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strafe-client/src/model_physics.rs
Quaternions f883d5ee91 heyyy
2024-02-06 19:04:23 -08:00

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use std::borrow::{Borrow,Cow};
use strafesnet_common::model;
use strafesnet_common::zeroes;
use strafesnet_common::integer::{self,Planar64,Planar64Vec3};
pub trait UndirectedEdge{
type DirectedEdge:Copy+DirectedEdge;
fn as_directed(&self,parity:bool)->Self::DirectedEdge;
}
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())
}
}
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct VertId(u32);
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct EdgeId(u32);
/// DirectedEdgeId refers to an EdgeId when undirected.
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct DirectedEdgeId(u32);
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct FaceId(u32);
impl UndirectedEdge for EdgeId{
type DirectedEdge=DirectedEdgeId;
fn as_directed(&self,parity:bool)->DirectedEdgeId{
DirectedEdgeId(self.0|((parity as u32)<<(u32::BITS-1)))
}
}
impl DirectedEdge for DirectedEdgeId{
type UndirectedEdge=EdgeId;
fn as_undirected(&self)->EdgeId{
EdgeId(self.0&!(1<<(u32::BITS-1)))
}
fn parity(&self)->bool{
self.0&(1<<(u32::BITS-1))!=0
}
}
//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>,
}
struct PhysicsMeshData{
//this contains all real and virtual faces used in both the complete mesh and convex submeshes
//faces are sorted such that all faces that belong to the complete mesh appear first, and then
//all remaining faces are virtual to operate internal logic of the face crawler
//and cannot be part of a physics collision
//virtual faces are only used in convex submeshes.
faces:Vec<Face>,
verts:Vec<Vert>,
}
struct PhysicsMeshTopology{
//mapping of local ids to PhysicsMeshData ids
faces:Vec<FaceId>,
verts:Vec<VertId>,
//all ids here are local to this object
face_topology:Vec<FaceRefs>,
edge_topology:Vec<EdgeRefs>,
vert_topology:Vec<VertRefs>,
}
pub struct PhysicsMesh{
mesh_data:PhysicsMeshData,
//index 0 is the complete mesh.
//index 1-2+ is convex submeshes.
//Most objects in roblox maps are already convex, so the list length is 1
//as soon as the mesh is divided into 2 submeshes, the list length jumps to 3.
//length 2 is unnecessary since the complete mesh would be a duplicate of the only submesh, but would still function properly
submeshes:Vec<PhysicsMeshTopology>,
}
impl PhysicsMesh{
pub fn unit_cube()->Self{
//go go gadget debug print mesh
let mesh_data=PhysicsMeshData{
faces:vec![
Face{normal:Planar64Vec3::raw( 4294967296, 0, 0),dot:Planar64::raw(4294967296)},
Face{normal:Planar64Vec3::raw( 0, 4294967296, 0),dot:Planar64::raw(4294967296)},
Face{normal:Planar64Vec3::raw( 0, 0, 4294967296),dot:Planar64::raw(4294967296)},
Face{normal:Planar64Vec3::raw(-4294967296, 0, 0),dot:Planar64::raw(4294967296)},
Face{normal:Planar64Vec3::raw( 0,-4294967296, 0),dot:Planar64::raw(4294967296)},
Face{normal:Planar64Vec3::raw( 0, 0,-4294967296),dot:Planar64::raw(4294967296)}
],
verts:vec![
Vert(Planar64Vec3::raw( 4294967296,-4294967296,-4294967296)),
Vert(Planar64Vec3::raw( 4294967296, 4294967296,-4294967296)),
Vert(Planar64Vec3::raw( 4294967296, 4294967296, 4294967296)),
Vert(Planar64Vec3::raw( 4294967296,-4294967296, 4294967296)),
Vert(Planar64Vec3::raw(-4294967296, 4294967296,-4294967296)),
Vert(Planar64Vec3::raw(-4294967296, 4294967296, 4294967296)),
Vert(Planar64Vec3::raw(-4294967296,-4294967296, 4294967296)),
Vert(Planar64Vec3::raw(-4294967296,-4294967296,-4294967296))
]
};
let mesh_topology=PhysicsMeshTopology{
faces:(0..mesh_data.faces.len()).map(FaceId).collect(),
verts:(0..mesh_data.verts.len()).map(VertId).collect(),
face_topology:vec![
FaceRefs{edges:vec![DirectedEdgeId(9223372036854775808),DirectedEdgeId(9223372036854775809),DirectedEdgeId(9223372036854775810),DirectedEdgeId(3)]},
FaceRefs{edges:vec![DirectedEdgeId(9223372036854775812),DirectedEdgeId(9223372036854775813),DirectedEdgeId(6),DirectedEdgeId(1)]},
FaceRefs{edges:vec![DirectedEdgeId(7),DirectedEdgeId(2),DirectedEdgeId(9223372036854775814),DirectedEdgeId(9223372036854775816)]},
FaceRefs{edges:vec![DirectedEdgeId(8),DirectedEdgeId(5),DirectedEdgeId(9223372036854775817),DirectedEdgeId(10)]},
FaceRefs{edges:vec![DirectedEdgeId(9223372036854775815),DirectedEdgeId(9223372036854775818),DirectedEdgeId(11),DirectedEdgeId(9223372036854775811)]},
FaceRefs{edges:vec![DirectedEdgeId(4),DirectedEdgeId(0),DirectedEdgeId(9223372036854775819),DirectedEdgeId(9)]}
],
edge_topology:vec![
EdgeRefs{faces:[FaceId(0),FaceId(5)],verts:[VertId(0),VertId(1)]},
EdgeRefs{faces:[FaceId(0),FaceId(1)],verts:[VertId(1),VertId(2)]},
EdgeRefs{faces:[FaceId(0),FaceId(2)],verts:[VertId(2),VertId(3)]},
EdgeRefs{faces:[FaceId(4),FaceId(0)],verts:[VertId(0),VertId(3)]},
EdgeRefs{faces:[FaceId(1),FaceId(5)],verts:[VertId(1),VertId(4)]},
EdgeRefs{faces:[FaceId(1),FaceId(3)],verts:[VertId(4),VertId(5)]},
EdgeRefs{faces:[FaceId(2),FaceId(1)],verts:[VertId(2),VertId(5)]},
EdgeRefs{faces:[FaceId(4),FaceId(2)],verts:[VertId(3),VertId(6)]},
EdgeRefs{faces:[FaceId(2),FaceId(3)],verts:[VertId(5),VertId(6)]},
EdgeRefs{faces:[FaceId(3),FaceId(5)],verts:[VertId(4),VertId(7)]},
EdgeRefs{faces:[FaceId(4),FaceId(3)],verts:[VertId(6),VertId(7)]},
EdgeRefs{faces:[FaceId(5),FaceId(4)],verts:[VertId(0),VertId(7)]}
],
vert_topology:vec![
VertRefs{faces:vec![FaceId(0),FaceId(4),FaceId(5)],edges:vec![DirectedEdgeId(9223372036854775811),DirectedEdgeId(9223372036854775819),DirectedEdgeId(9223372036854775808)]},
VertRefs{faces:vec![FaceId(0),FaceId(5),FaceId(1)],edges:vec![DirectedEdgeId(9223372036854775812),DirectedEdgeId(0),DirectedEdgeId(9223372036854775809)]},
VertRefs{faces:vec![FaceId(0),FaceId(2),FaceId(1)],edges:vec![DirectedEdgeId(1),DirectedEdgeId(9223372036854775810),DirectedEdgeId(9223372036854775814)]},
VertRefs{faces:vec![FaceId(0),FaceId(2),FaceId(4)],edges:vec![DirectedEdgeId(2),DirectedEdgeId(3),DirectedEdgeId(9223372036854775815)]},
VertRefs{faces:vec![FaceId(3),FaceId(5),FaceId(1)],edges:vec![DirectedEdgeId(4),DirectedEdgeId(9223372036854775817),DirectedEdgeId(9223372036854775813)]},
VertRefs{faces:vec![FaceId(2),FaceId(3),FaceId(1)],edges:vec![DirectedEdgeId(5),DirectedEdgeId(6),DirectedEdgeId(9223372036854775816)]},
VertRefs{faces:vec![FaceId(2),FaceId(3),FaceId(4)],edges:vec![DirectedEdgeId(7),DirectedEdgeId(8),DirectedEdgeId(9223372036854775818)]},
VertRefs{faces:vec![FaceId(4),FaceId(3),FaceId(5)],edges:vec![DirectedEdgeId(10),DirectedEdgeId(11),DirectedEdgeId(9)]}
]
};
Self{
mesh_data,
submeshes:vec![mesh_topology],
}
}
pub fn unit_cylinder()->Self{
Self::unit_cube()
}
pub fn mesh_data(&self)->&PhysicsMeshData{
&self.mesh_data
}
pub fn complete_mesh(&self)->&PhysicsMeshTopology{
&self.submeshes[0]
}
pub fn convex_submeshes(&self)->&[PhysicsMeshTopology]{
if self.submeshes.len()==1{
//the complete mesh is already a convex mesh
&self.submeshes[0..0]
}else{
&self.submeshes[1..]
}
}
}
//mesh builder code
#[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<&model::IndexedModel> for PhysicsMesh{
fn from(indexed_model:&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.polygon_groups{for poly_vertices in group.polys(){
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.get() as usize].pos.get() as usize;
let vert1_id=indexed_model.unique_vertices[poly_vertices[(i+1)%len].get() as usize].pos.get() 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{
dot+=normal.dot(indexed_model.unique_pos[indexed_model.unique_vertices[v.get() as usize].pos.get() 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 PhysicsMeshView<'_>{
pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'a{
self.mesh_data.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)
}
}
struct PhysicsMeshView<'a>{
mesh_data:&'a PhysicsMeshData,
topology:&'a PhysicsMeshTopology,
}
struct PhysicsMeshTransform<'a>{
transform:&'a integer::Planar64Affine3,
normal_transform:&'a integer::Planar64Mat3,
transform_det:Planar64,
}
pub struct TransformedMesh<'a>{
mesh:PhysicsMeshView<'a>,
transform:PhysicsMeshTransform<'a>,
}
impl TransformedMesh<'_>{
pub fn new<'a>(
mesh_data:&'a PhysicsMeshData,
topology:&'a PhysicsMeshTopology,
transform:&'a integer::Planar64Affine3,
normal_transform:&'a integer::Planar64Mat3,
transform_det:Planar64,
)->TransformedMesh<'a>{
TransformedMesh{
mesh_data,
topology,
transform,
normal_transform,
transform_det,
}
}
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=d+transformed_n.dot(self.transform.translation)/self.transform_det;
(transformed_n/self.transform_det,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:TransformedMesh<'a>,
mesh1: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:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->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
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);
if zeroes::zeroes1(edge_n.dot(diff),edge_n.dot(infinity_dir)).len()==0{
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
//check if time of collision is outside Time::MIN..Time::MAX
let d=edge_n.dot(diff);
if zeroes::zeroes1(d,edge_n.dot(infinity_dir)).len()==0{
//test the edge
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);
// point is multiplied by two because vert_sum sums two vertices.
let delta_pos=point*2-{
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(delta_pos);
//check if time of collision is outside Time::MIN..Time::MAX
//infinity_dir can always be treated as a velocity
if (boundary_d)<=Planar64::ZERO&&zeroes::zeroes1(boundary_d,boundary_n.dot(infinity_dir)*2).len()==0{
//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,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:integer::Time)->Option<(MinkowskiFace,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:integer::Time)->Option<(MinkowskiFace,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:integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,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 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+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);
//divide by zero???
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 mesh=PhysicsMesh::unit_cube();
//println!("mesh={:?}",mesh);
}
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