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Quaternions
2023-09-18 18:50:12 -07:00
parent 6d5bd949fa
commit d0d8d2cdec
1 changed files with 6 additions and 12 deletions

18
src/body.rs

@ -526,8 +526,7 @@ impl PhysicsState {
let (p,v,a)=(self.body.position,self.body.velocity,self.body.acceleration); let (p,v,a)=(self.body.position,self.body.velocity,self.body.acceleration);
//collect x //collect x
for t in zeroes2(mesh0.max.x-mesh1.min.x,v.x,a.x) { for t in zeroes2(mesh0.max.x-mesh1.min.x,v.x,a.x) {
//negative t = back in time //must collide now or in the future
//must be moving towards surface to collide
//must beat the current soonest collision time //must beat the current soonest collision time
//must be moving towards surface //must be moving towards surface
let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME; let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
@ -542,8 +541,7 @@ impl PhysicsState {
} }
} }
for t in zeroes2(mesh0.min.x-mesh1.max.x,v.x,a.x) { for t in zeroes2(mesh0.min.x-mesh1.max.x,v.x,a.x) {
//negative t = back in time //must collide now or in the future
//must be moving towards surface to collide
//must beat the current soonest collision time //must beat the current soonest collision time
//must be moving towards surface //must be moving towards surface
let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME; let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
@ -559,8 +557,7 @@ impl PhysicsState {
} }
//collect y //collect y
for t in zeroes2(mesh0.max.y-mesh1.min.y,v.y,a.y) { for t in zeroes2(mesh0.max.y-mesh1.min.y,v.y,a.y) {
//negative t = back in time //must collide now or in the future
//must be moving towards surface to collide
//must beat the current soonest collision time //must beat the current soonest collision time
//must be moving towards surface //must be moving towards surface
let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME; let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
@ -575,8 +572,7 @@ impl PhysicsState {
} }
} }
for t in zeroes2(mesh0.min.y-mesh1.max.y,v.y,a.y) { for t in zeroes2(mesh0.min.y-mesh1.max.y,v.y,a.y) {
//negative t = back in time //must collide now or in the future
//must be moving towards surface to collide
//must beat the current soonest collision time //must beat the current soonest collision time
//must be moving towards surface //must be moving towards surface
let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME; let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
@ -592,8 +588,7 @@ impl PhysicsState {
} }
//collect z //collect z
for t in zeroes2(mesh0.max.z-mesh1.min.z,v.z,a.z) { for t in zeroes2(mesh0.max.z-mesh1.min.z,v.z,a.z) {
//negative t = back in time //must collide now or in the future
//must be moving towards surface to collide
//must beat the current soonest collision time //must beat the current soonest collision time
//must be moving towards surface //must be moving towards surface
let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME; let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
@ -608,8 +603,7 @@ impl PhysicsState {
} }
} }
for t in zeroes2(mesh0.min.z-mesh1.max.z,v.z,a.z) { for t in zeroes2(mesh0.min.z-mesh1.max.z,v.z,a.z) {
//negative t = back in time //must collide now or in the future
//must be moving towards surface to collide
//must beat the current soonest collision time //must beat the current soonest collision time
//must be moving towards surface //must be moving towards surface
let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME; let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;