From 73848865123ce04c4fcf651897d4b3e5c2d89fd8 Mon Sep 17 00:00:00 2001
From: Rhys Lloyd <krakow20@gmail.com>
Date: Thu, 20 Nov 2025 09:05:29 -0800
Subject: [PATCH] work

---
 engine/physics/src/minimum_difference.rs | 93 ++++++++++++------------
 1 file changed, 47 insertions(+), 46 deletions(-)

diff --git a/engine/physics/src/minimum_difference.rs b/engine/physics/src/minimum_difference.rs
index 11abdda3..3a776fd5 100644
--- a/engine/physics/src/minimum_difference.rs
+++ b/engine/physics/src/minimum_difference.rs
@@ -5,11 +5,6 @@ use crate::model::TransformedMesh;
 // This algorithm is based on Lua code
 // written by Trey Reynolds in 2021
 
-// local function minimumDifference(
-// 	queryP, radiusP,
-// 	queryQ, radiusQ,
-// 	exitRadius, testIntersection
-// )
 
 pub struct MinimumDifference{
 	distance:Planar64,
@@ -19,6 +14,11 @@ pub struct MinimumDifference{
 	q_norm:Planar64Vec3,
 }
 
+// local function minimumDifference(
+// 	queryP, radiusP,
+// 	queryQ, radiusQ,
+// 	exitRadius, testIntersection
+// )
 pub fn minimum_difference(p:&TransformedMesh,q:&TransformedMesh)->Option<MinimumDifference>{
 	// local initialAxis = queryQ() - queryP()
 	// local newPoint0 = queryP(initialAxis)
@@ -27,51 +27,52 @@ pub fn minimum_difference(p:&TransformedMesh,q:&TransformedMesh)->Option<Minimum
 
 	// exitRadius = testIntersection and 0 or exitRadius or 1/0
 	// for _ = 1, 100 do
-	// 	direction, a0, a1, b0, b1, c0, c1, d0, d1 = reduceSimplex(newPoint0, newPoint1, a0, a1, b0, b1, c0, c1)
-	// 	local a, b, c, d = getRelativeSimplex(a0, a1, b0, b1, c0, c1, d0, d1)
+	loop{
+		// direction, a0, a1, b0, b1, c0, c1, d0, d1 = reduceSimplex(newPoint0, newPoint1, a0, a1, b0, b1, c0, c1)
+		// local a, b, c, d = getRelativeSimplex(a0, a1, b0, b1, c0, c1, d0, d1)
 
-	// 	if a and b and c and d then
-	// 		if testIntersection then
-	// 			return true
-	// 		end
-	// 		local norm, dist, u0, u1, v0, v1, w0, w1 = expand(queryP, queryQ, a0, a1, b0, b1, c0, c1, d0, d1, 1e-5)
-	// 		if norm then
-	// 			local posP, posQ = decompose(Vector3.zero, u0, u1, v0, v1, w0, w1)
-	// 			return true, -dist - radiusP - radiusQ,
-	// 				posP - radiusP*norm, -norm,
-	// 				posQ + radiusQ*norm, norm
-	// 		end
-	// 		return nil
-	// 	end
+		// if a and b and c and d then
+		// 	if testIntersection then
+		// 		return true
+		// 	end
+		// 	local norm, dist, u0, u1, v0, v1, w0, w1 = expand(queryP, queryQ, a0, a1, b0, b1, c0, c1, d0, d1, 1e-5)
+		// 	if norm then
+		// 		local posP, posQ = decompose(Vector3.zero, u0, u1, v0, v1, w0, w1)
+		// 		return true, -dist - radiusP - radiusQ,
+		// 			posP - radiusP*norm, -norm,
+		// 			posQ + radiusQ*norm, norm
+		// 	end
+		// 	return nil
+		// end
 
-	// 	newPoint0 = queryP(-direction)
-	// 	newPoint1 = queryQ(direction)
-	// 	local newPoint = newPoint1 - newPoint0
+		// newPoint0 = queryP(-direction)
+		// newPoint1 = queryQ(direction)
+		// local newPoint = newPoint1 - newPoint0
 
-	// 	if -direction:Dot(newPoint) > (exitRadius + radiusP + radiusQ)*direction.magnitude then
-	// 		return false
-	// 	end
-
-	// 	if
-	// 		direction:Dot(newPoint - a) <= 0 or
-	// 		absDet(newPoint, a, b, c) < 1e-6
-	// 	then
-	// 		local norm = direction.unit
-	// 		local dist = a:Dot(norm)
-	// 		local hits = -dist < radiusP + radiusQ
-	// 		if testIntersection then
-	// 			return hits
-	// 		end
-	// 		if -dist <= exitRadius + radiusP + radiusQ then
-	// 			local posP, posQ = decompose(Vector3.zero, a0, a1, b0, b1, c0, c1)
-	// 			return hits, -dist - radiusP - radiusQ,
-	// 				posP - radiusP*norm, -norm,
-	// 				posQ + radiusQ*norm, norm
-	// 		end
-	// 		return false
-	// 	end
-	// end
+		// if -direction:Dot(newPoint) > (exitRadius + radiusP + radiusQ)*direction.magnitude then
+		// 	return false
+		// end
 
+		// if
+		// 	direction:Dot(newPoint - a) <= 0 or
+		// 	absDet(newPoint, a, b, c) < 1e-6
+		// then
+		// 	local norm = direction.unit
+		// 	local dist = a:Dot(norm)
+		// 	local hits = -dist < radiusP + radiusQ
+		// 	if testIntersection then
+		// 		return hits
+		// 	end
+		// 	if -dist <= exitRadius + radiusP + radiusQ then
+		// 		local posP, posQ = decompose(Vector3.zero, a0, a1, b0, b1, c0, c1)
+		// 		return hits, -dist - radiusP - radiusQ,
+		// 			posP - radiusP*norm, -norm,
+		// 			posQ + radiusQ*norm, norm
+		// 	end
+		// 	return false
+		// end
+		panic!("quit underlining all my code!");
+	}
 	// return nil
 	None
 }