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Quaternions 2025-03-12 16:22:25 -07:00
parent a52d46b7cc
commit 6e9d38604e
1 changed files with 4 additions and 1 deletions

5
engine/physics/src/face_crawler.rs

@ -34,11 +34,12 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>+std::fmt::Debug>
M::Face:Copy,
M::Edge:Copy,
M::Vert:Copy,
F:core::ops::Mul<Fixed<1,32>,Output=Fixed<4,128>>,
F:core::ops::Mul<Fixed<1,32>,Output=Fixed<4,128>>+std::fmt::Debug+std::fmt::Display,
<F as core::ops::Mul<Fixed<1,32>>>::Output:core::iter::Sum,
<M as MeshQuery>::Offset:core::ops::Sub<<F as std::ops::Mul<Fixed<1,32>>>::Output>,
{
fn next_transition(&self,body_time:GigaTime,mesh:&M,body:&Body,mut best_time:GigaTime)->Transition<M>{
println!("next_transition fev={self:?}");
//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_transition=Transition::Miss;
@ -76,6 +77,7 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>+std::fmt::Debug>
//if none:
},
&FEV::Edge(edge_id)=>{
println!("test 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);
@ -85,6 +87,7 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>+std::fmt::Debug>
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);
println!("edge_face={edge_face_id:?} face_n={face_n:?} n={n:?}");
//WARNING yada yada d *2
//wrap for speed
for dt in Fixed::<4,128>::zeroes2(n.dot(delta_pos).wrap_4(),n.dot(body.velocity).wrap_4()*2,n.dot(body.acceleration).wrap_4()){