Compare commits

...

214 Commits

Author SHA1 Message Date
5793f9f975 swap parity (again) 2023-11-29 20:00:05 -08:00
9de6fe85fa test more things 2023-11-29 19:11:43 -08:00
ed6696be3e Aabb::size() + proper private fields for aabb 2023-11-29 19:11:23 -08:00
680cddc9a2 move collision loop avoidance to outside algorithm 2023-11-29 01:03:50 -08:00
6a7e05bb49 new tests to find failure cases 2023-11-28 22:54:56 -08:00
2558eac7fa TODO: don't do this! 2023-11-28 22:33:08 -08:00
ddb91031b0 getting ahead of myself trying to save a vert_edges call 2023-11-28 21:41:46 -08:00
6e8719136d move code around 2023-11-28 21:25:31 -08:00
7e7915293e ??? 2023-11-28 20:19:39 -08:00
78b94d7259 idk anymore 2023-11-28 20:16:24 -08:00
2152ae3c7b comment about winding 2023-11-28 19:52:46 -08:00
9d266e7be1 fix unit test expected times 2023-11-28 19:25:02 -08:00
49d799eb60 rename and swap faces 2023-11-28 19:19:42 -08:00
9af374ee14 finally fix face_edges MinkowskiFace::EdgeEdge case 2023-11-28 19:19:21 -08:00
26e4d8cab1 absurdly swap everything everywhere 2023-11-28 18:43:40 -08:00
38731c4a10 absurd test: swap left and right faces + parities 2023-11-28 18:35:41 -08:00
47560bb25f rename stupid things 2023-11-28 18:35:09 -08:00
1d50eac5e4 would you look at that, my old code was right! 2023-11-28 17:35:49 -08:00
660ea42576 fix vert_edges 2023-11-27 21:00:34 -08:00
a31c3bc848 update deps 2023-11-27 17:14:54 -08:00
2a3ca06376 comment 2023-11-26 18:59:18 -08:00
4932401553 v0.9.0 minkowski 2023-11-23 19:09:31 -08:00
f53327d87b wrong 2023-11-23 19:00:52 -08:00
b8a0ae6606 opti 2023-11-23 18:59:52 -08:00
3cc006d3fb normalize your normals broh 2023-11-23 18:46:09 -08:00
2cef4cba66 opti 2023-11-23 18:02:05 -08:00
14e168942d more tests 2023-11-23 18:01:48 -08:00
1a05449315 tweak unit tests 2023-11-23 17:23:12 -08:00
3d426c0859 TEMP: fail after 10 iterations 2023-11-23 17:12:49 -08:00
53adc651e5 change parity for funsies 2023-11-23 15:52:48 -08:00
d631747030 sneaky double doubling bug 2023-11-23 15:52:48 -08:00
d7042f9cba must switch to face if equal 2023-11-23 15:52:48 -08:00
66d799b3c3 infinity_fev edge case handling algorithm 2023-11-23 15:07:24 -08:00
dded820fc5 fewer multiplications 2023-11-23 00:13:38 -08:00
c971ab24e2 TEMP: disallow 0 time collisions 2023-11-22 19:27:23 -08:00
096284ea60 wrong 2023-11-22 19:26:52 -08:00
6766ad832d wrong 2023-11-22 17:52:12 -08:00
b23b815132 already_inside_hit_nothing test 2023-11-21 20:44:50 -08:00
7ba94c0837 zoom_hit_nothing test 2023-11-21 20:44:50 -08:00
6d3ff8490d expect a particular time of collision 2023-11-21 20:44:50 -08:00
e4eaecee2c parity depends on face only 2023-11-21 20:44:50 -08:00
de4a2dc652 reuse existing variables 2023-11-21 19:53:15 -08:00
e6c1b87b34 test degenerate case 2023-11-21 19:53:15 -08:00
7bae33ad06 handle_degenerate_cases 2023-11-21 19:53:15 -08:00
05adec5499 pull constant out of loop 2023-11-21 18:17:46 -08:00
5d85b39058 not planned 2023-11-21 17:35:00 -08:00
b964873785 pull constant out of loop 2023-11-21 17:33:24 -08:00
c1ae19b098 rename DirectedEdge::neg to reverse 2023-11-21 16:02:33 -08:00
0ad99958a0 wrong 2023-11-20 19:57:27 -08:00
d2f209869d a-b != b-a 2023-11-20 19:53:59 -08:00
f04e6ee4b7 test transform 2023-11-20 19:47:28 -08:00
9a2b033241 include edges with zero dot to support crawling flush minkowksi faces 2023-11-20 19:29:16 -08:00
e2777852d1 probably wrong 2023-11-20 19:28:44 -08:00
2eadb541cc DirectedEdge.neg() 2023-11-20 19:28:00 -08:00
c9f2ea0308 UndirectedEdge trait 2023-11-20 19:28:00 -08:00
f4db20c206 swap edge faces in VertEdge case 2023-11-20 19:28:00 -08:00
72d8186ba4 MinkowskiMesh::edge_faces sorting against incorrect value 2023-11-20 19:28:00 -08:00
da6b800d4e include apexes 2023-11-20 18:55:42 -08:00
4154a8c437 are vert edges backwards? 2023-11-20 18:55:42 -08:00
13dd90d5f6 opti 2023-11-20 18:55:42 -08:00
a5437c87df wrong 2023-11-20 18:55:42 -08:00
a4ea566c02 unused impl for private type 2023-11-17 18:41:30 -08:00
a6f9f144f4 preopti 2023-11-17 18:41:30 -08:00
e33adeadc8 thinking 2023-11-17 18:41:30 -08:00
563ade11f7 rewrite infinity crawl to use a straight line
for predict_collision_out use an extrapolated body that will exist outside of the mesh in the hit case we care about
2023-11-17 18:41:30 -08:00
1a250fe8d6 style 2023-11-17 16:23:54 -08:00
4be218defb wrong 2023-11-17 16:23:54 -08:00
dc5649f2b5 wrong 2023-11-17 16:23:54 -08:00
ef817389f3 hit_the_ground unit test 2023-11-17 16:23:54 -08:00
399c9505bf reduce test spam 2023-11-17 14:12:11 -08:00
e6c955a958 combine crawl into one loop 2023-11-17 13:48:29 -08:00
8839b8fbb3 fix not moving 2023-11-16 19:57:50 -08:00
d191538aa8 fix time inversion 2023-11-16 19:18:07 -08:00
46c6271286 compiler nits 2023-11-16 18:46:10 -08:00
bb2a5e2d35 workaround stupid monolith 2023-11-16 18:46:10 -08:00
4998f3803a fix lifetimes 2023-11-16 18:46:10 -08:00
fa0be33bf5 initialize variable + guarantees 2023-11-16 18:46:10 -08:00
0da6da24ac implement final algorithm with infinity tech 2023-11-16 18:27:05 -08:00
6a926608b7 fix normal dir 2023-11-16 18:26:56 -08:00
71d221581f DirectedEdge trait (huge) 2023-11-16 17:03:15 -08:00
6fcc6b2303 water goes here 2023-11-15 22:56:16 -08:00
312b0223b6 inline them bad boys 2023-11-15 22:56:16 -08:00
5a3013365e use style mesh + remove double reference in set_velocity & set_acceleration 2023-11-15 22:52:52 -08:00
5c2aad268f style.hitbox 2023-11-15 22:52:51 -08:00
ea9c2efc7f implement Planar64Mat3::from_diagonal 2023-11-15 22:45:49 -08:00
a41cbb79de move mat mul to above mat div 2023-11-15 22:24:56 -08:00
2370fbea54 todo 2023-11-15 21:21:00 -08:00
33972b0c2c physics work 2023-11-15 21:10:50 -08:00
f50670db57 use function that doesn't exist for MinkowskiMesh::closest_fev 2023-11-15 21:10:50 -08:00
559a38b607 implement MinkowskiMesh::farthest_vert 2023-11-15 21:10:50 -08:00
751ccf57ca comment 2023-11-15 21:10:50 -08:00
5bfd340d87 implement MinkowskiMesh::predict_collision{_end} 2023-11-15 21:10:50 -08:00
2d3efdc2e1 comments about potential parallel cases 2023-11-15 21:10:50 -08:00
d217966f77 unused use 2023-11-15 21:10:50 -08:00
328c38ca38 change the MeshQuery trait and delete the code I just wrote 2023-11-15 21:10:50 -08:00
4c05c01b6e fix big wrong 2023-11-15 19:48:13 -08:00
b20f573f1d missing semicolons 2023-11-15 19:45:38 -08:00
21e29aa63e implement MinkowskiMesh::face_edges MinkowskiFace::EdgeEdge case 2023-11-15 18:00:14 -08:00
48870b8a76 implement MinkowskiMesh::edge_faces 2023-11-15 17:59:47 -08:00
020c704968 fix edge faces ordering 2023-11-15 17:59:24 -08:00
8f63699d45 consistent ordering 2023-11-15 16:05:42 -08:00
6071e23be1 style 2023-11-11 21:32:59 -08:00
46d6c31957 avoid double rocket boost 2023-11-11 21:27:20 -08:00
5b26304e95 project walk 2023-11-10 19:13:41 -08:00
d3cf75e0d5 fix ladder crashes 2023-11-10 19:13:41 -08:00
2acf740898 MinkowskiMesh::edge_faces is wrong 2023-11-10 19:13:41 -08:00
816f786763 implement MinkowskiMesh::face_nd for MinkowskiFace::EdgeEdge case 2023-11-10 19:13:41 -08:00
f7c613dfa6 correct MinkowskiMesh::face_edges FaceVert + VertFace cases 2023-11-10 19:13:41 -08:00
4fc09806f6 minkowski vert_edges 2023-11-10 19:13:41 -08:00
3cbefbab03 introduce DirectedEdge 2023-11-10 19:13:41 -08:00
717cf2290d vert_faces 2023-11-10 19:13:41 -08:00
756648c2fb probably need a better fix for this 2023-11-10 19:13:41 -08:00
44540853dd use alternate quadratic equation in poor accuracy cases 2023-11-10 19:13:41 -08:00
43e62e8f1d implement dot128 for face_nd 2023-11-10 19:13:41 -08:00
4af4dc669b update move state if acceleration culls surface 2023-11-10 19:13:41 -08:00
24f6472e9f acceleration was not being refreshed in air move (the bug) 2023-11-10 19:13:41 -08:00
cff920ddcd tweak elasticity calc 2023-11-10 19:13:41 -08:00
053514fa4a exit strafe tick early if zero control dir 2023-11-10 19:13:41 -08:00
27a46093ae introduce dot128 2023-11-10 19:13:41 -08:00
6049aba716 do not overshadow variable 2023-11-10 19:13:41 -08:00
b7998c7bd4 break walking 2023-11-10 19:13:41 -08:00
63cfbbfa9c fix ladders 2023-11-10 19:13:41 -08:00
f7072be5b4 separate culling type setters 2023-11-10 19:13:41 -08:00
4456ee29ec surf test was wrong 2023-11-10 19:13:41 -08:00
2d14e8ac8e cross product was wrong 💀x7 2023-11-10 19:13:41 -08:00
176aaa069c fix walk friction 2023-11-10 19:13:41 -08:00
a6dfa1d72b elasticity calc 2023-11-10 19:13:41 -08:00
516510faa8 add set body functions + jump query functions 2023-11-10 19:13:41 -08:00
1d2de93b9e normalize normal 2023-11-10 19:13:41 -08:00
2988175436 important 2023-11-10 19:13:41 -08:00
03b21aa27f work 2023-11-10 19:13:41 -08:00
910d520c2b wip TouchingState::get_move_state 2023-11-10 19:13:41 -08:00
c321814b9b normal_determinant is not real 2023-11-10 19:13:41 -08:00
ce1e9df334 TouchingState::base_acceleration 2023-11-10 19:13:41 -08:00
e6e7366e66 fix idiot 2023-11-10 19:13:41 -08:00
535ae1a5f0 fix constrain 2023-11-10 19:13:41 -08:00
432a38718c fix slope divide by zero 2023-11-10 19:13:41 -08:00
9aa7656278 mesh gen test 2023-11-10 19:13:41 -08:00
823a16e08d fix determinant 2023-11-10 19:13:41 -08:00
82d84ee07c fix mesh gen algorithm 2023-11-10 19:13:41 -08:00
ffc19020b9 unused var 2023-11-10 19:13:41 -08:00
e0581390bd fix transformed face_nd 2023-11-10 19:13:41 -08:00
4b4ac0de19 test stop taking so long 2023-11-10 19:13:41 -08:00
d94ad475eb debug message 2023-11-10 19:13:41 -08:00
60eadd3156 ref faster no copy 2023-11-10 19:13:41 -08:00
ebca761dbc whoops 2023-11-10 19:13:41 -08:00
ab60fb2cf7 idiot 2023-11-10 19:13:41 -08:00
ec9b720138 make build 2023-11-10 19:13:41 -08:00
7ad0270d2f TransformedMesh::new to avoid pub 2023-11-10 19:13:41 -08:00
d8e605d203 fix compiler nits 2023-11-10 19:13:41 -08:00
dc46cb3d45 delete unused aabb face code 2023-11-10 19:13:41 -08:00
a53d90f74b tape up last stragglers 2023-11-10 19:13:41 -08:00
d9be4b8105 checkpoints don't actually exist 2023-11-10 19:13:41 -08:00
58c35ce364 water 2023-11-10 19:13:41 -08:00
2a033b87e0 rethink ordered checkpoints - do not support non-teleporting (backtracking) 2023-11-10 19:13:41 -08:00
d374a3d4c6 SpawnAt comment 2023-11-10 19:13:41 -08:00
c37b990389 tweak water 2023-11-10 19:13:41 -08:00
7311b1ae88 checkpoints are stage elements 2023-11-10 19:13:41 -08:00
af7fcdd5cb add GameMechanicAttributes::is_wrcp() function 2023-11-10 19:13:41 -08:00
bf51afcf1d fix normal code 2023-11-10 19:13:41 -08:00
fd9ca6cd3f Planar64Vec3::{inverse,transpose,determinant} 2023-11-10 19:13:41 -08:00
d71f143d68 point hitbox work 2023-11-10 19:13:41 -08:00
769f88eb9f real functions 2023-11-10 19:13:41 -08:00
cf9063bffc PhysicsModels idea 2023-11-10 19:13:41 -08:00
fc3d72393f rename enum 2023-11-10 19:13:41 -08:00
a5ef0195e2 tweak minkowski code + fix edge_verts 2023-11-10 19:13:41 -08:00
6fec6b9f59 cling thing 2023-11-10 19:13:41 -08:00
895f9b82f8 tabs 2023-11-10 19:13:41 -08:00
6aa0e790d8 brute force t for plain mesh 2023-11-10 19:13:41 -08:00
b897d4a662 I need to rethink Collision vs Attributes 2023-11-10 19:13:41 -08:00
49931a40fc make aabb_list with silly iterator to avoid pub-ing Vert 2023-11-10 19:13:41 -08:00
e92eaed2d3 work on indexing meshes and attributes 2023-11-10 19:13:41 -08:00
1ec9412b49 closest_fev for TransformedMesh 2023-11-10 19:13:41 -08:00
d9966a4eb0 write mesh closest_fev 2023-11-10 19:13:41 -08:00
cee6835af6 decide 2023-11-10 19:13:41 -08:00
f1e0514ecb cross product!!!! 2023-11-10 19:13:41 -08:00
86d45252c7 use edge_n instead of ambiguous face 2023-11-10 19:13:41 -08:00
9f948744d4 add edge_n to MeshQuery 2023-11-10 19:13:41 -08:00
5e28c02640 TODOs 2023-11-10 19:13:41 -08:00
5f1b93d9c4 next_instruction face crawler implementation 2023-11-10 19:13:41 -08:00
d63a76269f ignore face 2023-11-10 19:13:41 -08:00
354b96d98f collector.time() 2023-11-10 19:13:41 -08:00
d155517587 delete aabb physics 2023-11-10 19:13:41 -08:00
3c443b6b6a mesh generation 2023-11-10 19:13:41 -08:00
f73b4a0c52 Planar64Vec3::new 2023-11-10 19:13:41 -08:00
c37194daf6 AddAssign for Planar64 2023-11-10 19:13:41 -08:00
5317a0fafe rename VirtualMesh to TransformedMesh 2023-11-10 19:13:41 -08:00
941faf199d vert and edge does not have an unambiguous face 2023-11-10 19:13:41 -08:00
053bab9e24 wip: physics work 2023-11-10 19:13:41 -08:00
89f7a2b9b9 wip: start brute force closest_fev 2023-11-10 19:13:41 -08:00
dff2648cd3 add Planar64::MAX 2023-11-10 19:13:41 -08:00
d2d5a62458 implement vert 2023-11-10 19:13:41 -08:00
89ea7f45f9 wip 2023-11-10 19:13:41 -08:00
01d74102e3 MinkowskiMesh::edge_verts 2023-11-10 19:13:41 -08:00
ee4e6dbbaf MinkowskiMesh::edge_faces 2023-11-10 19:13:41 -08:00
19d4fed2a2 MinkowskiMesh::face_edges 2023-11-10 19:13:41 -08:00
a9f6cc7c29 rename functions 2023-11-10 19:13:41 -08:00
64657e718d cow: utter brilliance 2023-11-10 19:13:41 -08:00
3d5ac0cd61 Minkowski face_nd 2023-11-10 19:13:41 -08:00
72ebe5c9c8 generic generic generic 2023-11-10 19:13:41 -08:00
e1fde9b507 there is another 2023-11-10 19:13:41 -08:00
0cb6236035 todo 2023-11-10 19:13:41 -08:00
a8b1ced5cd implement face crawler algorithm using functions that don't exist 2023-11-10 19:13:41 -08:00
bb46801610 functions 2023-11-10 19:13:41 -08:00
06eeac6043 data structures 2023-11-10 19:13:41 -08:00
558febabc3 face_normal 2023-11-10 19:13:41 -08:00
1b51e21ecd implement PhysicsMesh 2023-11-10 19:13:41 -08:00
7ce08b0bbe move stuff to model_physics 2023-11-10 19:13:41 -08:00
19c7a8924e face crawler work 2023-11-10 19:13:41 -08:00
b215578c8d virtual body 2023-11-10 19:13:41 -08:00
2bea7e210e pub body 2023-11-10 19:13:41 -08:00
f8a8cbf12a replace Body::with_pva with Body::new 2023-11-10 19:13:41 -08:00
9f76611c18 algorithm 2023-11-10 19:13:41 -08:00
4da3d78057 Face Crawler™ 2023-11-10 19:13:41 -08:00
14 changed files with 2150 additions and 807 deletions

259
Cargo.lock generated
View File

@ -4,9 +4,9 @@ version = 3
[[package]] [[package]]
name = "ab_glyph" name = "ab_glyph"
version = "0.2.22" version = "0.2.23"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b1061f3ff92c2f65800df1f12fc7b4ff44ee14783104187dd04dfee6f11b0fd2" checksum = "80179d7dd5d7e8c285d67c4a1e652972a92de7475beddfb92028c76463b13225"
dependencies = [ dependencies = [
"ab_glyph_rasterizer", "ab_glyph_rasterizer",
"owned_ttf_parser", "owned_ttf_parser",
@ -245,7 +245,7 @@ checksum = "965ab7eb5f8f97d2a083c799f3a1b994fc397b2fe2da5d1da1626ce15a39f2b1"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.38", "syn 2.0.39",
] ]
[[package]] [[package]]
@ -351,9 +351,9 @@ dependencies = [
[[package]] [[package]]
name = "configparser" name = "configparser"
version = "3.0.2" version = "3.0.3"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5458d9d1a587efaf5091602c59d299696a3877a439c8f6d461a2d3cce11df87a" checksum = "e0e56e414a2a52ab2a104f85cd40933c2fbc278b83637facf646ecf451b49237"
[[package]] [[package]]
name = "constant_time_eq" name = "constant_time_eq"
@ -412,9 +412,9 @@ dependencies = [
[[package]] [[package]]
name = "cursor-icon" name = "cursor-icon"
version = "1.0.0" version = "1.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "740bb192a8e2d1350119916954f4409ee7f62f149b536911eeb78ba5a20526bf" checksum = "96a6ac251f4a2aca6b3f91340350eab87ae57c3f127ffeb585e92bd336717991"
[[package]] [[package]]
name = "d3d12" name = "d3d12"
@ -479,9 +479,9 @@ checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
[[package]] [[package]]
name = "errno" name = "errno"
version = "0.3.5" version = "0.3.7"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ac3e13f66a2f95e32a39eaa81f6b95d42878ca0e1db0c7543723dfe12557e860" checksum = "f258a7194e7f7c2a7837a8913aeab7fd8c383457034fa20ce4dd3dcb813e8eb8"
dependencies = [ dependencies = [
"libc", "libc",
"windows-sys 0.48.0", "windows-sys 0.48.0",
@ -517,7 +517,7 @@ checksum = "1a5c6c585bc94aaf2c7b51dd4c2ba22680844aba4c687be581871a6f518c5742"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.38", "syn 2.0.39",
] ]
[[package]] [[package]]
@ -550,9 +550,9 @@ dependencies = [
[[package]] [[package]]
name = "getrandom" name = "getrandom"
version = "0.2.10" version = "0.2.11"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "be4136b2a15dd319360be1c07d9933517ccf0be8f16bf62a3bee4f0d618df427" checksum = "fe9006bed769170c11f845cf00c7c1e9092aeb3f268e007c3e760ac68008070f"
dependencies = [ dependencies = [
"cfg-if", "cfg-if",
"js-sys", "js-sys",
@ -563,9 +563,9 @@ dependencies = [
[[package]] [[package]]
name = "gimli" name = "gimli"
version = "0.28.0" version = "0.28.1"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6fb8d784f27acf97159b40fc4db5ecd8aa23b9ad5ef69cdd136d3bc80665f0c0" checksum = "4271d37baee1b8c7e4b708028c57d816cf9d2434acb33a549475f78c181f6253"
[[package]] [[package]]
name = "gl_generator" name = "gl_generator"
@ -660,9 +660,9 @@ dependencies = [
[[package]] [[package]]
name = "hashbrown" name = "hashbrown"
version = "0.14.2" version = "0.14.3"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f93e7192158dbcda357bdec5fb5788eebf8bbac027f3f33e719d29135ae84156" checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
dependencies = [ dependencies = [
"ahash", "ahash",
"allocator-api2", "allocator-api2",
@ -702,9 +702,9 @@ dependencies = [
[[package]] [[package]]
name = "indexmap" name = "indexmap"
version = "2.0.2" version = "2.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8adf3ddd720272c6ea8bf59463c04e0f93d0bbf7c5439b691bca2987e0270897" checksum = "d530e1a18b1cb4c484e6e34556a0d948706958449fca0cab753d649f2bce3d1f"
dependencies = [ dependencies = [
"equivalent", "equivalent",
"hashbrown", "hashbrown",
@ -743,9 +743,9 @@ dependencies = [
[[package]] [[package]]
name = "js-sys" name = "js-sys"
version = "0.3.64" version = "0.3.65"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c5f195fe497f702db0f318b07fdd68edb16955aed830df8363d837542f8f935a" checksum = "54c0c35952f67de54bb584e9fd912b3023117cbafc0a77d8f3dee1fb5f572fe8"
dependencies = [ dependencies = [
"wasm-bindgen", "wasm-bindgen",
] ]
@ -769,9 +769,9 @@ checksum = "e2db585e1d738fc771bf08a151420d3ed193d9d895a36df7f6f8a9456b911ddc"
[[package]] [[package]]
name = "lazy-regex" name = "lazy-regex"
version = "3.0.2" version = "3.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e723bd417b2df60a0f6a2b6825f297ea04b245d4ba52b5a22cb679bdf58b05fa" checksum = "5d12be4595afdf58bd19e4a9f4e24187da2a66700786ff660a418e9059937a4c"
dependencies = [ dependencies = [
"lazy-regex-proc_macros", "lazy-regex-proc_macros",
"once_cell", "once_cell",
@ -780,14 +780,14 @@ dependencies = [
[[package]] [[package]]
name = "lazy-regex-proc_macros" name = "lazy-regex-proc_macros"
version = "3.0.1" version = "3.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0f0a1d9139f0ee2e862e08a9c5d0ba0470f2aa21cd1e1aa1b1562f83116c725f" checksum = "44bcd58e6c97a7fcbaffcdc95728b393b8d98933bfadad49ed4097845b57ef0b"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"regex", "regex",
"syn 2.0.38", "syn 2.0.39",
] ]
[[package]] [[package]]
@ -798,9 +798,9 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
[[package]] [[package]]
name = "libc" name = "libc"
version = "0.2.149" version = "0.2.150"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a08173bc88b7955d1b3145aa561539096c421ac8debde8cbc3612ec635fee29b" checksum = "89d92a4743f9a61002fae18374ed11e7973f530cb3a3255fb354818118b2203c"
[[package]] [[package]]
name = "libloading" name = "libloading"
@ -823,10 +823,21 @@ dependencies = [
] ]
[[package]] [[package]]
name = "linux-raw-sys" name = "libredox"
version = "0.4.10" version = "0.0.2"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "da2479e8c062e40bf0066ffa0bc823de0a9368974af99c9f6df941d2c231e03f" checksum = "3af92c55d7d839293953fcd0fda5ecfe93297cfde6ffbdec13b41d99c0ba6607"
dependencies = [
"bitflags 2.4.1",
"libc",
"redox_syscall 0.4.1",
]
[[package]]
name = "linux-raw-sys"
version = "0.4.11"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "969488b55f8ac402214f3f5fd243ebb7206cf82de60d3172994707a4bcc2b829"
[[package]] [[package]]
name = "lock_api" name = "lock_api"
@ -929,9 +940,9 @@ dependencies = [
[[package]] [[package]]
name = "naga" name = "naga"
version = "0.14.0" version = "0.14.1"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "61d829abac9f5230a85d8cc83ec0879b4c09790208ae25b5ea031ef84562e071" checksum = "6cd05939c491da968a42986204b7431678be21fdcd4b10cc84997ba130ada5a4"
dependencies = [ dependencies = [
"bit-set", "bit-set",
"bitflags 2.4.1", "bitflags 2.4.1",
@ -1036,7 +1047,7 @@ dependencies = [
"proc-macro-crate", "proc-macro-crate",
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.38", "syn 2.0.39",
] ]
[[package]] [[package]]
@ -1103,18 +1114,18 @@ checksum = "dd8b5dd2ae5ed71462c540258bedcb51965123ad7e7ccf4b9a8cafaa4a63576d"
[[package]] [[package]]
name = "orbclient" name = "orbclient"
version = "0.3.46" version = "0.3.47"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8378ac0dfbd4e7895f2d2c1f1345cab3836910baf3a300b000d04250f0c8428f" checksum = "52f0d54bde9774d3a51dcf281a5def240c71996bc6ca05d2c847ec8b2b216166"
dependencies = [ dependencies = [
"redox_syscall 0.3.5", "libredox",
] ]
[[package]] [[package]]
name = "owned_ttf_parser" name = "owned_ttf_parser"
version = "0.19.0" version = "0.20.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "706de7e2214113d63a8238d1910463cfce781129a6f263d13fdb09ff64355ba4" checksum = "d4586edfe4c648c71797a74c84bacb32b52b212eff5dfe2bb9f2c599844023e7"
dependencies = [ dependencies = [
"ttf-parser", "ttf-parser",
] ]
@ -1150,9 +1161,9 @@ checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
[[package]] [[package]]
name = "percent-encoding" name = "percent-encoding"
version = "2.3.0" version = "2.3.1"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9b2a4787296e9989611394c33f193f676704af1686e70b8f8033ab5ba9a35a94" checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
[[package]] [[package]]
name = "pin-project-lite" name = "pin-project-lite"
@ -1168,16 +1179,16 @@ checksum = "26072860ba924cbfa98ea39c8c19b4dd6a4a25423dbdf219c1eca91aa0cf6964"
[[package]] [[package]]
name = "polling" name = "polling"
version = "3.3.0" version = "3.3.1"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e53b6af1f60f36f8c2ac2aad5459d75a5a9b4be1e8cdd40264f315d78193e531" checksum = "cf63fa624ab313c11656b4cda960bfc46c410187ad493c41f6ba2d8c1e991c9e"
dependencies = [ dependencies = [
"cfg-if", "cfg-if",
"concurrent-queue", "concurrent-queue",
"pin-project-lite", "pin-project-lite",
"rustix", "rustix",
"tracing", "tracing",
"windows-sys 0.48.0", "windows-sys 0.52.0",
] ]
[[package]] [[package]]
@ -1209,9 +1220,9 @@ dependencies = [
[[package]] [[package]]
name = "proc-macro2" name = "proc-macro2"
version = "1.0.69" version = "1.0.70"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "134c189feb4956b20f6f547d2cf727d4c0fe06722b20a0eec87ed445a97f92da" checksum = "39278fbbf5fb4f646ce651690877f89d1c5811a3d4acb27700c1cb3cdb78fd3b"
dependencies = [ dependencies = [
"unicode-ident", "unicode-ident",
] ]
@ -1232,7 +1243,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "eb156a45b6b9fe8027497422179fb65afc84d36707a7ca98297bf06bccb8d43f" checksum = "eb156a45b6b9fe8027497422179fb65afc84d36707a7ca98297bf06bccb8d43f"
dependencies = [ dependencies = [
"quote", "quote",
"syn 2.0.38", "syn 2.0.39",
] ]
[[package]] [[package]]
@ -1467,9 +1478,9 @@ checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
[[package]] [[package]]
name = "rustix" name = "rustix"
version = "0.38.21" version = "0.38.25"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "2b426b0506e5d50a7d8dafcf2e81471400deb602392c7dd110815afb4eaf02a3" checksum = "dc99bc2d4f1fed22595588a013687477aedf3cdcfb26558c559edb67b4d9b22e"
dependencies = [ dependencies = [
"bitflags 2.4.1", "bitflags 2.4.1",
"errno", "errno",
@ -1514,22 +1525,22 @@ dependencies = [
[[package]] [[package]]
name = "serde" name = "serde"
version = "1.0.190" version = "1.0.193"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "91d3c334ca1ee894a2c6f6ad698fe8c435b76d504b13d436f0685d648d6d96f7" checksum = "25dd9975e68d0cb5aa1120c288333fc98731bd1dd12f561e468ea4728c042b89"
dependencies = [ dependencies = [
"serde_derive", "serde_derive",
] ]
[[package]] [[package]]
name = "serde_derive" name = "serde_derive"
version = "1.0.190" version = "1.0.193"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "67c5609f394e5c2bd7fc51efda478004ea80ef42fee983d5c67a65e34f32c0e3" checksum = "43576ca501357b9b071ac53cdc7da8ef0cbd9493d8df094cd821777ea6e894d3"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.38", "syn 2.0.39",
] ]
[[package]] [[package]]
@ -1552,9 +1563,9 @@ dependencies = [
[[package]] [[package]]
name = "smallvec" name = "smallvec"
version = "1.11.1" version = "1.11.2"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "942b4a808e05215192e39f4ab80813e599068285906cc91aa64f923db842bd5a" checksum = "4dccd0940a2dcdf68d092b8cbab7dc0ad8fa938bf95787e1b916b0e3d0e8e970"
[[package]] [[package]]
name = "smithay-client-toolkit" name = "smithay-client-toolkit"
@ -1617,7 +1628,7 @@ checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
[[package]] [[package]]
name = "strafe-client" name = "strafe-client"
version = "0.8.0" version = "0.9.0"
dependencies = [ dependencies = [
"bytemuck", "bytemuck",
"configparser", "configparser",
@ -1654,9 +1665,9 @@ dependencies = [
[[package]] [[package]]
name = "syn" name = "syn"
version = "2.0.38" version = "2.0.39"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e96b79aaa137db8f61e26363a0c9b47d8b4ec75da28b7d1d614c2303e232408b" checksum = "23e78b90f2fcf45d3e842032ce32e3f2d1545ba6636271dcbf24fa306d87be7a"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
@ -1665,9 +1676,9 @@ dependencies = [
[[package]] [[package]]
name = "termcolor" name = "termcolor"
version = "1.3.0" version = "1.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6093bad37da69aab9d123a8091e4be0aa4a03e4d601ec641c327398315f62b64" checksum = "ff1bc3d3f05aff0403e8ac0d92ced918ec05b666a43f83297ccef5bea8a3d449"
dependencies = [ dependencies = [
"winapi-util", "winapi-util",
] ]
@ -1689,7 +1700,7 @@ checksum = "266b2e40bc00e5a6c09c3584011e08b06f123c00362c92b975ba9843aaaa14b8"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.38", "syn 2.0.39",
] ]
[[package]] [[package]]
@ -1752,9 +1763,9 @@ checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54"
[[package]] [[package]]
name = "ttf-parser" name = "ttf-parser"
version = "0.19.2" version = "0.20.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "49d64318d8311fc2668e48b63969f4343e0a85c4a109aa8460d6672e364b8bd1" checksum = "17f77d76d837a7830fe1d4f12b7b4ba4192c1888001c7164257e4bc6d21d96b4"
[[package]] [[package]]
name = "unicode-ident" name = "unicode-ident"
@ -1804,9 +1815,9 @@ checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
[[package]] [[package]]
name = "wasm-bindgen" name = "wasm-bindgen"
version = "0.2.87" version = "0.2.88"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7706a72ab36d8cb1f80ffbf0e071533974a60d0a308d01a5d0375bf60499a342" checksum = "7daec296f25a1bae309c0cd5c29c4b260e510e6d813c286b19eaadf409d40fce"
dependencies = [ dependencies = [
"cfg-if", "cfg-if",
"wasm-bindgen-macro", "wasm-bindgen-macro",
@ -1814,24 +1825,24 @@ dependencies = [
[[package]] [[package]]
name = "wasm-bindgen-backend" name = "wasm-bindgen-backend"
version = "0.2.87" version = "0.2.88"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5ef2b6d3c510e9625e5fe6f509ab07d66a760f0885d858736483c32ed7809abd" checksum = "e397f4664c0e4e428e8313a469aaa58310d302159845980fd23b0f22a847f217"
dependencies = [ dependencies = [
"bumpalo", "bumpalo",
"log", "log",
"once_cell", "once_cell",
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.38", "syn 2.0.39",
"wasm-bindgen-shared", "wasm-bindgen-shared",
] ]
[[package]] [[package]]
name = "wasm-bindgen-futures" name = "wasm-bindgen-futures"
version = "0.4.37" version = "0.4.38"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c02dbc21516f9f1f04f187958890d7e6026df8d16540b7ad9492bc34a67cea03" checksum = "9afec9963e3d0994cac82455b2b3502b81a7f40f9a0d32181f7528d9f4b43e02"
dependencies = [ dependencies = [
"cfg-if", "cfg-if",
"js-sys", "js-sys",
@ -1841,9 +1852,9 @@ dependencies = [
[[package]] [[package]]
name = "wasm-bindgen-macro" name = "wasm-bindgen-macro"
version = "0.2.87" version = "0.2.88"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "dee495e55982a3bd48105a7b947fd2a9b4a8ae3010041b9e0faab3f9cd028f1d" checksum = "5961017b3b08ad5f3fe39f1e79877f8ee7c23c5e5fd5eb80de95abc41f1f16b2"
dependencies = [ dependencies = [
"quote", "quote",
"wasm-bindgen-macro-support", "wasm-bindgen-macro-support",
@ -1851,22 +1862,22 @@ dependencies = [
[[package]] [[package]]
name = "wasm-bindgen-macro-support" name = "wasm-bindgen-macro-support"
version = "0.2.87" version = "0.2.88"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "54681b18a46765f095758388f2d0cf16eb8d4169b639ab575a8f5693af210c7b" checksum = "c5353b8dab669f5e10f5bd76df26a9360c748f054f862ff5f3f8aae0c7fb3907"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.38", "syn 2.0.39",
"wasm-bindgen-backend", "wasm-bindgen-backend",
"wasm-bindgen-shared", "wasm-bindgen-shared",
] ]
[[package]] [[package]]
name = "wasm-bindgen-shared" name = "wasm-bindgen-shared"
version = "0.2.87" version = "0.2.88"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ca6ad05a4870b2bf5fe995117d3728437bd27d7cd5f06f13c17443ef369775a1" checksum = "0d046c5d029ba91a1ed14da14dca44b68bf2f124cfbaf741c54151fdb3e0750b"
[[package]] [[package]]
name = "wayland-backend" name = "wayland-backend"
@ -2024,9 +2035,9 @@ dependencies = [
[[package]] [[package]]
name = "wgpu-core" name = "wgpu-core"
version = "0.18.0" version = "0.18.1"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "837e02ddcdc6d4a9b56ba4598f7fd4202a7699ab03f6ef4dcdebfad2c966aea6" checksum = "ef91c1d62d1e9e81c79e600131a258edf75c9531cbdbde09c44a011a47312726"
dependencies = [ dependencies = [
"arrayvec", "arrayvec",
"bit-vec", "bit-vec",
@ -2047,9 +2058,9 @@ dependencies = [
[[package]] [[package]]
name = "wgpu-hal" name = "wgpu-hal"
version = "0.18.0" version = "0.18.1"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1e30b9a8155c83868e82a8c5d3ce899de6c3961d2ef595de8fc168a1677fc2d8" checksum = "b84ecc802da3eb67b4cf3dd9ea6fe45bbb47ef13e6c49c5c3240868a9cc6cdd9"
dependencies = [ dependencies = [
"android_system_properties", "android_system_properties",
"arrayvec", "arrayvec",
@ -2182,6 +2193,15 @@ dependencies = [
"windows-targets 0.48.5", "windows-targets 0.48.5",
] ]
[[package]]
name = "windows-sys"
version = "0.52.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
dependencies = [
"windows-targets 0.52.0",
]
[[package]] [[package]]
name = "windows-targets" name = "windows-targets"
version = "0.42.2" version = "0.42.2"
@ -2212,6 +2232,21 @@ dependencies = [
"windows_x86_64_msvc 0.48.5", "windows_x86_64_msvc 0.48.5",
] ]
[[package]]
name = "windows-targets"
version = "0.52.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8a18201040b24831fbb9e4eb208f8892e1f50a37feb53cc7ff887feb8f50e7cd"
dependencies = [
"windows_aarch64_gnullvm 0.52.0",
"windows_aarch64_msvc 0.52.0",
"windows_i686_gnu 0.52.0",
"windows_i686_msvc 0.52.0",
"windows_x86_64_gnu 0.52.0",
"windows_x86_64_gnullvm 0.52.0",
"windows_x86_64_msvc 0.52.0",
]
[[package]] [[package]]
name = "windows_aarch64_gnullvm" name = "windows_aarch64_gnullvm"
version = "0.42.2" version = "0.42.2"
@ -2224,6 +2259,12 @@ version = "0.48.5"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8" checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
[[package]]
name = "windows_aarch64_gnullvm"
version = "0.52.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "cb7764e35d4db8a7921e09562a0304bf2f93e0a51bfccee0bd0bb0b666b015ea"
[[package]] [[package]]
name = "windows_aarch64_msvc" name = "windows_aarch64_msvc"
version = "0.42.2" version = "0.42.2"
@ -2236,6 +2277,12 @@ version = "0.48.5"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc" checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
[[package]]
name = "windows_aarch64_msvc"
version = "0.52.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "bbaa0368d4f1d2aaefc55b6fcfee13f41544ddf36801e793edbbfd7d7df075ef"
[[package]] [[package]]
name = "windows_i686_gnu" name = "windows_i686_gnu"
version = "0.42.2" version = "0.42.2"
@ -2248,6 +2295,12 @@ version = "0.48.5"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e" checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
[[package]]
name = "windows_i686_gnu"
version = "0.52.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a28637cb1fa3560a16915793afb20081aba2c92ee8af57b4d5f28e4b3e7df313"
[[package]] [[package]]
name = "windows_i686_msvc" name = "windows_i686_msvc"
version = "0.42.2" version = "0.42.2"
@ -2260,6 +2313,12 @@ version = "0.48.5"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406" checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
[[package]]
name = "windows_i686_msvc"
version = "0.52.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ffe5e8e31046ce6230cc7215707b816e339ff4d4d67c65dffa206fd0f7aa7b9a"
[[package]] [[package]]
name = "windows_x86_64_gnu" name = "windows_x86_64_gnu"
version = "0.42.2" version = "0.42.2"
@ -2272,6 +2331,12 @@ version = "0.48.5"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e" checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
[[package]]
name = "windows_x86_64_gnu"
version = "0.52.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3d6fa32db2bc4a2f5abeacf2b69f7992cd09dca97498da74a151a3132c26befd"
[[package]] [[package]]
name = "windows_x86_64_gnullvm" name = "windows_x86_64_gnullvm"
version = "0.42.2" version = "0.42.2"
@ -2284,6 +2349,12 @@ version = "0.48.5"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc" checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
[[package]]
name = "windows_x86_64_gnullvm"
version = "0.52.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1a657e1e9d3f514745a572a6846d3c7aa7dbe1658c056ed9c3344c4109a6949e"
[[package]] [[package]]
name = "windows_x86_64_msvc" name = "windows_x86_64_msvc"
version = "0.42.2" version = "0.42.2"
@ -2297,10 +2368,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538" checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
[[package]] [[package]]
name = "winit" name = "windows_x86_64_msvc"
version = "0.29.3" version = "0.52.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "161598019a9da35ab6c34dc46cd13546cba9dbf9816475d4dd9a639455016563" checksum = "dff9641d1cd4be8d1a070daf9e3773c5f67e78b4d9d42263020c057706765c04"
[[package]]
name = "winit"
version = "0.29.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d25d662bb83b511acd839534bb2d88521b0bbc81440969cb077d23c4db9e62c7"
dependencies = [ dependencies = [
"ahash", "ahash",
"android-activity", "android-activity",
@ -2347,9 +2424,9 @@ dependencies = [
[[package]] [[package]]
name = "winnow" name = "winnow"
version = "0.5.17" version = "0.5.19"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a3b801d0e0a6726477cc207f60162da452f3a95adb368399bef20a946e06f65c" checksum = "829846f3e3db426d4cee4510841b71a8e58aa2a76b1132579487ae430ccd9c7b"
dependencies = [ dependencies = [
"memchr", "memchr",
] ]
@ -2427,20 +2504,20 @@ checksum = "0fcb9cbac069e033553e8bb871be2fbdffcab578eb25bd0f7c508cedc6dcd75a"
[[package]] [[package]]
name = "zerocopy" name = "zerocopy"
version = "0.7.18" version = "0.7.26"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ede7d7c7970ca2215b8c1ccf4d4f354c4733201dfaaba72d44ae5b37472e4901" checksum = "e97e415490559a91254a2979b4829267a57d2fcd741a98eee8b722fb57289aa0"
dependencies = [ dependencies = [
"zerocopy-derive", "zerocopy-derive",
] ]
[[package]] [[package]]
name = "zerocopy-derive" name = "zerocopy-derive"
version = "0.7.18" version = "0.7.26"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4b27b1bb92570f989aac0ab7e9cbfbacdd65973f7ee920d9f0e71ebac878fd0b" checksum = "dd7e48ccf166952882ca8bd778a43502c64f33bf94c12ebe2a7f08e5a0f6689f"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
"syn 2.0.38", "syn 2.0.39",
] ]

View File

@ -1,6 +1,6 @@
[package] [package]
name = "strafe-client" name = "strafe-client"
version = "0.8.0" version = "0.9.0"
edition = "2021" edition = "2021"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html

View File

@ -1,18 +1,9 @@
use crate::integer::Planar64Vec3; use crate::integer::Planar64Vec3;
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub enum AabbFace{
Right,//+X
Top,
Back,
Left,
Bottom,
Front,
}
#[derive(Clone)] #[derive(Clone)]
pub struct Aabb{ pub struct Aabb{
pub min:Planar64Vec3, min:Planar64Vec3,
pub max:Planar64Vec3, max:Planar64Vec3,
} }
impl Default for Aabb { impl Default for Aabb {
@ -22,17 +13,6 @@ impl Default for Aabb {
} }
impl Aabb{ impl Aabb{
const VERTEX_DATA:[Planar64Vec3;8]=[
Planar64Vec3::int( 1,-1,-1),
Planar64Vec3::int( 1, 1,-1),
Planar64Vec3::int( 1, 1, 1),
Planar64Vec3::int( 1,-1, 1),
Planar64Vec3::int(-1,-1, 1),
Planar64Vec3::int(-1, 1, 1),
Planar64Vec3::int(-1, 1,-1),
Planar64Vec3::int(-1,-1,-1),
];
pub fn grow(&mut self,point:Planar64Vec3){ pub fn grow(&mut self,point:Planar64Vec3){
self.min=self.min.min(point); self.min=self.min.min(point);
self.max=self.max.max(point); self.max=self.max.max(point);
@ -48,34 +28,11 @@ impl Aabb{
pub fn intersects(&self,aabb:&Aabb)->bool{ pub fn intersects(&self,aabb:&Aabb)->bool{
(self.min.cmplt(aabb.max)&aabb.min.cmplt(self.max)).all() (self.min.cmplt(aabb.max)&aabb.min.cmplt(self.max)).all()
} }
pub fn normal(face:AabbFace)->Planar64Vec3{ pub fn size(&self)->Planar64Vec3{
match face { self.max-self.min
AabbFace::Right=>Planar64Vec3::int(1,0,0),
AabbFace::Top=>Planar64Vec3::int(0,1,0),
AabbFace::Back=>Planar64Vec3::int(0,0,1),
AabbFace::Left=>Planar64Vec3::int(-1,0,0),
AabbFace::Bottom=>Planar64Vec3::int(0,-1,0),
AabbFace::Front=>Planar64Vec3::int(0,0,-1),
} }
}
pub fn unit_vertices()->[Planar64Vec3;8] {
return Self::VERTEX_DATA;
}
// pub fn face(&self,face:AabbFace)->Aabb {
// let mut aabb=self.clone();
// //in this implementation face = worldspace aabb face
// match face {
// AabbFace::Right => aabb.min.x=aabb.max.x,
// AabbFace::Top => aabb.min.y=aabb.max.y,
// AabbFace::Back => aabb.min.z=aabb.max.z,
// AabbFace::Left => aabb.max.x=aabb.min.x,
// AabbFace::Bottom => aabb.max.y=aabb.min.y,
// AabbFace::Front => aabb.max.z=aabb.min.z,
// }
// return aabb;
// }
pub fn center(&self)->Planar64Vec3{ pub fn center(&self)->Planar64Vec3{
return self.min.midpoint(self.max) self.min.midpoint(self.max)
} }
//probably use floats for area & volume because we don't care about precision //probably use floats for area & volume because we don't care about precision
// pub fn area_weight(&self)->f32{ // pub fn area_weight(&self)->f32{

121
src/face_crawler.rs Normal file
View File

@ -0,0 +1,121 @@
use crate::physics::Body;
use crate::model_physics::{FEV,MeshQuery,DirectedEdge};
use crate::integer::{Time,Planar64};
use crate::zeroes::zeroes2;
enum Transition<F,E:DirectedEdge,V>{
Miss,
Next(FEV<F,E,V>,Time),
Hit(F,Time),
}
fn next_transition<F:Copy,E:Copy+DirectedEdge,V:Copy>(fev:&FEV<F,E,V>,time:Time,mesh:&impl MeshQuery<F,E,V>,body:&Body,time_limit:Time)->Transition<F,E,V>{
//conflicting derivative means it crosses in the wrong direction.
//if the transition time is equal to an already tested transition, do not replace the current best.
let mut best_time=time_limit;
let mut best_transtition=Transition::Miss;
match fev{
&FEV::<F,E,V>::Face(face_id)=>{
//test own face collision time, ignoring roots with zero or conflicting derivative
//n=face.normal d=face.dot
//n.a t^2+n.v t+n.p-d==0
let (n,d)=mesh.face_nd(face_id);
for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t);
if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t;
best_transtition=Transition::Hit(face_id,t);
break;
}
}
//test each edge collision time, ignoring roots with zero or conflicting derivative
for &directed_edge_id in mesh.face_edges(face_id).iter(){
let edge_n=mesh.directed_edge_n(directed_edge_id);
let n=n.cross(edge_n);
let verts=mesh.edge_verts(directed_edge_id.as_undirected());
let d=n.dot(mesh.vert(verts[0])+mesh.vert(verts[1]));
//WARNING: d is moved out of the *2 block because of adding two vertices!
for t in zeroes2(n.dot(body.position)*2-d,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t);
if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t;
best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
break;
}
}
}
//if none:
},
&FEV::<F,E,V>::Edge(edge_id)=>{
//test each face collision time, ignoring roots with zero or conflicting derivative
let edge_n=mesh.edge_n(edge_id);
let edge_verts=mesh.edge_verts(edge_id);
let vert_sum=mesh.vert(edge_verts[0])+mesh.vert(edge_verts[1]);
for (i,&edge_face_id) in mesh.edge_faces(edge_id).iter().enumerate(){
let face_n=mesh.face_nd(edge_face_id).0;
//edge_n gets parity from the order of edge_faces
let n=face_n.cross(edge_n)*((i as i64)*2-1);
let d=n.dot(vert_sum);
//WARNING yada yada d *2
for t in zeroes2((n.dot(body.position))*2-d,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t);
if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t;
best_transtition=Transition::Next(FEV::<F,E,V>::Face(edge_face_id),t);
break;
}
}
}
//test each vertex collision time, ignoring roots with zero or conflicting derivative
for (i,&vert_id) in edge_verts.iter().enumerate(){
//vertex normal gets parity from vert index
let n=edge_n*(1-2*(i as i64));
let d=n.dot(mesh.vert(vert_id));
for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t);
if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t;
best_transtition=Transition::Next(FEV::<F,E,V>::Vert(vert_id),t);
break;
}
}
}
//if none:
},
&FEV::<F,E,V>::Vert(vert_id)=>{
//test each edge collision time, ignoring roots with zero or conflicting derivative
for &directed_edge_id in mesh.vert_edges(vert_id).iter(){
//edge is directed away from vertex, but we want the dot product to turn out negative
let n=-mesh.directed_edge_n(directed_edge_id);
let d=n.dot(mesh.vert(vert_id));
for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t);
if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t;
best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
break;
}
}
}
//if none:
},
}
best_transtition
}
pub enum CrawlResult<F,E:DirectedEdge,V>{
Miss(FEV<F,E,V>),
Hit(F,Time),
}
pub fn crawl_fev<F:Copy,E:Copy+DirectedEdge,V:Copy>(mut fev:FEV<F,E,V>,mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,start_time:Time,time_limit:Time)->CrawlResult<F,E,V>{
let mut time=start_time;
for _ in 0..20{
match next_transition(&fev,time,mesh,relative_body,time_limit){
Transition::Miss=>return CrawlResult::Miss(fev),
Transition::Next(next_fev,next_time)=>(fev,time)=(next_fev,next_time),
Transition::Hit(face,time)=>return CrawlResult::Hit(face,time),
}
}
//TODO: fix all bugs
println!("Too many iterations! Using default behaviour instead of crashing...");
CrawlResult::Miss(fev)
}

View File

@ -25,7 +25,10 @@ impl<I> InstructionCollector<I>{
instruction:None instruction:None
} }
} }
#[inline]
pub fn time(&self)->Time{
self.time
}
pub fn collect(&mut self,instruction:Option<TimedInstruction<I>>){ pub fn collect(&mut self,instruction:Option<TimedInstruction<I>>){
match instruction{ match instruction{
Some(unwrap_instruction)=>{ Some(unwrap_instruction)=>{

View File

@ -1,7 +1,9 @@
//integer units //integer units
#[derive(Clone,Copy,Hash,PartialEq,PartialOrd,Debug)] #[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
pub struct Time(i64); pub struct Time(i64);
impl Time{ impl Time{
pub const MIN:Self=Self(i64::MIN);
pub const MAX:Self=Self(i64::MAX);
pub const ZERO:Self=Self(0); pub const ZERO:Self=Self(0);
pub const ONE_SECOND:Self=Self(1_000_000_000); pub const ONE_SECOND:Self=Self(1_000_000_000);
pub const ONE_MILLISECOND:Self=Self(1_000_000); pub const ONE_MILLISECOND:Self=Self(1_000_000);
@ -414,6 +416,8 @@ pub struct Planar64(i64);
impl Planar64{ impl Planar64{
pub const ZERO:Self=Self(0); pub const ZERO:Self=Self(0);
pub const ONE:Self=Self(1<<32); pub const ONE:Self=Self(1<<32);
pub const MAX:Self=Self(i64::MAX);
pub const MIN:Self=Self(i64::MIN);
#[inline] #[inline]
pub const fn int(num:i32)->Self{ pub const fn int(num:i32)->Self{
Self(Self::ONE.0*num as i64) Self(Self::ONE.0*num as i64)
@ -426,9 +430,14 @@ impl Planar64{
pub const fn get(&self)->i64{ pub const fn get(&self)->i64{
self.0 self.0
} }
#[inline]
pub fn sqrt(&self)->Self{ pub fn sqrt(&self)->Self{
Planar64(unsafe{(((self.0 as i128)<<32) as f64).sqrt().to_int_unchecked()}) Planar64(unsafe{(((self.0 as i128)<<32) as f64).sqrt().to_int_unchecked()})
} }
#[inline]
pub const fn signum_i64(&self)->i64{
((self.0&(1<<63)!=0) as i64)*2-1
}
} }
const PLANAR64_ONE_FLOAT32:f32=(1u64<<32) as f32; const PLANAR64_ONE_FLOAT32:f32=(1u64<<32) as f32;
const PLANAR64_CONVERT_TO_FLOAT32:f32=1.0/PLANAR64_ONE_FLOAT32; const PLANAR64_CONVERT_TO_FLOAT32:f32=1.0/PLANAR64_ONE_FLOAT32;
@ -518,6 +527,12 @@ impl std::ops::Add<Planar64> for Planar64{
Planar64(self.0+rhs.0) Planar64(self.0+rhs.0)
} }
} }
impl std::ops::AddAssign<Planar64> for Planar64{
#[inline]
fn add_assign(&mut self,rhs:Self){
*self=*self+rhs;
}
}
impl std::ops::Sub<Planar64> for Planar64{ impl std::ops::Sub<Planar64> for Planar64{
type Output=Planar64; type Output=Planar64;
#[inline] #[inline]
@ -582,6 +597,10 @@ impl Planar64Vec3{
pub const MIN:Self=Planar64Vec3(glam::I64Vec3::MIN); pub const MIN:Self=Planar64Vec3(glam::I64Vec3::MIN);
pub const MAX:Self=Planar64Vec3(glam::I64Vec3::MAX); pub const MAX:Self=Planar64Vec3(glam::I64Vec3::MAX);
#[inline] #[inline]
pub const fn new(x:Planar64,y:Planar64,z:Planar64)->Self{
Self(glam::i64vec3(x.0,y.0,z.0))
}
#[inline]
pub const fn int(x:i32,y:i32,z:i32)->Self{ pub const fn int(x:i32,y:i32,z:i32)->Self{
Self(glam::i64vec3((x as i64)<<32,(y as i64)<<32,(z as i64)<<32)) Self(glam::i64vec3((x as i64)<<32,(y as i64)<<32,(z as i64)<<32))
} }
@ -634,6 +653,26 @@ impl Planar64Vec3{
)>>32) as i64) )>>32) as i64)
} }
#[inline] #[inline]
pub fn dot128(&self,rhs:Self)->i128{
(self.0.x as i128)*(rhs.0.x as i128)+
(self.0.y as i128)*(rhs.0.y as i128)+
(self.0.z as i128)*(rhs.0.z as i128)
}
#[inline]
pub fn cross(&self,rhs:Self)->Planar64Vec3{
Planar64Vec3(glam::i64vec3(
(((self.0.y as i128)*(rhs.0.z as i128)-(self.0.z as i128)*(rhs.0.y as i128))>>32) as i64,
(((self.0.z as i128)*(rhs.0.x as i128)-(self.0.x as i128)*(rhs.0.z as i128))>>32) as i64,
(((self.0.x as i128)*(rhs.0.y as i128)-(self.0.y as i128)*(rhs.0.x as i128))>>32) as i64,
))
}
#[inline]
pub fn walkable(&self,slope:Planar64,up:Self)->bool{
let y=self.dot(up);
let x=self.cross(up).length();
x*slope<y
}
#[inline]
pub fn length(&self)->Planar64{ pub fn length(&self)->Planar64{
let radicand=(self.0.x as i128)*(self.0.x as i128)+(self.0.y as i128)*(self.0.y as i128)+(self.0.z as i128)*(self.0.z as i128); let radicand=(self.0.x as i128)*(self.0.x as i128)+(self.0.y as i128)*(self.0.y as i128)+(self.0.z as i128)*(self.0.z as i128);
Planar64(unsafe{(radicand as f64).sqrt().to_int_unchecked()}) Planar64(unsafe{(radicand as f64).sqrt().to_int_unchecked()})
@ -781,7 +820,7 @@ impl std::ops::Div<i64> for Planar64Vec3{
} }
///[-1.0,1.0] = [-2^32,2^32] ///[-1.0,1.0] = [-2^32,2^32]
#[derive(Clone,Copy)] #[derive(Clone,Copy,Hash,Eq,PartialEq)]
pub struct Planar64Mat3{ pub struct Planar64Mat3{
x_axis:Planar64Vec3, x_axis:Planar64Vec3,
y_axis:Planar64Vec3, y_axis:Planar64Vec3,
@ -797,16 +836,6 @@ impl Default for Planar64Mat3{
} }
} }
} }
impl std::ops::Mul<Planar64Vec3> for Planar64Mat3{
type Output=Planar64Vec3;
#[inline]
fn mul(self,rhs:Planar64Vec3) -> Self::Output {
self.x_axis*rhs.x()
+self.y_axis*rhs.y()
+self.z_axis*rhs.z()
}
}
impl Planar64Mat3{ impl Planar64Mat3{
#[inline] #[inline]
pub fn from_cols(x_axis:Planar64Vec3,y_axis:Planar64Vec3,z_axis:Planar64Vec3)->Self{ pub fn from_cols(x_axis:Planar64Vec3,y_axis:Planar64Vec3,z_axis:Planar64Vec3)->Self{
@ -824,6 +853,14 @@ impl Planar64Mat3{
} }
} }
#[inline] #[inline]
pub const fn from_diagonal(diagonal:Planar64Vec3)->Self{
Self{
x_axis:Planar64Vec3::raw(diagonal.0.x,0,0),
y_axis:Planar64Vec3::raw(0,diagonal.0.y,0),
z_axis:Planar64Vec3::raw(0,0,diagonal.0.z),
}
}
#[inline]
pub fn from_rotation_yx(yaw:Angle32,pitch:Angle32)->Self{ pub fn from_rotation_yx(yaw:Angle32,pitch:Angle32)->Self{
let xtheta=yaw.0 as f64*ANGLE32_TO_FLOAT64_RADIANS; let xtheta=yaw.0 as f64*ANGLE32_TO_FLOAT64_RADIANS;
let (xs,xc)=xtheta.sin_cos(); let (xs,xc)=xtheta.sin_cos();
@ -853,6 +890,41 @@ impl Planar64Mat3{
Planar64Vec3(glam::i64vec3(s,0,c)), Planar64Vec3(glam::i64vec3(s,0,c)),
) )
} }
#[inline]
pub const fn inverse(&self)->Self{
let det=(
-self.x_axis.0.z as i128*self.y_axis.0.y as i128*self.z_axis.0.x as i128
+self.x_axis.0.y as i128*self.y_axis.0.z as i128*self.z_axis.0.x as i128
+self.x_axis.0.z as i128*self.y_axis.0.x as i128*self.z_axis.0.y as i128
-self.x_axis.0.x as i128*self.y_axis.0.z as i128*self.z_axis.0.y as i128
-self.x_axis.0.y as i128*self.y_axis.0.x as i128*self.z_axis.0.z as i128
+self.x_axis.0.x as i128*self.y_axis.0.y as i128*self.z_axis.0.z as i128
)>>32;
Self{
x_axis:Planar64Vec3::raw((((-(self.y_axis.0.z as i128*self.z_axis.0.y as i128)+self.y_axis.0.y as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((self.x_axis.0.z as i128*self.z_axis.0.y as i128-self.x_axis.0.y as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((-(self.x_axis.0.z as i128*self.y_axis.0.y as i128)+self.x_axis.0.y as i128*self.y_axis.0.z as i128)<<32)/det) as i64),
y_axis:Planar64Vec3::raw((((self.y_axis.0.z as i128*self.z_axis.0.x as i128-self.y_axis.0.x as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((-(self.x_axis.0.z as i128*self.z_axis.0.x as i128)+self.x_axis.0.x as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((self.x_axis.0.z as i128*self.y_axis.0.x as i128-self.x_axis.0.x as i128*self.y_axis.0.z as i128)<<32)/det) as i64),
z_axis:Planar64Vec3::raw((((-(self.y_axis.0.y as i128*self.z_axis.0.x as i128)+self.y_axis.0.x as i128*self.z_axis.0.y as i128)<<32)/det) as i64,(((self.x_axis.0.y as i128*self.z_axis.0.x as i128-self.x_axis.0.x as i128*self.z_axis.0.y as i128)<<32)/det) as i64,(((-(self.x_axis.0.y as i128*self.y_axis.0.x as i128)+self.x_axis.0.x as i128*self.y_axis.0.y as i128)<<32)/det) as i64),
}
}
#[inline]
pub const fn transpose(&self)->Self{
Self{
x_axis:Planar64Vec3::raw(self.x_axis.0.x,self.y_axis.0.x,self.z_axis.0.x),
y_axis:Planar64Vec3::raw(self.x_axis.0.y,self.y_axis.0.y,self.z_axis.0.y),
z_axis:Planar64Vec3::raw(self.x_axis.0.z,self.y_axis.0.z,self.z_axis.0.z),
}
}
#[inline]
pub const fn determinant(&self)->Planar64{
Planar64(((
-self.x_axis.0.z as i128*self.y_axis.0.y as i128*self.z_axis.0.x as i128
+self.x_axis.0.y as i128*self.y_axis.0.z as i128*self.z_axis.0.x as i128
+self.x_axis.0.z as i128*self.y_axis.0.x as i128*self.z_axis.0.y as i128
-self.x_axis.0.x as i128*self.y_axis.0.z as i128*self.z_axis.0.y as i128
-self.x_axis.0.y as i128*self.y_axis.0.x as i128*self.z_axis.0.z as i128
+self.x_axis.0.x as i128*self.y_axis.0.y as i128*self.z_axis.0.z as i128
)>>64) as i64)
}
} }
impl Into<glam::Mat3> for Planar64Mat3{ impl Into<glam::Mat3> for Planar64Mat3{
#[inline] #[inline]
@ -884,6 +956,15 @@ impl std::fmt::Display for Planar64Mat3{
) )
} }
} }
impl std::ops::Mul<Planar64Vec3> for Planar64Mat3{
type Output=Planar64Vec3;
#[inline]
fn mul(self,rhs:Planar64Vec3) -> Self::Output {
self.x_axis*rhs.x()
+self.y_axis*rhs.y()
+self.z_axis*rhs.z()
}
}
impl std::ops::Div<i64> for Planar64Mat3{ impl std::ops::Div<i64> for Planar64Mat3{
type Output=Planar64Mat3; type Output=Planar64Mat3;
#[inline] #[inline]
@ -897,7 +978,7 @@ impl std::ops::Div<i64> for Planar64Mat3{
} }
///[-1.0,1.0] = [-2^32,2^32] ///[-1.0,1.0] = [-2^32,2^32]
#[derive(Clone,Copy,Default)] #[derive(Clone,Copy,Default,Hash,Eq,PartialEq)]
pub struct Planar64Affine3{ pub struct Planar64Affine3{
pub matrix3:Planar64Mat3,//includes scale above 1 pub matrix3:Planar64Mat3,//includes scale above 1
pub translation:Planar64Vec3, pub translation:Planar64Vec3,
@ -952,7 +1033,7 @@ impl std::fmt::Display for Planar64Affine3{
#[test] #[test]
fn test_sqrt(){ fn test_sqrt(){
let r=Planar64::int(400); let r=Planar64::int(400);
println!("r{}",r.get()); assert_eq!(1717986918400,r.get());
let s=r.sqrt(); let s=r.sqrt();
println!("s{}",s.get()); assert_eq!(85899345920,s.get());
} }

View File

@ -45,14 +45,19 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,force_interse
"Water"=>{ "Water"=>{
force_can_collide=false; force_can_collide=false;
//TODO: read stupid CustomPhysicalProperties //TODO: read stupid CustomPhysicalProperties
intersecting.water=Some(crate::model::IntersectingWater{density:Planar64::ONE,viscosity:Planar64::ONE/10,current:velocity}); intersecting.water=Some(crate::model::IntersectingWater{density:Planar64::ONE,viscosity:Planar64::ONE/10,velocity});
}, },
"Accelerator"=>{ "Accelerator"=>{
//although the new game supports collidable accelerators, this is a roblox compatability map loader //although the new game supports collidable accelerators, this is a roblox compatability map loader
force_can_collide=false; force_can_collide=false;
general.accelerator=Some(crate::model::GameMechanicAccelerator{acceleration:velocity}); general.accelerator=Some(crate::model::GameMechanicAccelerator{acceleration:velocity});
}, },
"UnorderedCheckpoint"=>general.checkpoint=Some(crate::model::GameMechanicCheckpoint::Unordered{mode_id:0}), // "UnorderedCheckpoint"=>general.teleport_behaviour=Some(crate::model::TeleportBehaviour::StageElement(crate::model::GameMechanicStageElement{
// mode_id:0,
// stage_id:0,
// force:false,
// behaviour:crate::model::StageElementBehaviour::Unordered
// })),
"SetVelocity"=>general.trajectory=Some(crate::model::GameMechanicSetTrajectory::Velocity(velocity)), "SetVelocity"=>general.trajectory=Some(crate::model::GameMechanicSetTrajectory::Velocity(velocity)),
"MapFinish"=>{force_can_collide=false;general.zone=Some(crate::model::GameMechanicZone{mode_id:0,behaviour:crate::model::ZoneBehaviour::Finish})}, "MapFinish"=>{force_can_collide=false;general.zone=Some(crate::model::GameMechanicZone{mode_id:0,behaviour:crate::model::ZoneBehaviour::Finish})},
"MapAnticheat"=>{force_can_collide=false;general.zone=Some(crate::model::GameMechanicZone{mode_id:0,behaviour:crate::model::ZoneBehaviour::Anitcheat})}, "MapAnticheat"=>{force_can_collide=false;general.zone=Some(crate::model::GameMechanicZone{mode_id:0,behaviour:crate::model::ZoneBehaviour::Anitcheat})},
@ -111,13 +116,14 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,force_interse
"WormholeIn"=>general.teleport_behaviour=Some(crate::model::TeleportBehaviour::Wormhole(crate::model::GameMechanicWormhole{destination_model_id:captures[2].parse::<u32>().unwrap()})), "WormholeIn"=>general.teleport_behaviour=Some(crate::model::TeleportBehaviour::Wormhole(crate::model::GameMechanicWormhole{destination_model_id:captures[2].parse::<u32>().unwrap()})),
_=>panic!("regex3[1] messed up bad"), _=>panic!("regex3[1] messed up bad"),
} }
}else if let Some(captures)=lazy_regex::regex!(r"^(OrderedCheckpoint)(\d+)$")
.captures(other){
match &captures[1]{
"OrderedCheckpoint"=>general.checkpoint=Some(crate::model::GameMechanicCheckpoint::Ordered{mode_id:0,checkpoint_id:captures[2].parse::<u32>().unwrap()}),
_=>panic!("regex3[1] messed up bad"),
}
} }
// else if let Some(captures)=lazy_regex::regex!(r"^(OrderedCheckpoint)(\d+)$")
// .captures(other){
// match &captures[1]{
// "OrderedCheckpoint"=>general.checkpoint=Some(crate::model::GameMechanicCheckpoint::Ordered{mode_id:0,checkpoint_id:captures[2].parse::<u32>().unwrap()}),
// _=>panic!("regex3[1] messed up bad"),
// }
// }
} }
} }
//need some way to skip this //need some way to skip this

View File

@ -12,7 +12,9 @@ mod settings;
mod primitives; mod primitives;
mod instruction; mod instruction;
mod load_roblox; mod load_roblox;
mod face_crawler;
mod compat_worker; mod compat_worker;
mod model_physics;
mod model_graphics; mod model_graphics;
mod physics_worker; mod physics_worker;
mod graphics_worker; mod graphics_worker;

View File

@ -83,73 +83,78 @@ pub enum TempIndexedAttributes{
} }
//you have this effect while in contact //you have this effect while in contact
#[derive(Clone)] #[derive(Clone,Hash,Eq,PartialEq)]
pub struct ContactingLadder{ pub struct ContactingLadder{
pub sticky:bool pub sticky:bool
} }
#[derive(Clone)] #[derive(Clone,Hash,Eq,PartialEq)]
pub enum ContactingBehaviour{ pub enum ContactingBehaviour{
Surf, Surf,
Cling,//usable as a zipline, or other weird and wonderful things
Ladder(ContactingLadder), Ladder(ContactingLadder),
Elastic(u32),//[1/2^32,1] 0=None (elasticity+1)/2^32 Elastic(u32),//[1/2^32,1] 0=None (elasticity+1)/2^32
} }
//you have this effect while intersecting //you have this effect while intersecting
#[derive(Clone)] #[derive(Clone,Hash,Eq,PartialEq)]
pub struct IntersectingWater{ pub struct IntersectingWater{
pub viscosity:Planar64, pub viscosity:Planar64,
pub density:Planar64, pub density:Planar64,
pub current:Planar64Vec3, pub velocity:Planar64Vec3,
} }
//All models can be given these attributes //All models can be given these attributes
#[derive(Clone)] #[derive(Clone,Hash,Eq,PartialEq)]
pub struct GameMechanicAccelerator{ pub struct GameMechanicAccelerator{
pub acceleration:Planar64Vec3 pub acceleration:Planar64Vec3
} }
#[derive(Clone)] #[derive(Clone,Hash,Eq,PartialEq)]
pub enum GameMechanicBooster{ pub enum GameMechanicBooster{
Affine(Planar64Affine3),//capable of SetVelocity,DotVelocity,normal booster,bouncy part,redirect velocity, and much more Affine(Planar64Affine3),//capable of SetVelocity,DotVelocity,normal booster,bouncy part,redirect velocity, and much more
Velocity(Planar64Vec3),//straight up boost velocity adds to your current velocity Velocity(Planar64Vec3),//straight up boost velocity adds to your current velocity
Energy{direction:Planar64Vec3,energy:Planar64},//increase energy in direction Energy{direction:Planar64Vec3,energy:Planar64},//increase energy in direction
} }
#[derive(Clone)] #[derive(Clone,Hash,Eq,PartialEq)]
pub enum GameMechanicCheckpoint{
Ordered{
mode_id:u32,
checkpoint_id:u32,
},
Unordered{
mode_id:u32,
},
}
#[derive(Clone)]
pub enum TrajectoryChoice{ pub enum TrajectoryChoice{
HighArcLongDuration,//underhand lob at target: less horizontal speed and more air time HighArcLongDuration,//underhand lob at target: less horizontal speed and more air time
LowArcShortDuration,//overhand throw at target: more horizontal speed and less air time LowArcShortDuration,//overhand throw at target: more horizontal speed and less air time
} }
#[derive(Clone)] #[derive(Clone,Hash,Eq,PartialEq)]
pub enum GameMechanicSetTrajectory{ pub enum GameMechanicSetTrajectory{
//Speed-type SetTrajectory
AirTime(Time),//air time (relative to gravity direction) is invariant across mass and gravity changes AirTime(Time),//air time (relative to gravity direction) is invariant across mass and gravity changes
Height(Planar64),//boost height (relative to gravity direction) is invariant across mass and gravity changes Height(Planar64),//boost height (relative to gravity direction) is invariant across mass and gravity changes
DotVelocity{direction:Planar64Vec3,dot:Planar64},//set your velocity in a specific direction without touching other directions
//Velocity-type SetTrajectory
TargetPointTime{//launch on a trajectory that will land at a target point in a set amount of time TargetPointTime{//launch on a trajectory that will land at a target point in a set amount of time
target_point:Planar64Vec3, target_point:Planar64Vec3,
time:Time,//short time = fast and direct, long time = launch high in the air, negative time = wrong way time:Time,//short time = fast and direct, long time = launch high in the air, negative time = wrong way
}, },
TrajectoryTargetPoint{//launch at a fixed speed and land at a target point TargetPointSpeed{//launch at a fixed speed and land at a target point
target_point:Planar64Vec3, target_point:Planar64Vec3,
speed:Planar64,//if speed is too low this will fail to reach the target. The closest-passing trajectory will be chosen instead speed:Planar64,//if speed is too low this will fail to reach the target. The closest-passing trajectory will be chosen instead
trajectory_choice:TrajectoryChoice, trajectory_choice:TrajectoryChoice,
}, },
Velocity(Planar64Vec3),//SetVelocity Velocity(Planar64Vec3),//SetVelocity
DotVelocity{direction:Planar64Vec3,dot:Planar64},//set your velocity in a specific direction without touching other directions
} }
#[derive(Clone)] impl GameMechanicSetTrajectory{
fn is_velocity(&self)->bool{
match self{
GameMechanicSetTrajectory::AirTime(_)
|GameMechanicSetTrajectory::Height(_)
|GameMechanicSetTrajectory::DotVelocity{direction:_,dot:_}=>false,
GameMechanicSetTrajectory::TargetPointTime{target_point:_,time:_}
|GameMechanicSetTrajectory::TargetPointSpeed{target_point:_,speed:_,trajectory_choice:_}
|GameMechanicSetTrajectory::Velocity(_)=>true,
}
}
}
#[derive(Clone,Hash,Eq,PartialEq)]
pub enum ZoneBehaviour{ pub enum ZoneBehaviour{
//Start is indexed //Start is indexed
//Checkpoints are indexed //Checkpoints are indexed
Finish, Finish,
Anitcheat, Anitcheat,
} }
#[derive(Clone)] #[derive(Clone,Hash,Eq,PartialEq)]
pub struct GameMechanicZone{ pub struct GameMechanicZone{
pub mode_id:u32, pub mode_id:u32,
pub behaviour:ZoneBehaviour, pub behaviour:ZoneBehaviour,
@ -160,31 +165,36 @@ pub struct GameMechanicZone{
// InRange(Planar64,Planar64), // InRange(Planar64,Planar64),
// OutsideRange(Planar64,Planar64), // OutsideRange(Planar64,Planar64),
// } // }
#[derive(Clone)] #[derive(Clone,Hash,Eq,PartialEq)]
pub enum StageElementBehaviour{ pub enum StageElementBehaviour{
//Spawn,//The behaviour of stepping on a spawn setting the spawnid //Spawn,//The behaviour of stepping on a spawn setting the spawnid
SpawnAt, SpawnAt,//must be standing on top to get effect. except cancollide false
Trigger, Trigger,
Teleport, Teleport,
Platform, Platform,
//Acts like a trigger if you haven't hit all the checkpoints. //Checkpoint acts like a trigger if you haven't hit all the checkpoints yet.
Checkpoint{ //Note that all stage elements act like this for the next stage.
//if this is 2 you must have hit OrderedCheckpoint(0) OrderedCheckpoint(1) OrderedCheckpoint(2) to pass Checkpoint,
ordered_checkpoint_id:Option<u32>, //OrderedCheckpoint. You must pass through all of these in ascending order.
//if this is 2 you must have hit at least 2 UnorderedCheckpoints to pass //If you hit them out of order it acts like a trigger.
unordered_checkpoint_count:u32, //Do not support backtracking at all for now.
Ordered{
checkpoint_id:u32,
}, },
//UnorderedCheckpoint. You must pass through all of these in any order.
Unordered,
//If you get reset by a jump limit
JumpLimit(u32), JumpLimit(u32),
//Speedtrap(TrapCondition),//Acts as a trigger with a speed condition //Speedtrap(TrapCondition),//Acts as a trigger with a speed condition
} }
#[derive(Clone)] #[derive(Clone,Hash,Eq,PartialEq)]
pub struct GameMechanicStageElement{ pub struct GameMechanicStageElement{
pub mode_id:u32, pub mode_id:u32,
pub stage_id:u32,//which spawn to send to pub stage_id:u32,//which spawn to send to
pub force:bool,//allow setting to lower spawn id i.e. 7->3 pub force:bool,//allow setting to lower spawn id i.e. 7->3
pub behaviour:StageElementBehaviour pub behaviour:StageElementBehaviour
} }
#[derive(Clone)] #[derive(Clone,Hash,Eq,PartialEq)]
pub struct GameMechanicWormhole{ pub struct GameMechanicWormhole{
//destination does not need to be another wormhole //destination does not need to be another wormhole
//this defines a one way portal to a destination model transform //this defines a one way portal to a destination model transform
@ -192,17 +202,16 @@ pub struct GameMechanicWormhole{
pub destination_model_id:u32, pub destination_model_id:u32,
//(position,angles)*=origin.transform.inverse()*destination.transform //(position,angles)*=origin.transform.inverse()*destination.transform
} }
#[derive(Clone)] #[derive(Clone,Hash,Eq,PartialEq)]
pub enum TeleportBehaviour{ pub enum TeleportBehaviour{
StageElement(GameMechanicStageElement), StageElement(GameMechanicStageElement),
Wormhole(GameMechanicWormhole), Wormhole(GameMechanicWormhole),
} }
//attributes listed in order of handling //attributes listed in order of handling
#[derive(Default,Clone)] #[derive(Default,Clone,Hash,Eq,PartialEq)]
pub struct GameMechanicAttributes{ pub struct GameMechanicAttributes{
pub zone:Option<GameMechanicZone>, pub zone:Option<GameMechanicZone>,
pub booster:Option<GameMechanicBooster>, pub booster:Option<GameMechanicBooster>,
pub checkpoint:Option<GameMechanicCheckpoint>,
pub trajectory:Option<GameMechanicSetTrajectory>, pub trajectory:Option<GameMechanicSetTrajectory>,
pub teleport_behaviour:Option<TeleportBehaviour>, pub teleport_behaviour:Option<TeleportBehaviour>,
pub accelerator:Option<GameMechanicAccelerator>, pub accelerator:Option<GameMechanicAccelerator>,
@ -211,13 +220,26 @@ impl GameMechanicAttributes{
pub fn any(&self)->bool{ pub fn any(&self)->bool{
self.zone.is_some() self.zone.is_some()
||self.booster.is_some() ||self.booster.is_some()
||self.checkpoint.is_some()
||self.trajectory.is_some() ||self.trajectory.is_some()
||self.teleport_behaviour.is_some() ||self.teleport_behaviour.is_some()
||self.accelerator.is_some() ||self.accelerator.is_some()
} }
pub fn is_wrcp(&self,current_mode_id:u32)->bool{
self.trajectory.as_ref().map_or(false,|t|t.is_velocity())
&&match &self.teleport_behaviour{
Some(TeleportBehaviour::StageElement(
GameMechanicStageElement{
mode_id,
stage_id:_,
force:true,
behaviour:StageElementBehaviour::Trigger|StageElementBehaviour::Teleport
} }
#[derive(Default,Clone)] ))=>current_mode_id==*mode_id,
_=>false,
}
}
}
#[derive(Default,Clone,Hash,Eq,PartialEq)]
pub struct ContactingAttributes{ pub struct ContactingAttributes{
//friction? //friction?
pub contact_behaviour:Option<ContactingBehaviour>, pub contact_behaviour:Option<ContactingBehaviour>,
@ -227,7 +249,7 @@ impl ContactingAttributes{
self.contact_behaviour.is_some() self.contact_behaviour.is_some()
} }
} }
#[derive(Default,Clone)] #[derive(Default,Clone,Hash,Eq,PartialEq)]
pub struct IntersectingAttributes{ pub struct IntersectingAttributes{
pub water:Option<IntersectingWater>, pub water:Option<IntersectingWater>,
} }
@ -237,6 +259,7 @@ impl IntersectingAttributes{
} }
} }
//Spawn(u32) NO! spawns are indexed in the map header instead of marked with attibutes //Spawn(u32) NO! spawns are indexed in the map header instead of marked with attibutes
//TODO: deduplicate attributes
pub enum CollisionAttributes{ pub enum CollisionAttributes{
Decoration,//visual only Decoration,//visual only
Contact{//track whether you are contacting the object Contact{//track whether you are contacting the object

View File

@ -1 +1,737 @@
// use crate::integer::{Planar64,Planar64Vec3};
use std::borrow::{Borrow,Cow};
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct VertId(usize);
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct EdgeId(usize);
pub trait UndirectedEdge{
type DirectedEdge:Copy+DirectedEdge;
fn as_directed(&self,parity:bool)->Self::DirectedEdge;
}
impl UndirectedEdge for EdgeId{
type DirectedEdge=DirectedEdgeId;
fn as_directed(&self,parity:bool)->DirectedEdgeId{
DirectedEdgeId(self.0|((parity as usize)<<(usize::BITS-1)))
}
}
pub trait DirectedEdge{
type UndirectedEdge:Copy+UndirectedEdge;
fn as_undirected(&self)->Self::UndirectedEdge;
fn parity(&self)->bool;
//this is stupid but may work fine
fn reverse(&self)-><<Self as DirectedEdge>::UndirectedEdge as UndirectedEdge>::DirectedEdge{
self.as_undirected().as_directed(!self.parity())
}
}
/// DirectedEdgeId refers to an EdgeId when undirected.
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct DirectedEdgeId(usize);
impl DirectedEdge for DirectedEdgeId{
type UndirectedEdge=EdgeId;
fn as_undirected(&self)->EdgeId{
EdgeId(self.0&!(1<<(usize::BITS-1)))
}
fn parity(&self)->bool{
self.0&(1<<(usize::BITS-1))!=0
}
}
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct FaceId(usize);
//Vertex <-> Edge <-> Face -> Collide
pub enum FEV<F,E:DirectedEdge,V>{
Face(F),
Edge(E::UndirectedEdge),
Vert(V),
}
//use Unit32 #[repr(C)] for map files
struct Face{
normal:Planar64Vec3,
dot:Planar64,
}
struct Vert(Planar64Vec3);
pub trait MeshQuery<FACE:Clone,EDGE:Clone+DirectedEdge,VERT:Clone>{
fn edge_n(&self,edge_id:EDGE::UndirectedEdge)->Planar64Vec3{
let verts=self.edge_verts(edge_id);
self.vert(verts[1].clone())-self.vert(verts[0].clone())
}
fn directed_edge_n(&self,directed_edge_id:EDGE)->Planar64Vec3{
let verts=self.edge_verts(directed_edge_id.as_undirected());
(self.vert(verts[1].clone())-self.vert(verts[0].clone()))*((directed_edge_id.parity() as i64)*2-1)
}
fn vert(&self,vert_id:VERT)->Planar64Vec3;
fn face_nd(&self,face_id:FACE)->(Planar64Vec3,Planar64);
fn face_edges(&self,face_id:FACE)->Cow<Vec<EDGE>>;
fn edge_faces(&self,edge_id:EDGE::UndirectedEdge)->Cow<[FACE;2]>;
fn edge_verts(&self,edge_id:EDGE::UndirectedEdge)->Cow<[VERT;2]>;
fn vert_edges(&self,vert_id:VERT)->Cow<Vec<EDGE>>;
fn vert_faces(&self,vert_id:VERT)->Cow<Vec<FACE>>;
}
struct FaceRefs{
edges:Vec<DirectedEdgeId>,
//verts:Vec<VertId>,
}
struct EdgeRefs{
faces:[FaceId;2],//left, right
verts:[VertId;2],//bottom, top
}
struct VertRefs{
faces:Vec<FaceId>,
edges:Vec<DirectedEdgeId>,
}
pub struct PhysicsMesh{
faces:Vec<Face>,
verts:Vec<Vert>,
face_topology:Vec<FaceRefs>,
edge_topology:Vec<EdgeRefs>,
vert_topology:Vec<VertRefs>,
}
#[derive(Default,Clone)]
struct VertRefGuy{
edges:std::collections::HashSet<DirectedEdgeId>,
faces:std::collections::HashSet<FaceId>,
}
#[derive(Clone,Hash,Eq,PartialEq)]
struct EdgeRefVerts([VertId;2]);
impl EdgeRefVerts{
fn new(v0:VertId,v1:VertId)->(Self,bool){
(if v0.0<v1.0{
Self([v0,v1])
}else{
Self([v1,v0])
},v0.0<v1.0)
}
}
struct EdgeRefFaces([FaceId;2]);
impl EdgeRefFaces{
fn new()->Self{
Self([FaceId(0);2])
}
fn push(&mut self,i:usize,face_id:FaceId){
self.0[i]=face_id;
}
}
struct FaceRefEdges(Vec<DirectedEdgeId>);
#[derive(Default)]
struct EdgePool{
edge_guys:Vec<(EdgeRefVerts,EdgeRefFaces)>,
edge_id_from_guy:std::collections::HashMap<EdgeRefVerts,usize>,
}
impl EdgePool{
fn push(&mut self,edge_ref_verts:EdgeRefVerts)->(&mut EdgeRefFaces,EdgeId){
let edge_id=if let Some(&edge_id)=self.edge_id_from_guy.get(&edge_ref_verts){
edge_id
}else{
let edge_id=self.edge_guys.len();
self.edge_guys.push((edge_ref_verts.clone(),EdgeRefFaces::new()));
self.edge_id_from_guy.insert(edge_ref_verts,edge_id);
edge_id
};
(&mut unsafe{self.edge_guys.get_unchecked_mut(edge_id)}.1,EdgeId(edge_id))
}
}
impl From<&crate::model::IndexedModel> for PhysicsMesh{
fn from(indexed_model:&crate::model::IndexedModel)->Self{
assert!(indexed_model.unique_pos.len()!=0,"Mesh cannot have 0 vertices");
let verts=indexed_model.unique_pos.iter().map(|v|Vert(v.clone())).collect();
let mut vert_ref_guys=vec![VertRefGuy::default();indexed_model.unique_pos.len()];
let mut edge_pool=EdgePool::default();
let mut face_i=0;
let mut faces=Vec::new();
let mut face_ref_guys=Vec::new();
for group in indexed_model.groups.iter(){for poly in group.polys.iter(){
let face_id=FaceId(face_i);
//one face per poly
let mut normal=Planar64Vec3::ZERO;
let len=poly.vertices.len();
let face_edges=poly.vertices.iter().enumerate().map(|(i,&vert_id)|{
let vert0_id=indexed_model.unique_vertices[vert_id as usize].pos as usize;
let vert1_id=indexed_model.unique_vertices[poly.vertices[(i+1)%len] as usize].pos as usize;
//https://www.khronos.org/opengl/wiki/Calculating_a_Surface_Normal (Newell's Method)
let v0=indexed_model.unique_pos[vert0_id];
let v1=indexed_model.unique_pos[vert1_id];
normal+=Planar64Vec3::new(
(v0.y()-v1.y())*(v0.z()+v1.z()),
(v0.z()-v1.z())*(v0.x()+v1.x()),
(v0.x()-v1.x())*(v0.y()+v1.y()),
);
//get/create edge and push face into it
let (edge_ref_verts,is_sorted)=EdgeRefVerts::new(VertId(vert0_id),VertId(vert1_id));
let (edge_ref_faces,edge_id)=edge_pool.push(edge_ref_verts);
//polygon vertices as assumed to be listed clockwise
//populate the edge face on the left or right depending on how the edge vertices got sorted
edge_ref_faces.push(!is_sorted as usize,face_id);
//index edges & face into vertices
{
let vert_ref_guy=unsafe{vert_ref_guys.get_unchecked_mut(vert0_id)};
vert_ref_guy.edges.insert(edge_id.as_directed(is_sorted));
vert_ref_guy.faces.insert(face_id);
unsafe{vert_ref_guys.get_unchecked_mut(vert1_id)}.edges.insert(edge_id.as_directed(!is_sorted));
}
//return directed_edge_id
edge_id.as_directed(is_sorted)
}).collect();
//choose precision loss randomly idk
normal=normal/len as i64;
let mut dot=Planar64::ZERO;
for &v in poly.vertices.iter(){
dot+=normal.dot(indexed_model.unique_pos[indexed_model.unique_vertices[v as usize].pos as usize]);
}
faces.push(Face{normal,dot:dot/len as i64});
face_ref_guys.push(FaceRefEdges(face_edges));
face_i+=1;
}}
//conceivably faces, edges, and vertices exist now
Self{
faces,
verts,
face_topology:face_ref_guys.into_iter().map(|face_ref_guy|{
FaceRefs{edges:face_ref_guy.0}
}).collect(),
edge_topology:edge_pool.edge_guys.into_iter().map(|(edge_ref_verts,edge_ref_faces)|
EdgeRefs{faces:edge_ref_faces.0,verts:edge_ref_verts.0}
).collect(),
vert_topology:vert_ref_guys.into_iter().map(|vert_ref_guy|
VertRefs{
edges:vert_ref_guy.edges.into_iter().collect(),
faces:vert_ref_guy.faces.into_iter().collect(),
}
).collect(),
}
}
}
impl PhysicsMesh{
pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'a{
self.verts.iter().map(|Vert(pos)|*pos)
}
}
impl MeshQuery<FaceId,DirectedEdgeId,VertId> for PhysicsMesh{
fn face_nd(&self,face_id:FaceId)->(Planar64Vec3,Planar64){
(self.faces[face_id.0].normal,self.faces[face_id.0].dot)
}
//ideally I never calculate the vertex position, but I have to for the graphical meshes...
fn vert(&self,vert_id:VertId)->Planar64Vec3{
self.verts[vert_id.0].0
}
fn face_edges(&self,face_id:FaceId)->Cow<Vec<DirectedEdgeId>>{
Cow::Borrowed(&self.face_topology[face_id.0].edges)
}
fn edge_faces(&self,edge_id:EdgeId)->Cow<[FaceId;2]>{
Cow::Borrowed(&self.edge_topology[edge_id.0].faces)
}
fn edge_verts(&self,edge_id:EdgeId)->Cow<[VertId;2]>{
Cow::Borrowed(&self.edge_topology[edge_id.0].verts)
}
fn vert_edges(&self,vert_id:VertId)->Cow<Vec<DirectedEdgeId>>{
Cow::Borrowed(&self.vert_topology[vert_id.0].edges)
}
fn vert_faces(&self,vert_id:VertId)->Cow<Vec<FaceId>>{
Cow::Borrowed(&self.vert_topology[vert_id.0].faces)
}
}
pub struct TransformedMesh<'a>{
mesh:&'a PhysicsMesh,
transform:&'a crate::integer::Planar64Affine3,
normal_transform:&'a crate::integer::Planar64Mat3,
}
impl TransformedMesh<'_>{
pub fn new<'a>(
mesh:&'a PhysicsMesh,
transform:&'a crate::integer::Planar64Affine3,
normal_transform:&'a crate::integer::Planar64Mat3,
)->TransformedMesh<'a>{
TransformedMesh{
mesh,
transform,
normal_transform,
}
}
fn farthest_vert(&self,dir:Planar64Vec3)->VertId{
let mut best_dot=Planar64::MIN;
let mut best_vert=VertId(0);
for (i,vert) in self.mesh.verts.iter().enumerate(){
let p=self.transform.transform_point3(vert.0);
let d=dir.dot(p);
if best_dot<d{
best_dot=d;
best_vert=VertId(i);
}
}
best_vert
}
}
impl MeshQuery<FaceId,DirectedEdgeId,VertId> for TransformedMesh<'_>{
fn face_nd(&self,face_id:FaceId)->(Planar64Vec3,Planar64){
let (n,d)=self.mesh.face_nd(face_id);
let transformed_n=*self.normal_transform*n;
let transformed_d=Planar64::raw(((transformed_n.dot128(self.transform.matrix3*(n*d))<<32)/n.dot128(n)) as i64)+transformed_n.dot(self.transform.translation);
(transformed_n,transformed_d)
}
fn vert(&self,vert_id:VertId)->Planar64Vec3{
self.transform.transform_point3(self.mesh.vert(vert_id))
}
#[inline]
fn face_edges(&self,face_id:FaceId)->Cow<Vec<DirectedEdgeId>>{
self.mesh.face_edges(face_id)
}
#[inline]
fn edge_faces(&self,edge_id:EdgeId)->Cow<[FaceId;2]>{
self.mesh.edge_faces(edge_id)
}
#[inline]
fn edge_verts(&self,edge_id:EdgeId)->Cow<[VertId;2]>{
self.mesh.edge_verts(edge_id)
}
#[inline]
fn vert_edges(&self,vert_id:VertId)->Cow<Vec<DirectedEdgeId>>{
self.mesh.vert_edges(vert_id)
}
#[inline]
fn vert_faces(&self,vert_id:VertId)->Cow<Vec<FaceId>>{
self.mesh.vert_faces(vert_id)
}
}
//Note that a face on a minkowski mesh refers to a pair of fevs on the meshes it's summed from
//(face,vertex)
//(edge,edge)
//(vertex,face)
#[derive(Clone,Copy)]
pub enum MinkowskiVert{
VertVert(VertId,VertId),
}
#[derive(Clone,Copy)]
pub enum MinkowskiEdge{
VertEdge(VertId,EdgeId),
EdgeVert(EdgeId,VertId),
//EdgeEdge when edges are parallel
}
impl UndirectedEdge for MinkowskiEdge{
type DirectedEdge=MinkowskiDirectedEdge;
fn as_directed(&self,parity:bool)->Self::DirectedEdge{
match self{
MinkowskiEdge::VertEdge(v0,e1)=>MinkowskiDirectedEdge::VertEdge(*v0,e1.as_directed(parity)),
MinkowskiEdge::EdgeVert(e0,v1)=>MinkowskiDirectedEdge::EdgeVert(e0.as_directed(parity),*v1),
}
}
}
#[derive(Clone,Copy)]
pub enum MinkowskiDirectedEdge{
VertEdge(VertId,DirectedEdgeId),
EdgeVert(DirectedEdgeId,VertId),
//EdgeEdge when edges are parallel
}
impl DirectedEdge for MinkowskiDirectedEdge{
type UndirectedEdge=MinkowskiEdge;
fn as_undirected(&self)->Self::UndirectedEdge{
match self{
MinkowskiDirectedEdge::VertEdge(v0,e1)=>MinkowskiEdge::VertEdge(*v0,e1.as_undirected()),
MinkowskiDirectedEdge::EdgeVert(e0,v1)=>MinkowskiEdge::EdgeVert(e0.as_undirected(),*v1),
}
}
fn parity(&self)->bool{
match self{
MinkowskiDirectedEdge::VertEdge(_,e)
|MinkowskiDirectedEdge::EdgeVert(e,_)=>e.parity(),
}
}
}
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub enum MinkowskiFace{
VertFace(VertId,FaceId),
EdgeEdge(EdgeId,EdgeId,bool),
FaceVert(FaceId,VertId),
//EdgeFace
//FaceEdge
//FaceFace
}
pub struct MinkowskiMesh<'a>{
mesh0:&'a TransformedMesh<'a>,
mesh1:&'a TransformedMesh<'a>,
}
//infinity fev algorithm state transition
enum Transition{
Done,//found closest vert, no edges are better
Vert(MinkowskiVert),//transition to vert
}
enum EV{
Vert(MinkowskiVert),
Edge(MinkowskiEdge),
}
impl MinkowskiMesh<'_>{
pub fn minkowski_sum<'a>(mesh0:&'a TransformedMesh,mesh1:&'a TransformedMesh)->MinkowskiMesh<'a>{
MinkowskiMesh{
mesh0,
mesh1,
}
}
fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
}
fn next_transition_vert(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{
let mut best_transition=Transition::Done;
for &directed_edge_id in self.vert_edges(vert_id).iter(){
let edge_n=self.directed_edge_n(directed_edge_id);
//is boundary uncrossable by a crawl from infinity
if infinity_dir.dot(edge_n)==Planar64::ZERO{
let edge_verts=self.edge_verts(directed_edge_id.as_undirected());
//select opposite vertex
let test_vert_id=edge_verts[directed_edge_id.parity() as usize];
//test if it's closer
let diff=point-self.vert(test_vert_id);
let distance_squared=diff.dot(diff);
if distance_squared<*best_distance_squared{
best_transition=Transition::Vert(test_vert_id);
*best_distance_squared=distance_squared;
}
}
}
best_transition
}
fn final_ev(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
let mut best_transition=EV::Vert(vert_id);
let diff=point-self.vert(vert_id);
for &directed_edge_id in self.vert_edges(vert_id).iter(){
let edge_n=self.directed_edge_n(directed_edge_id);
//is boundary uncrossable by a crawl from infinity
if infinity_dir.dot(edge_n)==Planar64::ZERO{
//test the edge
let d=diff.dot(edge_n);
let edge_nn=edge_n.dot(edge_n);
if Planar64::ZERO<=d&&d<=edge_nn{
let distance_squared={
let c=diff.cross(edge_n);
c.dot(c)/edge_nn
};
if distance_squared<=*best_distance_squared{
best_transition=EV::Edge(directed_edge_id.as_undirected());
*best_distance_squared=distance_squared;
}
}
}
}
best_transition
}
fn crawl_boundaries(&self,mut vert_id:MinkowskiVert,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
let mut best_distance_squared={
let diff=point-self.vert(vert_id);
diff.dot(diff)
};
loop{
match self.next_transition_vert(vert_id,&mut best_distance_squared,infinity_dir,point){
Transition::Done=>return self.final_ev(vert_id,&mut best_distance_squared,infinity_dir,point),
Transition::Vert(new_vert_id)=>vert_id=new_vert_id,
}
}
}
/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
fn infinity_fev(&self,infinity_dir:Planar64Vec3,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{
//start on any vertex
//cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
//cross edge-face boundary if it's uncrossable
match self.crawl_boundaries(self.farthest_vert(infinity_dir),infinity_dir,point){
//if a vert is returned, it is the closest point to the infinity point
EV::Vert(vert_id)=>FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(vert_id),
EV::Edge(edge_id)=>{
//cross to face if the boundary is not crossable and we are on the wrong side
let edge_n=self.edge_n(edge_id);
let vert_sum={
let &[v0,v1]=self.edge_verts(edge_id).borrow();
self.vert(v0)+self.vert(v1)
};
for (i,&face_id) in self.edge_faces(edge_id).iter().enumerate(){
let face_n=self.face_nd(face_id).0;
//edge-face boundary nd, n facing out of the face towards the edge
let boundary_n=face_n.cross(edge_n)*(i as i64*2-1);
let boundary_d=boundary_n.dot(vert_sum);
// 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.
return FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id);
}
}
FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Edge(edge_id)
},
}
}
fn closest_fev_not_inside(&self,mut infinity_body:crate::physics::Body)->Option<FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>>{
infinity_body.infinity_dir().map_or(None,|dir|{
let infinity_fev=self.infinity_fev(-dir,infinity_body.position);
//a line is simpler to solve than a parabola
infinity_body.velocity=dir;
infinity_body.acceleration=Planar64Vec3::ZERO;
//crawl in from negative infinity along a tangent line to get the closest fev
match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,crate::integer::Time::MIN,infinity_body.time){
crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
crate::face_crawler::CrawlResult::Hit(_,_)=>None,
}
})
}
pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
self.closest_fev_not_inside(relative_body.clone()).map_or(None,|fev|{
//continue forwards along the body parabola
match crate::face_crawler::crawl_fev(fev,self,relative_body,relative_body.time,time_limit){
crate::face_crawler::CrawlResult::Miss(_)=>None,
crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
}
})
}
pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
//create an extrapolated body at time_limit
let infinity_body=crate::physics::Body::new(
relative_body.extrapolated_position(time_limit),
-relative_body.extrapolated_velocity(time_limit),
relative_body.acceleration,
-time_limit,
);
self.closest_fev_not_inside(infinity_body).map_or(None,|fev|{
//continue backwards along the body parabola
match crate::face_crawler::crawl_fev(fev,self,&-relative_body.clone(),-time_limit,-relative_body.time){
crate::face_crawler::CrawlResult::Miss(_)=>None,
crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,-time)),//no need to test -time<time_limit because of the first step
}
})
}
pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,crate::integer::Time)>{
//no algorithm needed, there is only one state and two cases (Edge,None)
//determine when it passes an edge ("sliding off" case)
let mut best_time=time_limit;
let mut best_edge=None;
let face_n=self.face_nd(contact_face_id).0;
for &directed_edge_id in self.face_edges(contact_face_id).iter(){
let edge_n=self.directed_edge_n(directed_edge_id);
//f x e points in
let n=face_n.cross(edge_n);
let verts=self.edge_verts(directed_edge_id.as_undirected());
let d=n.dot(self.vert(verts[0])+self.vert(verts[1]));
//WARNING! d outside of *2
for t in crate::zeroes::zeroes2((n.dot(relative_body.position))*2-d,n.dot(relative_body.velocity)*2,n.dot(relative_body.acceleration)){
let t=relative_body.time+crate::integer::Time::from(t);
if relative_body.time<t&&t<best_time&&n.dot(relative_body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t;
best_edge=Some(directed_edge_id);
break;
}
}
}
best_edge.map(|e|(e.as_undirected(),best_time))
}
}
impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiMesh<'_>{
fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){
match face_id{
MinkowskiFace::VertFace(v0,f1)=>{
let (n,d)=self.mesh1.face_nd(f1);
(-n,d-n.dot(self.mesh0.vert(v0)))
},
MinkowskiFace::EdgeEdge(e0,e1,parity)=>{
let edge0_n=self.mesh0.edge_n(e0);
let edge1_n=self.mesh1.edge_n(e1);
let &[e0v0,e0v1]=self.mesh0.edge_verts(e0).borrow();
let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).borrow();
let n=edge0_n.cross(edge1_n);
let e0d=n.dot(self.mesh0.vert(e0v0)+self.mesh0.vert(e0v1));
let e1d=n.dot(self.mesh1.vert(e1v0)+self.mesh1.vert(e1v1));
(n*(parity as i64*4-2),(e0d-e1d)*(parity as i64*2-1))
},
MinkowskiFace::FaceVert(f0,v1)=>{
let (n,d)=self.mesh0.face_nd(f0);
(n,d-n.dot(self.mesh1.vert(v1)))
},
}
}
fn vert(&self,vert_id:MinkowskiVert)->Planar64Vec3{
match vert_id{
MinkowskiVert::VertVert(v0,v1)=>{
self.mesh0.vert(v0)-self.mesh1.vert(v1)
},
}
}
fn face_edges(&self,face_id:MinkowskiFace)->Cow<Vec<MinkowskiDirectedEdge>>{
match face_id{
MinkowskiFace::VertFace(v0,f1)=>{
Cow::Owned(self.mesh1.face_edges(f1).iter().map(|&edge_id1|{
MinkowskiDirectedEdge::VertEdge(v0,edge_id1.reverse())
}).collect())
},
MinkowskiFace::EdgeEdge(e0,e1,parity)=>{
let e0v=self.mesh0.edge_verts(e0);
let e1v=self.mesh1.edge_verts(e1);
//could sort this if ordered edges are needed
//probably just need to reverse this list according to parity
Cow::Owned(vec![
MinkowskiDirectedEdge::VertEdge(e0v[0],e1.as_directed(parity)),
MinkowskiDirectedEdge::EdgeVert(e0.as_directed(!parity),e1v[0]),
MinkowskiDirectedEdge::VertEdge(e0v[1],e1.as_directed(!parity)),
MinkowskiDirectedEdge::EdgeVert(e0.as_directed(parity),e1v[1]),
])
},
MinkowskiFace::FaceVert(f0,v1)=>{
Cow::Owned(self.mesh0.face_edges(f0).iter().map(|&edge_id0|{
MinkowskiDirectedEdge::EdgeVert(edge_id0,v1)
}).collect())
},
}
}
fn edge_faces(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiFace;2]>{
match edge_id{
MinkowskiEdge::VertEdge(v0,e1)=>{
//faces are listed backwards from the minkowski mesh
let v0e=self.mesh0.vert_edges(v0);
let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).borrow();
Cow::Owned([(e1f1,false),(e1f0,true)].map(|(edge_face_id1,face_parity)|{
let mut best_edge=None;
let mut best_d=Planar64::ZERO;
let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
for &directed_edge_id0 in v0e.iter(){
let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
//must be behind other face.
let d=edge_face1_n.dot(edge0_n);
if d<Planar64::ZERO{
let edge0_nn=edge0_n.dot(edge0_n);
let dd=d*d/(edge_face1_nn*edge0_nn);
if best_d<dd{
best_d=dd;
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_undirected(),e1,directed_edge_id0.parity()^face_parity)
)
}))
},
MinkowskiEdge::EdgeVert(e0,v1)=>{
//tracking index with an external variable because .enumerate() is not available
let v1e=self.mesh1.vert_edges(v1);
let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).borrow();
Cow::Owned([(e0f0,true),(e0f1,false)].map(|(edge_face_id0,face_parity)|{
let mut best_edge=None;
let mut best_d=Planar64::ZERO;
let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
for &directed_edge_id1 in v1e.iter(){
let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
let d=edge_face0_n.dot(edge1_n);
if d<Planar64::ZERO{
let edge1_nn=edge1_n.dot(edge1_n);
let dd=d*d/(edge_face0_nn*edge1_nn);
if best_d<dd{
best_d=dd;
best_edge=Some(directed_edge_id1);
}
}
}
best_edge.map_or(
MinkowskiFace::FaceVert(edge_face_id0,v1),
|directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_undirected(),directed_edge_id1.parity()^face_parity)
)
}))
},
}
}
fn edge_verts(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiVert;2]>{
match edge_id{
MinkowskiEdge::VertEdge(v0,e1)=>{
Cow::Owned(self.mesh1.edge_verts(e1).map(|vert_id1|{
MinkowskiVert::VertVert(v0,vert_id1)
}))
},
MinkowskiEdge::EdgeVert(e0,v1)=>{
Cow::Owned(self.mesh0.edge_verts(e0).map(|vert_id0|{
MinkowskiVert::VertVert(vert_id0,v1)
}))
},
}
}
fn vert_edges(&self,vert_id:MinkowskiVert)->Cow<Vec<MinkowskiDirectedEdge>>{
match vert_id{
MinkowskiVert::VertVert(v0,v1)=>{
let mut edges=Vec::new();
//detect shared volume when the other mesh is mirrored along a test edge dir
let v0f=self.mesh0.vert_faces(v0);
let v1f=self.mesh1.vert_faces(v1);
let v0f_n:Vec<Planar64Vec3>=v0f.iter().map(|&face_id|self.mesh0.face_nd(face_id).0).collect();
let v1f_n:Vec<Planar64Vec3>=v1f.iter().map(|&face_id|self.mesh1.face_nd(face_id).0).collect();
let the_len=v0f.len()+v1f.len();
for &directed_edge_id in self.mesh0.vert_edges(v0).iter(){
let n=self.mesh0.directed_edge_n(directed_edge_id);
let nn=n.dot(n);
//make a set of faces
let mut face_normals=Vec::with_capacity(the_len);
//add mesh0 faces as-is
face_normals.clone_from(&v0f_n);
for face_n in &v1f_n{
//add reflected mesh1 faces
face_normals.push(*face_n-n*(face_n.dot(n)*2/nn));
}
if is_empty_volume(face_normals){
edges.push(MinkowskiDirectedEdge::EdgeVert(directed_edge_id,v1));
}
}
for &directed_edge_id in self.mesh1.vert_edges(v1).iter(){
let n=self.mesh1.directed_edge_n(directed_edge_id);
let nn=n.dot(n);
let mut face_normals=Vec::with_capacity(the_len);
face_normals.clone_from(&v1f_n);
for face_n in &v0f_n{
face_normals.push(*face_n-n*(face_n.dot(n)*2/nn));
}
if is_empty_volume(face_normals){
edges.push(MinkowskiDirectedEdge::VertEdge(v0,directed_edge_id));
}
}
Cow::Owned(edges)
},
}
}
fn vert_faces(&self,_vert_id:MinkowskiVert)->Cow<Vec<MinkowskiFace>>{
unimplemented!()
}
}
fn is_empty_volume(normals:Vec<Planar64Vec3>)->bool{
let len=normals.len();
for i in 0..len-1{
for j in i+1..len{
let n=normals[i].cross(normals[j]);
let mut d_comp=None;
for k in 0..len{
if k!=i&&k!=j{
let d=n.dot(normals[k]);
if let Some(comp)=&d_comp{
if *comp*d<Planar64::ZERO{
return true;
}
}else{
d_comp=Some(d);
}
}
}
}
}
return false;
}
#[test]
fn test_is_empty_volume(){
assert!(!is_empty_volume([Planar64Vec3::X,Planar64Vec3::Y,Planar64Vec3::Z].to_vec()));
assert!(is_empty_volume([Planar64Vec3::X,Planar64Vec3::Y,Planar64Vec3::Z,Planar64Vec3::NEG_X].to_vec()));
}
#[test]
fn build_me_a_cube(){
let unit_cube=crate::primitives::unit_cube();
let mesh=PhysicsMesh::from(&unit_cube);
//println!("mesh={:?}",mesh);
}

File diff suppressed because it is too large Load Diff

View File

@ -1,8 +0,0 @@
//something that implements body + hitbox + transform can predict collision
impl crate::sweep::PredictCollision for Model {
fn predict_collision(&self,other:&Model) -> Option<crate::event::EventStruct> {
//math!
None
}
}

View File

@ -175,10 +175,10 @@ impl<'a,Task:Send+'a> INWorker<'a,Task>{
#[test]//How to run this test with printing: cargo test --release -- --nocapture #[test]//How to run this test with printing: cargo test --release -- --nocapture
fn test_worker() { fn test_worker() {
println!("hiiiii");
// Create the worker thread // Create the worker thread
let worker=QRWorker::new(crate::physics::Body::with_pva(crate::integer::Planar64Vec3::ZERO,crate::integer::Planar64Vec3::ZERO,crate::integer::Planar64Vec3::ZERO), let test_body=crate::physics::Body::new(crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE,crate::integer::Time::ZERO);
|_|crate::physics::Body::with_pva(crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE) let worker=QRWorker::new(crate::physics::Body::default(),
|_|crate::physics::Body::new(crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE,crate::integer::Time::ZERO)
); );
// Send tasks to the worker // Send tasks to the worker
@ -194,7 +194,7 @@ fn test_worker() {
// sender.send("STOP".to_string()).unwrap(); // sender.send("STOP".to_string()).unwrap();
// Sleep to allow the worker thread to finish processing // Sleep to allow the worker thread to finish processing
thread::sleep(std::time::Duration::from_secs(2)); thread::sleep(std::time::Duration::from_millis(10));
// Send a new task // Send a new task
let task = crate::instruction::TimedInstruction{ let task = crate::instruction::TimedInstruction{
@ -203,8 +203,8 @@ fn test_worker() {
}; };
worker.send(task).unwrap(); worker.send(task).unwrap();
println!("value={}",worker.grab_clone()); //assert_eq!(test_body,worker.grab_clone());
// wait long enough to see print from final task // wait long enough to see print from final task
thread::sleep(std::time::Duration::from_secs(1)); thread::sleep(std::time::Duration::from_millis(10));
} }

View File

@ -11,10 +11,12 @@ pub fn zeroes2(a0:Planar64,a1:Planar64,a2:Planar64) -> Vec<Planar64>{
//start with f64 sqrt //start with f64 sqrt
let planar_radicand=Planar64::raw(unsafe{(radicand as f64).sqrt().to_int_unchecked()}); let planar_radicand=Planar64::raw(unsafe{(radicand as f64).sqrt().to_int_unchecked()});
//TODO: one or two newtons //TODO: one or two newtons
if Planar64::ZERO<a2 { //sort roots ascending and avoid taking the difference of large numbers
return vec![(-a1-planar_radicand)/(a2*2),(-a1+planar_radicand)/(a2*2)]; match (Planar64::ZERO<a2,Planar64::ZERO<a1){
} else { (true, true )=>vec![(-a1-planar_radicand)/(a2*2),(a0*2)/(-a1-planar_radicand)],
return vec![(-a1+planar_radicand)/(a2*2),(-a1-planar_radicand)/(a2*2)]; (true, false)=>vec![(a0*2)/(-a1+planar_radicand),(-a1+planar_radicand)/(a2*2)],
(false,true )=>vec![(a0*2)/(-a1-planar_radicand),(-a1-planar_radicand)/(a2*2)],
(false,false)=>vec![(-a1+planar_radicand)/(a2*2),(a0*2)/(-a1+planar_radicand)],
} }
} else if radicand==0 { } else if radicand==0 {
return vec![a1/(a2*-2)]; return vec![a1/(a2*-2)];