wip

engine/physics/src/lib.rs

@@ -1,7 +1,8 @@
 mod body;
-mod push_solve;
 mod face_crawler;
 mod model;
+mod push_solve;
+mod minimum_difference;
 
 pub mod physics;
 

engine/physics/src/minimum_difference.rs

@@ -0,0 +1,77 @@
+use strafesnet_common::integer::{Planar64, Planar64Vec3};
+
+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,
+	p_pos:Planar64Vec3,
+	p_norm:Planar64Vec3,
+	q_pos:Planar64Vec3,
+	q_norm:Planar64Vec3,
+}
+
+pub fn minimum_difference(p:&TransformedMesh,q:&TransformedMesh)->Option<MinimumDifference>{
+	// local initialAxis = queryQ() - queryP()
+	// local newPoint0 = queryP(initialAxis)
+	// local newPoint1 = queryQ(-initialAxis)
+	// local direction, a0, a1, b0, b1, c0, c1, d0, d1
+
+	// 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)
+
+	// 	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
+
+	// 	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
+
+	// return nil
+	None
+}