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This commit is contained in:
Rhys Lloyd
2025-11-24 10:40:27 -08:00
parent 9afbd0a91d
commit 3a7eeaee7f
1 changed files with 5 additions and 3 deletions
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8
engine/physics/src/minimum_difference.rs
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@@ -373,9 +373,14 @@ impl MinimumDifference{
pub fn details(&self,mesh:&MinkowskiMesh,rel_pos:Planar64Vec3)->Details{
match self.expanded{
Expanded::Expanded=>{
// local norm = direction.unit
// local dist = a:Dot(norm)
// local hits = -dist < radiusP + radiusQ
// if testIntersection then
// return hits
// end
// NOTE: if hits is true, this if statement necessarily evaluates to true.
// i.e. hits implies this statement
// if -dist <= exitRadius + radiusP + radiusQ then
// local posP, posQ = decompose(-rel_pos, a0, a1, b0, b1, c0, c1)
// return hits, -dist - radiusP - radiusQ,
@@ -457,9 +462,6 @@ pub fn minimum_difference(mesh:&MinkowskiMesh,rel_pos:Planar64Vec3)->Option<Mini
// absDet(next_point, a, b, c) < 1e-6
if !direction.dot(mesh.vert(simplex[0])-mesh.vert(simplex[1])).is_positive()
||simplex_abs_det_is_zero(mesh,&simplex){
// local norm = direction.unit
// local dist = a:Dot(norm)
// local hits = -dist < radiusP + radiusQ
// return Some(MinimumDifference::expanded());
}