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physics: face crawler opti

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Quaternions
2025-05-23 14:40:06 -07:00
parent 9e2e1d9d4a
commit 9db39d2a62
1 changed files with 3 additions and 2 deletions

5
engine/physics/src/face_crawler.rs

@ -119,10 +119,11 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
}, },
&FEV::Edge(edge_id)=>{ &FEV::Edge(edge_id)=>{
//test each face collision time, ignoring roots with zero or conflicting derivative //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); let edge_verts=mesh.edge_verts(edge_id);
let &[ev0,ev1]=edge_verts.as_ref(); let &[ev0,ev1]=edge_verts.as_ref();
let delta_pos=body.position*2-(mesh.vert(ev0)+mesh.vert(ev1)); let (v0,v1)=(mesh.vert(ev0),mesh.vert(ev1));
let edge_n=v1-v0;
let delta_pos=body.position*2-(v0+v1);
for (i,&edge_face_id) in mesh.edge_faces(edge_id).as_ref().iter().enumerate(){ for (i,&edge_face_id) in mesh.edge_faces(edge_id).as_ref().iter().enumerate(){
let face_n=mesh.face_nd(edge_face_id).0; let face_n=mesh.face_nd(edge_face_id).0;
//edge_n gets parity from the order of edge_faces //edge_n gets parity from the order of edge_faces