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fixed-wide ... fw-calm-do

Author SHA1 Message Date
Quaternions
6ca6e4ac3d stop being so wide 2024-09-26 18:46:04 -07:00
5 changed files with 39 additions and 45 deletions

29
Cargo.lock generated

@ -623,8 +623,7 @@ checksum = "835a3dc7d1ec9e75e2b5fb4ba75396837112d2060b03f7d43bc1897c7f7211da"
[[package]]
name = "fixed_wide"
version = "0.1.0"
source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
checksum = "7a8d6e10c51c9df39ead915c62288afbc41d13e00368e526037e530ee5c58e13"
source = "git+https://git.itzana.me/StrafesNET/fixed_wide_vectors?rev=861f9a081e60df6290f53742eb6a60c9ef8c0a0b#861f9a081e60df6290f53742eb6a60c9ef8c0a0b"
dependencies = [
"arrayvec",
"bnum",
@ -953,8 +952,7 @@ dependencies = [
[[package]]
name = "linear_ops"
version = "0.1.0"
source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
checksum = "b2e6977ac24f47086d8a7a2d4ae1c720e86dfdc8407cf5e34c18bfa01053c456"
source = "git+https://git.itzana.me/StrafesNET/fixed_wide_vectors?rev=861f9a081e60df6290f53742eb6a60c9ef8c0a0b#861f9a081e60df6290f53742eb6a60c9ef8c0a0b"
dependencies = [
"fixed_wide",
"paste",
@ -1596,8 +1594,7 @@ checksum = "9c8a99fddc9f0ba0a85884b8d14e3592853e787d581ca1816c91349b10e4eeab"
[[package]]
name = "ratio_ops"
version = "0.1.0"
source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
checksum = "01239195d6afe0509e7e3511b716c0540251dfe7ece0a9a5a27116afb766c42c"
source = "git+https://git.itzana.me/StrafesNET/fixed_wide_vectors?rev=861f9a081e60df6290f53742eb6a60c9ef8c0a0b#861f9a081e60df6290f53742eb6a60c9ef8c0a0b"
[[package]]
name = "raw-window-handle"
@ -1925,7 +1922,7 @@ dependencies = [
"parking_lot",
"pollster",
"strafesnet_bsp_loader",
"strafesnet_common 0.5.0",
"strafesnet_common 0.4.1 (git+https://git.itzana.me/StrafesNET/common?rev=c5f01d4c3ea3aa2ee3448ff42f020f5f5239dc95)",
"strafesnet_deferred_loader",
"strafesnet_rbx_loader",
"strafesnet_snf",
@ -1940,7 +1937,7 @@ source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
checksum = "35ee2c534efa039ad17ca41893ba1d75fafff014076353ac676c73fc808b9e44"
dependencies = [
"glam",
"strafesnet_common 0.4.1",
"strafesnet_common 0.4.1 (sparse+https://git.itzana.me/api/packages/strafesnet/cargo/)",
"vbsp",
"vmdl",
]
@ -1959,9 +1956,8 @@ dependencies = [
[[package]]
name = "strafesnet_common"
version = "0.5.0"
source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
checksum = "d8fcc44793ae84a1d80882f367980913292241c94eb87584de4010bdad4a918d"
version = "0.4.1"
source = "git+https://git.itzana.me/StrafesNET/common?rev=c5f01d4c3ea3aa2ee3448ff42f020f5f5239dc95#c5f01d4c3ea3aa2ee3448ff42f020f5f5239dc95"
dependencies = [
"arrayvec",
"bitflags 2.6.0",
@ -1979,7 +1975,7 @@ source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
checksum = "596aba6d2747818781336ad95a1ee496e37f70052fd625a299fc7a555a6938d4"
dependencies = [
"lazy-regex",
"strafesnet_common 0.4.1",
"strafesnet_common 0.4.1 (sparse+https://git.itzana.me/api/packages/strafesnet/cargo/)",
"vbsp",
]
@ -1997,18 +1993,17 @@ dependencies = [
"rbx_mesh",
"rbx_reflection_database",
"rbx_xml",
"strafesnet_common 0.4.1",
"strafesnet_common 0.4.1 (sparse+https://git.itzana.me/api/packages/strafesnet/cargo/)",
]
[[package]]
name = "strafesnet_snf"
version = "0.2.0"
source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
checksum = "c6e8856d79c29bd5687b08bc1653370f7e242c84d5c06afa8629bd3e00c433bf"
version = "0.1.3"
source = "git+https://git.itzana.me/StrafesNET/snf?rev=1e0095ed1583f0330d8dbdf1f56edd61bfb43eec#1e0095ed1583f0330d8dbdf1f56edd61bfb43eec"
dependencies = [
"binrw 0.14.0",
"id",
"strafesnet_common 0.5.0",
"strafesnet_common 0.4.1 (git+https://git.itzana.me/StrafesNET/common?rev=c5f01d4c3ea3aa2ee3448ff42f020f5f5239dc95)",
]
[[package]]

4
Cargo.toml

@ -23,10 +23,10 @@ id = { version = "0.1.0", registry = "strafesnet" }
parking_lot = "0.12.1"
pollster = "0.3.0"
strafesnet_bsp_loader = { version = "0.1.3", registry = "strafesnet", optional = true }
strafesnet_common = { version = "0.5.0", registry = "strafesnet" }
strafesnet_common = { git = "https://git.itzana.me/StrafesNET/common", rev = "c5f01d4c3ea3aa2ee3448ff42f020f5f5239dc95" }
strafesnet_deferred_loader = { version = "0.3.1", features = ["legacy"], registry = "strafesnet", optional = true }
strafesnet_rbx_loader = { version = "0.3.2", registry = "strafesnet", optional = true }
strafesnet_snf = { version = "0.2.0", registry = "strafesnet", optional = true }
strafesnet_snf = { git = "https://git.itzana.me/StrafesNET/snf", rev = "1e0095ed1583f0330d8dbdf1f56edd61bfb43eec", optional = true }
wgpu = "22.0.0"
winit = "0.30.4"

28
src/face_crawler.rs

@ -15,7 +15,7 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
fn next_transition(fev:&MinkowskiFEV,body_time:GigaTime,mesh:&MinkowskiMesh,body:&Body,mut best_time:GigaTime)->MinkowskiTransition{
//conflicting derivative means it crosses in the wrong direction.
//if the transition time is equal to an already tested transition, do not replace the current best.
let mut best_transition=MinkowskiTransition::Miss;
let mut best_transtition=MinkowskiTransition::Miss;
match fev{
&MinkowskiFEV::Face(face_id)=>{
//test own face collision time, ignoring roots with zero or conflicting derivative
@ -24,10 +24,10 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
let (n,d)=mesh.face_nd(face_id);
//TODO: use higher precision d value?
//use the mesh transform translation instead of baking it into the d value.
for dt in Fixed::<4,128>::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
for dt in Fixed::<2,64>::zeroes2((n.dot(body.position)-d).fix_2()*2,n.dot(body.velocity).fix_2()*2,n.dot(body.acceleration).fix_2()){
if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
best_time=dt;
best_transition=MinkowskiTransition::Hit(face_id,dt);
best_transtition=MinkowskiTransition::Hit(face_id,dt);
break;
}
}
@ -38,10 +38,10 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
let verts=mesh.edge_verts(directed_edge_id.as_undirected());
//WARNING: d is moved out of the *2 block because of adding two vertices!
//WARNING: precision is swept under the rug!
for dt in Fixed::<4,128>::zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))).fix_4(),n.dot(body.velocity).fix_4()*2,n.dot(body.acceleration).fix_4()){
for dt in Fixed::<2,64>::zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))).fix_2(),n.dot(body.velocity).fix_2()*2,n.dot(body.acceleration).fix_2()){
if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
best_time=dt;
best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
break;
}
}
@ -58,10 +58,10 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
//edge_n gets parity from the order of edge_faces
let n=face_n.cross(edge_n)*((i as i64)*2-1);
//WARNING yada yada d *2
for dt in Fixed::<4,128>::zeroes2(n.dot(delta_pos).fix_4(),n.dot(body.velocity).fix_4()*2,n.dot(body.acceleration).fix_4()){
for dt in Fixed::<2,64>::zeroes2(n.dot(delta_pos).fix_2(),n.dot(body.velocity).fix_2()*2,n.dot(body.acceleration).fix_2()){
if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
best_time=dt;
best_transition=MinkowskiTransition::Next(MinkowskiFEV::Face(edge_face_id),dt);
best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Face(edge_face_id),dt);
break;
}
}
@ -72,9 +72,9 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
let n=edge_n*(1-2*(i as i64));
for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
let dt=Ratio::new(dt.num.fix_2(),dt.den.fix_2());
best_time=dt;
best_transition=MinkowskiTransition::Next(MinkowskiFEV::Vert(vert_id),dt);
best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Vert(vert_id),dt);
break;
}
}
@ -88,9 +88,9 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
let n=-mesh.directed_edge_n(directed_edge_id);
for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
let dt=Ratio::new(dt.num.fix_2(),dt.den.fix_2());
best_time=dt;
best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
break;
}
}
@ -98,7 +98,7 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
//if none:
},
}
best_transition
best_transtition
}
pub enum CrawlResult<F,E:DirectedEdge,V>{
Miss(FEV<F,E,V>),
@ -108,11 +108,11 @@ type MinkowskiCrawlResult=CrawlResult<MinkowskiFace,MinkowskiDirectedEdge,Minkow
pub fn crawl_fev(mut fev:MinkowskiFEV,mesh:&MinkowskiMesh,relative_body:&Body,start_time:Time,time_limit:Time)->MinkowskiCrawlResult{
let mut body_time={
let r=(start_time-relative_body.time).to_ratio();
Ratio::new(r.num.fix_4(),r.den.fix_4())
Ratio::new(r.num.fix_2(),r.den.fix_2())
};
let time_limit={
let r=(time_limit-relative_body.time).to_ratio();
Ratio::new(r.num.fix_4(),r.den.fix_4())
Ratio::new(r.num.fix_2(),r.den.fix_2())
};
for _ in 0..20{
match next_transition(&fev,body_time,mesh,relative_body,time_limit){

21
src/model_physics.rs

@ -599,7 +599,7 @@ enum EV{
Edge(MinkowskiEdge),
}
pub type GigaTime=Ratio<Fixed<4,128>,Fixed<4,128>>;
pub type GigaTime=Ratio<Fixed<2,64>,Fixed<2,64>>;
impl MinkowskiMesh<'_>{
pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
@ -707,8 +707,7 @@ impl MinkowskiMesh<'_>{
infinity_body.velocity=dir;
infinity_body.acceleration=vec3::ZERO;
//crawl in from negative infinity along a tangent line to get the closest fev
// TODO: change crawl_fev args to delta time? Optional values?
match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN/4,infinity_body.time){
match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
crate::face_crawler::CrawlResult::Hit(_,_)=>None,
}
@ -744,7 +743,7 @@ impl MinkowskiMesh<'_>{
//determine when it passes an edge ("sliding off" case)
let mut best_time={
let r=(time_limit-relative_body.time).to_ratio();
Ratio::new(r.num.fix_4(),r.den.fix_4())
Ratio::new(r.num.fix_2(),r.den.fix_2())
};
let mut best_edge=None;
let face_n=self.face_nd(contact_face_id).0;
@ -756,8 +755,8 @@ impl MinkowskiMesh<'_>{
let d=n.dot(self.vert(verts[0])+self.vert(verts[1]));
//WARNING! d outside of *2
//WARNING: truncated precision
for dt in Fixed::<4,128>::zeroes2(((n.dot(relative_body.position))*2-d).fix_4(),n.dot(relative_body.velocity).fix_4()*2,n.dot(relative_body.acceleration).fix_4()){
if Ratio::new(Planar64::ZERO,Planar64::ONE).le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(relative_body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
for dt in Fixed::<2,64>::zeroes2(((n.dot(relative_body.position))*2-d).fix_2(),n.dot(relative_body.velocity).fix_2()*2,n.dot(relative_body.acceleration).fix_2()){
if dt.num.is_positive()&&dt.lt_ratio(best_time)&&n.dot(relative_body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
best_time=dt;
best_edge=Some(directed_edge_id);
break;
@ -768,7 +767,7 @@ impl MinkowskiMesh<'_>{
}
fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,GigaTime)>{
let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position);
match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN/4,infinity_body.time){
match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
crate::face_crawler::CrawlResult::Miss(_)=>None,
crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
}
@ -850,7 +849,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).borrow();
Cow::Owned([(e1f1,false),(e1f0,true)].map(|(edge_face_id1,face_parity)|{
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<2,64>,Fixed<2,64>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
for &directed_edge_id0 in v0e.iter(){
@ -861,7 +860,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
let edge0_nn=edge0_n.dot(edge0_n);
// Assume not every number is huge
// TODO: revisit this
let dd=(d*d)/(edge_face1_nn*edge0_nn);
let dd=(d*d).fix_2()/(edge_face1_nn*edge0_nn).fix_2();
if best_d<dd{
best_d=dd;
best_edge=Some(directed_edge_id0);
@ -880,7 +879,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).borrow();
Cow::Owned([(e0f0,true),(e0f1,false)].map(|(edge_face_id0,face_parity)|{
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<2,64>,Fixed<2,64>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
for &directed_edge_id1 in v1e.iter(){
@ -888,7 +887,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
let d=edge_face0_n.dot(edge1_n);
if d.is_negative(){
let edge1_nn=edge1_n.dot(edge1_n);
let dd=(d*d)/(edge_face0_nn*edge1_nn);
let dd=(d*d).fix_2()/(edge_face0_nn*edge1_nn).fix_2();
if best_d<dd{
best_d=dd;
best_edge=Some(directed_edge_id1);

2
src/physics.rs

@ -1957,7 +1957,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
_=>println!("{}|{:?}",ins.time,ins.instruction),
}
if ins.time<state.time{
println!("@@@@ Time travel warning! state.time={} ins.time={}\nInstruction={:?}",state.time,ins.time,ins.instruction);
println!("@@@@ Time travel warning! {:?}",ins);
}
//idle is special, it is specifically a no-op to get Internal events to catch up to real time
match ins.instruction{