
})
}).collect())
},
MinkowskiFace::EdgeEdge(e0,e1)=>{
@ -567,8 +593,29 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
todo!()
},
MinkowskiFace::VertFace(v0,f1)=>{
Cow::Owned(self.mesh1.face_edges(f1).iter().map(|&(edge_id1,face_id1)|{
(MinkowskiEdge::VertEdge(v0,edge_id1),MinkowskiFace::VertFace(v0,face_id1))
let face1_n=self.mesh1.face_nd(f1).0;
Cow::Owned(self.mesh1.face_edges(f1).iter().map(|&(edge_id1,edge_face_id1)|{
//same as above
(MinkowskiEdge::VertEdge(v0,edge_id1),{
let mut best_edge=None;
let mut best_d=Planar64::MAX;
let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
let v0e=self.mesh0.vert_directed_edges(v0);
for &directed_edge_id0 in v0e.iter(){
let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
if edge_face1_n.dot(edge0_n)<Planar64::ZERO{
let d=face1_n.dot(edge0_n);
if d<best_d{
best_d=d;
best_edge=Some(directed_edge_id0)
}
}
}
best_edge.map_or(
MinkowskiFace::VertFace(v0,edge_face_id1),
|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_edge_id(),edge_id1)
)
})
}).collect())
},
}