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remove indexing

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This commit is contained in:
Rhys Lloyd
2025-11-25 15:25:03 -08:00
parent 6448d7cc57
commit 7e7839f4aa
1 changed files with 13 additions and 18 deletions
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31
engine/physics/src/minimum_difference.rs
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@@ -27,16 +27,6 @@ enum Simplex2_4{
Simplex3(Simplex<3>),
Simplex4(Simplex<4>),
}
impl core::ops::Index<usize> for Simplex2_4{
type Output=MinkowskiVert;
fn index(&self,index:usize)->&Self::Output{
match self{
Simplex2_4::Simplex2(s)=>&s[index],
Simplex2_4::Simplex3(s)=>&s[index],
Simplex2_4::Simplex4(s)=>&s[index],
}
}
}
/*
local function absDet(r, u, v, w)
@@ -555,12 +545,12 @@ pub fn contains_point(mesh:&MinkowskiMesh,point:Planar64Vec3)->bool{
const ENABLE_FAST_FAIL:bool=true;
minimum_difference::<ENABLE_FAST_FAIL,_>(mesh,point,
// on_exact
|simplex,direction|{
|last_pos,direction|{
// local norm = direction.unit
// local dist = a:Dot(norm)
// local hits = -dist < radiusP + radiusQ
// return hits
(mesh.vert(simplex[1])+point).dot(direction).is_positive()
(last_pos+point).dot(direction).is_positive()
},
// on_escape
|_simplex|{
@@ -575,7 +565,7 @@ pub fn closest_fev(mesh:&MinkowskiMesh,point:Planar64Vec3)->Topology{
const ENABLE_FAST_FAIL:bool=false;
minimum_difference::<ENABLE_FAST_FAIL,_>(mesh,point,
// on_exact
|simplex,_direction|Topology{simplex},
|_last_pos,_direction|unimplemented!(),
// on_escape
|simplex|{
// local norm, dist, u0, u1, v0, v1, w0, w1 = expand(queryP, queryQ, a0, a1, b0, b1, c0, c1, d0, d1, 1e-5)
@@ -595,7 +585,7 @@ pub fn closest_fev(mesh:&MinkowskiMesh,point:Planar64Vec3)->Topology{
fn minimum_difference<const ENABLE_FAST_FAIL:bool,T>(
mesh:&MinkowskiMesh,
point:Planar64Vec3,
on_exact:impl FnOnce(Simplex2_4,Planar64Vec3)->T,
on_exact:impl FnOnce(Planar64Vec3,Planar64Vec3)->T,
on_escape:impl FnOnce(Simplex<4>)->T,
on_fast_fail:impl FnOnce()->T,
)->T{
@@ -608,8 +598,10 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T>(
if direction==vec3::zero(){
direction=choose_any_direction();
}
let new_point=mesh.farthest_vert(direction);
let Reduced{dir:mut direction,simplex:mut simplex_small}=reduce1([new_point],mesh,point);
let last_point=mesh.farthest_vert(direction);
// this represents the 'a' value in the commented code
let mut last_pos=mesh.vert(last_point);
let Reduced{dir:mut direction,simplex:mut simplex_small}=reduce1([last_point],mesh,point);
// exitRadius = testIntersection and 0 or exitRadius or 1/0
// for _ = 1, 100 do
@@ -630,10 +622,10 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T>(
// if
// direction:Dot(next_point - a) <= 0 or
// absDet(next_point, a, b, c) < 1e-6
if !direction.dot(next_pos-mesh.vert(simplex_big[1])).is_positive()
if !direction.dot(next_pos-last_pos).is_positive()
||simplex_big.det_is_zero(mesh){
// Found enough information to compute the exact closest point.
return on_exact(simplex_big,direction);
return on_exact(last_pos,direction);
}
// direction, a0, a1, b0, b1, c0, c1, d0, d1 = reduceSimplex(new_point_p, new_point_q, a0, a1, b0, b1, c0, c1)
@@ -649,5 +641,8 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T>(
simplex_small=reduced.simplex;
},
}
// next loop this will be a
last_pos=next_pos;
}
}