heyyy
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0c4dab76a6
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@ -3,20 +3,10 @@ use strafesnet_common::model;
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use strafesnet_common::zeroes;
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use strafesnet_common::integer::{self,Planar64,Planar64Vec3};
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#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
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pub struct VertId(usize);
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#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
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pub struct EdgeId(usize);
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pub trait UndirectedEdge{
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type DirectedEdge:Copy+DirectedEdge;
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fn as_directed(&self,parity:bool)->Self::DirectedEdge;
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}
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impl UndirectedEdge for EdgeId{
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type DirectedEdge=DirectedEdgeId;
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fn as_directed(&self,parity:bool)->DirectedEdgeId{
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DirectedEdgeId(self.0|((parity as usize)<<(usize::BITS-1)))
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}
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}
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pub trait DirectedEdge{
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type UndirectedEdge:Copy+UndirectedEdge;
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fn as_undirected(&self)->Self::UndirectedEdge;
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@ -26,20 +16,32 @@ pub trait DirectedEdge{
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self.as_undirected().as_directed(!self.parity())
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}
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}
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#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
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pub struct VertId(u32);
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#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
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pub struct EdgeId(u32);
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/// DirectedEdgeId refers to an EdgeId when undirected.
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#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
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pub struct DirectedEdgeId(usize);
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pub struct DirectedEdgeId(u32);
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#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
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pub struct FaceId(u32);
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impl UndirectedEdge for EdgeId{
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type DirectedEdge=DirectedEdgeId;
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fn as_directed(&self,parity:bool)->DirectedEdgeId{
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DirectedEdgeId(self.0|((parity as u32)<<(u32::BITS-1)))
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}
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}
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impl DirectedEdge for DirectedEdgeId{
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type UndirectedEdge=EdgeId;
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fn as_undirected(&self)->EdgeId{
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EdgeId(self.0&!(1<<(usize::BITS-1)))
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EdgeId(self.0&!(1<<(u32::BITS-1)))
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}
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fn parity(&self)->bool{
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self.0&(1<<(usize::BITS-1))!=0
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self.0&(1<<(u32::BITS-1))!=0
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}
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}
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#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
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pub struct FaceId(usize);
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//Vertex <-> Edge <-> Face -> Collide
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pub enum FEV<F,E:DirectedEdge,V>{
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@ -84,11 +86,13 @@ struct VertRefs{
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edges:Vec<DirectedEdgeId>,
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}
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struct PhysicsMeshData{
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//this contains all real and virtual faces used in both the complete mesh and convex submeshes
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//faces are sorted such that all faces that belong to the complete mesh appear first, and then
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//all remaining faces are virtual to operate internal logic of the face crawler
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//and cannot be part of a physics collision
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//virtual faces are only used in convex submeshes.
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faces:Vec<Face>,
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verts:Vec<Vert>,
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face_topology:Vec<FaceRefs>,
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edge_topology:Vec<EdgeRefs>,
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vert_topology:Vec<VertRefs>,
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}
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struct PhysicsMeshTopology{
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//mapping of local ids to PhysicsMeshData ids
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@ -100,24 +104,98 @@ struct PhysicsMeshTopology{
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vert_topology:Vec<VertRefs>,
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}
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pub struct PhysicsMesh{
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mesh:PhysicsMeshData,
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convex_submeshes:Vec<PhysicsMeshTopology>,
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mesh_data:PhysicsMeshData,
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//index 0 is the complete mesh.
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//index 1-2+ is convex submeshes.
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//Most objects in roblox maps are already convex, so the list length is 1
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//as soon as the mesh is divided into 2 submeshes, the list length jumps to 3.
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//length 2 is unnecessary since the complete mesh would be a duplicate of the only submesh, but would still function properly
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submeshes:Vec<PhysicsMeshTopology>,
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}
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impl PhysicsMesh{
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pub fn unit_cube()->Self{
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//go go gadget debug print mesh
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let mesh=PhysicsMeshData { faces: vec![Face { normal: Planar64Vec3::raw(4294967296, 0, 0), dot: Planar64::raw(4294967296) }, Face { normal: Planar64Vec3::raw(0, 4294967296, 0), dot: Planar64::raw(4294967296) }, Face { normal: Planar64Vec3::raw(0, 0, 4294967296), dot: Planar64::raw(4294967296) }, Face { normal: Planar64Vec3::raw(-4294967296, 0, 0), dot: Planar64::raw(4294967296) }, Face { normal: Planar64Vec3::raw(0, -4294967296, 0), dot: Planar64::raw(4294967296) }, Face { normal: Planar64Vec3::raw(0, 0, -4294967296), dot: Planar64::raw(4294967296) }], verts: vec![Vert(Planar64Vec3::raw(4294967296, -4294967296, -4294967296)), Vert(Planar64Vec3::raw(4294967296, 4294967296, -4294967296)), Vert(Planar64Vec3::raw(4294967296, 4294967296, 4294967296)), Vert(Planar64Vec3::raw(4294967296, -4294967296, 4294967296)), Vert(Planar64Vec3::raw(-4294967296, 4294967296, -4294967296)), Vert(Planar64Vec3::raw(-4294967296, 4294967296, 4294967296)), Vert(Planar64Vec3::raw(-4294967296, -4294967296, 4294967296)), Vert(Planar64Vec3::raw(-4294967296, -4294967296, -4294967296))]};
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let mesh_topology=PhysicsMeshTopology { face: vec![FaceRefs { edges: vec![DirectedEdgeId(9223372036854775808), DirectedEdgeId(9223372036854775809), DirectedEdgeId(9223372036854775810), DirectedEdgeId(3)] }, FaceRefs { edges: vec![DirectedEdgeId(9223372036854775812), DirectedEdgeId(9223372036854775813), DirectedEdgeId(6), DirectedEdgeId(1)] }, FaceRefs { edges: vec![DirectedEdgeId(7), DirectedEdgeId(2), DirectedEdgeId(9223372036854775814), DirectedEdgeId(9223372036854775816)] }, FaceRefs { edges: vec![DirectedEdgeId(8), DirectedEdgeId(5), DirectedEdgeId(9223372036854775817), DirectedEdgeId(10)] }, FaceRefs { edges: vec![DirectedEdgeId(9223372036854775815), DirectedEdgeId(9223372036854775818), DirectedEdgeId(11), DirectedEdgeId(9223372036854775811)] }, FaceRefs { edges: vec![DirectedEdgeId(4), DirectedEdgeId(0), DirectedEdgeId(9223372036854775819), DirectedEdgeId(9)] }], edge: vec![EdgeRefs { faces: [FaceId(0), FaceId(5)], verts: [VertId(0), VertId(1)] }, EdgeRefs { faces: [FaceId(0), FaceId(1)], verts: [VertId(1), VertId(2)] }, EdgeRefs { faces: [FaceId(0), FaceId(2)], verts: [VertId(2), VertId(3)] }, EdgeRefs { faces: [FaceId(4), FaceId(0)], verts: [VertId(0), VertId(3)] }, EdgeRefs { faces: [FaceId(1), FaceId(5)], verts: [VertId(1), VertId(4)] }, EdgeRefs { faces: [FaceId(1), FaceId(3)], verts: [VertId(4), VertId(5)] }, EdgeRefs { faces: [FaceId(2), FaceId(1)], verts: [VertId(2), VertId(5)] }, EdgeRefs { faces: [FaceId(4), FaceId(2)], verts: [VertId(3), VertId(6)] }, EdgeRefs { faces: [FaceId(2), FaceId(3)], verts: [VertId(5), VertId(6)] }, EdgeRefs { faces: [FaceId(3), FaceId(5)], verts: [VertId(4), VertId(7)] }, EdgeRefs { faces: [FaceId(4), FaceId(3)], verts: [VertId(6), VertId(7)] }, EdgeRefs { faces: [FaceId(5), FaceId(4)], verts: [VertId(0), VertId(7)] }], vert: vec![VertRefs { faces: vec![FaceId(0), FaceId(4), FaceId(5)], edges: vec![DirectedEdgeId(9223372036854775811), DirectedEdgeId(9223372036854775819), DirectedEdgeId(9223372036854775808)] }, VertRefs { faces: vec![FaceId(0), FaceId(5), FaceId(1)], edges: vec![DirectedEdgeId(9223372036854775812), DirectedEdgeId(0), DirectedEdgeId(9223372036854775809)] }, VertRefs { faces: vec![FaceId(0), FaceId(2), FaceId(1)], edges: vec![DirectedEdgeId(1), DirectedEdgeId(9223372036854775810), DirectedEdgeId(9223372036854775814)] }, VertRefs { faces: vec![FaceId(0), FaceId(2), FaceId(4)], edges: vec![DirectedEdgeId(2), DirectedEdgeId(3), DirectedEdgeId(9223372036854775815)] }, VertRefs { faces: vec![FaceId(3), FaceId(5), FaceId(1)], edges: vec![DirectedEdgeId(4), DirectedEdgeId(9223372036854775817), DirectedEdgeId(9223372036854775813)] }, VertRefs { faces: vec![FaceId(2), FaceId(3), FaceId(1)], edges: vec![DirectedEdgeId(5), DirectedEdgeId(6), DirectedEdgeId(9223372036854775816)] }, VertRefs { faces: vec![FaceId(2), FaceId(3), FaceId(4)], edges: vec![DirectedEdgeId(7), DirectedEdgeId(8), DirectedEdgeId(9223372036854775818)] }, VertRefs { faces: vec![FaceId(4), FaceId(3), FaceId(5)], edges: vec![DirectedEdgeId(10), DirectedEdgeId(11), DirectedEdgeId(9)] }] };
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let mesh_data=PhysicsMeshData{
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faces:vec![
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Face{normal:Planar64Vec3::raw( 4294967296, 0, 0),dot:Planar64::raw(4294967296)},
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Face{normal:Planar64Vec3::raw( 0, 4294967296, 0),dot:Planar64::raw(4294967296)},
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Face{normal:Planar64Vec3::raw( 0, 0, 4294967296),dot:Planar64::raw(4294967296)},
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Face{normal:Planar64Vec3::raw(-4294967296, 0, 0),dot:Planar64::raw(4294967296)},
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Face{normal:Planar64Vec3::raw( 0,-4294967296, 0),dot:Planar64::raw(4294967296)},
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Face{normal:Planar64Vec3::raw( 0, 0,-4294967296),dot:Planar64::raw(4294967296)}
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],
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verts:vec![
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Vert(Planar64Vec3::raw( 4294967296,-4294967296,-4294967296)),
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Vert(Planar64Vec3::raw( 4294967296, 4294967296,-4294967296)),
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Vert(Planar64Vec3::raw( 4294967296, 4294967296, 4294967296)),
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Vert(Planar64Vec3::raw( 4294967296,-4294967296, 4294967296)),
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Vert(Planar64Vec3::raw(-4294967296, 4294967296,-4294967296)),
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Vert(Planar64Vec3::raw(-4294967296, 4294967296, 4294967296)),
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Vert(Planar64Vec3::raw(-4294967296,-4294967296, 4294967296)),
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Vert(Planar64Vec3::raw(-4294967296,-4294967296,-4294967296))
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]
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};
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let mesh_topology=PhysicsMeshTopology{
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faces:(0..mesh_data.faces.len()).map(FaceId).collect(),
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verts:(0..mesh_data.verts.len()).map(VertId).collect(),
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face_topology:vec![
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FaceRefs{edges:vec![DirectedEdgeId(9223372036854775808),DirectedEdgeId(9223372036854775809),DirectedEdgeId(9223372036854775810),DirectedEdgeId(3)]},
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FaceRefs{edges:vec![DirectedEdgeId(9223372036854775812),DirectedEdgeId(9223372036854775813),DirectedEdgeId(6),DirectedEdgeId(1)]},
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FaceRefs{edges:vec![DirectedEdgeId(7),DirectedEdgeId(2),DirectedEdgeId(9223372036854775814),DirectedEdgeId(9223372036854775816)]},
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FaceRefs{edges:vec![DirectedEdgeId(8),DirectedEdgeId(5),DirectedEdgeId(9223372036854775817),DirectedEdgeId(10)]},
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FaceRefs{edges:vec![DirectedEdgeId(9223372036854775815),DirectedEdgeId(9223372036854775818),DirectedEdgeId(11),DirectedEdgeId(9223372036854775811)]},
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FaceRefs{edges:vec![DirectedEdgeId(4),DirectedEdgeId(0),DirectedEdgeId(9223372036854775819),DirectedEdgeId(9)]}
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],
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edge_topology:vec![
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EdgeRefs{faces:[FaceId(0),FaceId(5)],verts:[VertId(0),VertId(1)]},
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EdgeRefs{faces:[FaceId(0),FaceId(1)],verts:[VertId(1),VertId(2)]},
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EdgeRefs{faces:[FaceId(0),FaceId(2)],verts:[VertId(2),VertId(3)]},
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EdgeRefs{faces:[FaceId(4),FaceId(0)],verts:[VertId(0),VertId(3)]},
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EdgeRefs{faces:[FaceId(1),FaceId(5)],verts:[VertId(1),VertId(4)]},
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EdgeRefs{faces:[FaceId(1),FaceId(3)],verts:[VertId(4),VertId(5)]},
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EdgeRefs{faces:[FaceId(2),FaceId(1)],verts:[VertId(2),VertId(5)]},
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EdgeRefs{faces:[FaceId(4),FaceId(2)],verts:[VertId(3),VertId(6)]},
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EdgeRefs{faces:[FaceId(2),FaceId(3)],verts:[VertId(5),VertId(6)]},
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EdgeRefs{faces:[FaceId(3),FaceId(5)],verts:[VertId(4),VertId(7)]},
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EdgeRefs{faces:[FaceId(4),FaceId(3)],verts:[VertId(6),VertId(7)]},
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EdgeRefs{faces:[FaceId(5),FaceId(4)],verts:[VertId(0),VertId(7)]}
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],
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vert_topology:vec![
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VertRefs{faces:vec![FaceId(0),FaceId(4),FaceId(5)],edges:vec![DirectedEdgeId(9223372036854775811),DirectedEdgeId(9223372036854775819),DirectedEdgeId(9223372036854775808)]},
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VertRefs{faces:vec![FaceId(0),FaceId(5),FaceId(1)],edges:vec![DirectedEdgeId(9223372036854775812),DirectedEdgeId(0),DirectedEdgeId(9223372036854775809)]},
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VertRefs{faces:vec![FaceId(0),FaceId(2),FaceId(1)],edges:vec![DirectedEdgeId(1),DirectedEdgeId(9223372036854775810),DirectedEdgeId(9223372036854775814)]},
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VertRefs{faces:vec![FaceId(0),FaceId(2),FaceId(4)],edges:vec![DirectedEdgeId(2),DirectedEdgeId(3),DirectedEdgeId(9223372036854775815)]},
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VertRefs{faces:vec![FaceId(3),FaceId(5),FaceId(1)],edges:vec![DirectedEdgeId(4),DirectedEdgeId(9223372036854775817),DirectedEdgeId(9223372036854775813)]},
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VertRefs{faces:vec![FaceId(2),FaceId(3),FaceId(1)],edges:vec![DirectedEdgeId(5),DirectedEdgeId(6),DirectedEdgeId(9223372036854775816)]},
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VertRefs{faces:vec![FaceId(2),FaceId(3),FaceId(4)],edges:vec![DirectedEdgeId(7),DirectedEdgeId(8),DirectedEdgeId(9223372036854775818)]},
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VertRefs{faces:vec![FaceId(4),FaceId(3),FaceId(5)],edges:vec![DirectedEdgeId(10),DirectedEdgeId(11),DirectedEdgeId(9)]}
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]
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};
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Self{
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mesh,
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convex_submeshes:vec![mesh_topology],
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mesh_data,
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submeshes:vec![mesh_topology],
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}
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}
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pub fn unit_cylinder()->Self{
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Self::unit_cube()
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}
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pub fn mesh_data(&self)->&PhysicsMeshData{
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&self.mesh_data
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}
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pub fn complete_mesh(&self)->&PhysicsMeshTopology{
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&self.submeshes[0]
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}
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pub fn convex_submeshes(&self)->&[PhysicsMeshTopology]{
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if self.submeshes.len()==1{
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//the complete mesh is already a convex mesh
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&self.submeshes[0..0]
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}else{
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&self.submeshes[1..]
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}
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}
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}
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//mesh builder code
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#[derive(Default,Clone)]
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struct VertRefGuy{
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edges:std::collections::HashSet<DirectedEdgeId>,
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@ -233,9 +311,9 @@ impl From<&model::IndexedModel> for PhysicsMesh{
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}
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}
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impl PhysicsMesh{
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impl PhysicsMeshView<'_>{
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pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'a{
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self.verts.iter().map(|Vert(pos)|*pos)
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self.mesh_data.verts.iter().map(|Vert(pos)|*pos)
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}
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}
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impl MeshQuery<FaceId,DirectedEdgeId,VertId> for PhysicsMesh{
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@ -263,21 +341,30 @@ impl MeshQuery<FaceId,DirectedEdgeId,VertId> for PhysicsMesh{
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}
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}
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pub struct TransformedMesh<'a>{
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mesh:&'a PhysicsMesh,
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struct PhysicsMeshView<'a>{
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mesh_data:&'a PhysicsMeshData,
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topology:&'a PhysicsMeshTopology,
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}
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struct PhysicsMeshTransform<'a>{
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transform:&'a integer::Planar64Affine3,
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normal_transform:&'a integer::Planar64Mat3,
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transform_det:Planar64,
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}
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pub struct TransformedMesh<'a>{
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mesh:PhysicsMeshView<'a>,
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transform:PhysicsMeshTransform<'a>,
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}
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impl TransformedMesh<'_>{
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pub fn new<'a>(
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mesh:&'a PhysicsMesh,
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mesh_data:&'a PhysicsMeshData,
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topology:&'a PhysicsMeshTopology,
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transform:&'a integer::Planar64Affine3,
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normal_transform:&'a integer::Planar64Mat3,
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transform_det:Planar64,
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)->TransformedMesh<'a>{
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TransformedMesh{
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mesh,
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mesh_data,
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topology,
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transform,
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normal_transform,
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transform_det,
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@ -384,8 +471,8 @@ pub enum MinkowskiFace{
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}
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pub struct MinkowskiMesh<'a>{
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mesh0:&'a TransformedMesh<'a>,
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mesh1:&'a TransformedMesh<'a>,
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mesh0:TransformedMesh<'a>,
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mesh1:TransformedMesh<'a>,
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}
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//infinity fev algorithm state transition
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@ -399,7 +486,7 @@ enum EV{
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}
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impl MinkowskiMesh<'_>{
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pub fn minkowski_sum<'a>(mesh0:&'a TransformedMesh,mesh1:&'a TransformedMesh)->MinkowskiMesh<'a>{
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pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
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MinkowskiMesh{
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mesh0,
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mesh1,
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