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Quaternions 2025-03-13 14:41:57 -07:00
parent 2f574b297f
commit 9308cc8a5c
1 changed files with 4 additions and 0 deletions

4
engine/physics/src/model.rs

@ -914,6 +914,7 @@ impl MeshQuery for MinkowskiMesh<'_>{
})) }))
}, },
MinkowskiEdge::EdgeVert(e0,v1)=>{ MinkowskiEdge::EdgeVert(e0,v1)=>{
println!("MinkowskiEdge::EdgeVert({e0:?},{v1:?})");
//tracking index with an external variable because .enumerate() is not available //tracking index with an external variable because .enumerate() is not available
let v1e=self.mesh1.vert_edges(v1); let v1e=self.mesh1.vert_edges(v1);
let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).as_ref(); let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).as_ref();
@ -921,10 +922,13 @@ impl MeshQuery for MinkowskiMesh<'_>{
let mut best_edge=None; let mut best_edge=None;
let mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE); let mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0; let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
println!("edge_face0_n={edge_face0_n}");
let edge_face0_nn=edge_face0_n.dot(edge_face0_n); let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
for &directed_edge_id1 in v1e.as_ref(){ for &directed_edge_id1 in v1e.as_ref(){
let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1); let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
println!("edge1_n={edge1_n}");
let d=edge_face0_n.dot(edge1_n); let d=edge_face0_n.dot(edge1_n);
println!("d={d} {d:?}");
if d.is_negative(){ if d.is_negative(){
let edge1_nn=edge1_n.dot(edge1_n); let edge1_nn=edge1_n.dot(edge1_n);
let dd=(d*d)/(edge_face0_nn*edge1_nn); let dd=(d*d)/(edge_face0_nn*edge1_nn);