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This commit is contained in:
Rhys Lloyd
2025-11-24 11:53:08 -08:00
parent 496f838408
commit 1050d824e6
1 changed files with 61 additions and 21 deletions
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82
engine/physics/src/minimum_difference.rs
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@@ -130,7 +130,7 @@ fn reduce_simplex(
// if p_u >= 0 then
if !p_u.is_negative(){
// local direction = u:Cross(p):Cross(u)
let mut direction=u.cross(p).cross(u);
let direction=u.cross(p).cross(u);
// if direction.magnitude == 0 then
if direction==const{Vector3::new([Fixed::ZERO,Fixed::ZERO,Fixed::ZERO])}{
@@ -204,7 +204,7 @@ fn reduce_simplex(
// local uDist = uv_up/(u_u*v.magnitude)
// local vDist = uv_pv/(v_v*u.magnitude)
// local minDist2 = math.min(uDist, vDist)
let u_u=u.dot(u);
let mut u_u=u.dot(u);
let v_v=v.dot(v);
let u_dist=uv_up*(v_v*u.length());
let v_dist=uv_pv*(u_u*v.length());
@@ -333,43 +333,83 @@ fn reduce_simplex(
// local pv = p:Cross(v)
// local uv_up = uv:Dot(up)
// local uv_pv = uv:Dot(pv)
let mut up = u.cross(p);
let pv = p.cross(v);
let uv_up = uv.dot(up);
let uv_pv = uv.dot(pv);
// if uv_up >= 0 and uv_pv >= 0 then
// local direction = uvw < 0 and uv or -uv
// return direction, a0, a1, b0, b1, c0, c1
// end
if !uv_up.is_negative()&&!uv_pv.is_negative(){
// local direction = uvw < 0 and uv or -uv
// return direction, a0, a1, b0, b1, c0, c1
if uv_w.is_negative(){
return (uv.narrow_1().unwrap(),simplex);
}else{
return (-uv.narrow_1().unwrap(),simplex);
}
}
// local u_u = u:Dot(u)
// local v_v = v:Dot(v)
// local uDist = uv_up/(u_u*v.magnitude)
// local vDist = uv_pv/(v_v*u.magnitude)
// local minDist2 = math.min(uDist, vDist)
let mut u_u=u.dot(u);
let v_v=v.dot(v);
let u_dist=uv_up*(v_v*u.length());
let v_dist=uv_pv*(u_u*v.length());
// if vDist == minDist2 then
// u = v
// b0 = c0
// b1 = c1
// up = -pv
// uv = -uv
// u_u = v_v
// end
if v_dist<u_dist{
u=v;
up=-pv;
uv=-uv;
u_u=v_v;
// b0 = c0
// b1 = c1
simplex[1]=simplex[2];
}
simplex.pop();
// local p_u = p:Dot(u)
let p_u=p.dot(u);
// if p_u >= 0 then
// local direction = up:Cross(u)
// if direction.magnitude == 0 then
// direction = uvw < 0 and uv or -uv
// end
// return direction, a0, a1, b0, b1
// end
if !p_u.is_negative(){
// local direction = up:Cross(u)
let direction=up.cross(u);
// if direction.magnitude == 0 then
if direction==vec3::zero(){
// direction = uvw < 0 and uv or -uv
// return direction, a0, a1, b0, b1
if uv_w.is_negative(){
return (uv.narrow_1().unwrap(),simplex);
}else{
return (-uv.narrow_1().unwrap(),simplex);
}
}
// return direction, a0, a1, b0, b1
return (direction.narrow_1().unwrap(),simplex)
}
simplex.pop();
// local direction = p
let direction=p;
// if direction.magnitude == 0 then
// direction = uvw < 0 and uv or -uv
// end
if direction==vec3::zero(){
// direction = uvw < 0 and uv or -uv
if uv_w.is_negative(){
return (uv.narrow_1().unwrap(),simplex);
}else{
return (-uv.narrow_1().unwrap(),simplex);
}
}
// return direction, a0, a1
(_,_)
(direction,simplex)
},
_=>unreachable!(),
}