109 lines
4.1 KiB
Rust
109 lines
4.1 KiB
Rust
use crate::physics::Body;
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use crate::model_physics::{FEV,MeshQuery};
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use crate::integer::{Time,Planar64};
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use crate::zeroes::zeroes2;
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enum Transition<F,E,V>{
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Miss,
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Next(FEV<F,E,V>,Time),
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Hit(F,Time),
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}
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pub fn next_transition_body<F:Copy,E:Copy,V:Copy>(fev:&FEV<F,E,V>,time:Time,mesh:&impl MeshQuery<F,E,V>,body:&Body,time_limit:Time)->Transition<F,E,V>{
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//conflicting derivative means it crosses in the wrong direction.
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//if the transition time is equal to an already tested transition, do not replace the current best.
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let mut best_time=time_limit;
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let mut best_transtition=Transition::Miss;
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match fev{
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&FEV::<F,E,V>::Face(face_id)=>{
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//test own face collision time, ignoring roots with zero or conflicting derivative
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//n=face.normal d=face.dot
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//n.a t^2+n.v t+n.p-d==0
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let (n,d)=mesh.face_nd(face_id);
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for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
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let t=body.time+Time::from(t);
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if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
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best_time=t;
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best_transtition=Transition::Hit(face_id,t);
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}
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}
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//test each edge collision time, ignoring roots with zero or conflicting derivative
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for &edge_id in mesh.face_edges(face_id).iter(){
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//this needs to be directed edge!
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todo!();
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let edge_n=mesh.edge_n(edge_id);
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let n=n.cross(edge_n);
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//picking a vert randomly is terrible
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let d=n.dot(mesh.vert(mesh.edge_verts(edge_id)[0]));
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for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
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let t=body.time+Time::from(t);
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if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
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best_time=t;
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best_transtition=Transition::Next(FEV::<F,E,V>::Edge(edge_id),t);
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break;
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}
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}
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}
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//if none:
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},
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&FEV::<F,E,V>::Edge(edge_id)=>{
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//test each face collision time, ignoring roots with zero or conflicting derivative
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let edge_n=mesh.edge_n(edge_id);
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for &test_face_id in mesh.edge_faces(edge_id).iter(){
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let face_n=mesh.face_nd(test_face_id).0;
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let n=edge_n.cross(face_n);
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let d=n.dot(mesh.vert(mesh.edge_verts(edge_id)[0]));
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for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
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let t=body.time+Time::from(t);
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if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
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best_time=t;
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best_transtition=Transition::Next(FEV::<F,E,V>::Face(test_face_id),t);
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break;
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}
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}
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}
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//test each vertex collision time, ignoring roots with zero or conflicting derivative
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let n=mesh.edge_n(edge_id);
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for &vert_id in mesh.edge_verts(edge_id).iter(){
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let d=n.dot(mesh.vert(vert_id));
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for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
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let t=body.time+Time::from(t);
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if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
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best_time=t;
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best_transtition=Transition::Next(FEV::<F,E,V>::Vert(vert_id),t);
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break;
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}
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}
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}
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//if none:
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},
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&FEV::<F,E,V>::Vert(vert_id)=>{
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//test each edge collision time, ignoring roots with zero or conflicting derivative
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for &edge_id in mesh.vert_edges(vert_id).iter(){
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let n=mesh.edge_n(edge_id);
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let d=n.dot(mesh.vert(vert_id));
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for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
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let t=body.time+Time::from(t);
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if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
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best_time=t;
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best_transtition=Transition::Next(FEV::<F,E,V>::Edge(edge_id),t);
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break;
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}
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}
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}
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//if none:
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},
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}
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best_transtition
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}
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pub fn crawl_fev_body<F:Copy,E:Copy,V:Copy>(mut fev:FEV<F,E,V>,mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,time_limit:Time)->Option<(F,Time)>{
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let mut time=relative_body.time;
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loop{
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match next_transition_body(&fev,time,mesh,relative_body,time_limit){
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Transition::Miss=>return None,
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Transition::Next(next_fev,next_time)=>(fev,time)=(next_fev,next_time),
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Transition::Hit(face,time)=>return Some((face,time)),
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}
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}
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}
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