debug

engine/physics/src/face_crawler.rs

@@ -4,6 +4,7 @@ use crate::physics::{Time,Body};
 
 use core::ops::Bound;
 
+#[derive(Debug)]
 enum Transition<M:MeshQuery>{
 	Miss,
 	Next(FEV<M>,GigaTime),
@@ -76,6 +77,8 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 		M::Face:Copy,
 		M::Edge:Copy,
 		M::Vert:Copy,
+		M:std::fmt::Debug,
+		F:std::fmt::Display,
 		F:core::ops::Mul<Fixed<1,32>,Output=Fixed<4,128>>,
 		<F as core::ops::Mul<Fixed<1,32>>>::Output:core::iter::Sum,
 		M::Offset:core::ops::Sub<<F as std::ops::Mul<Fixed<1,32>>>::Output>,
@@ -90,10 +93,15 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 				//n=face.normal d=face.dot
 				//n.a t^2+n.v t+n.p-d==0
 				let (n,d)=mesh.face_nd(face_id);
+				println!("Face n={} d={}",n,d);
 				//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)){
-					if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+					let low=low(&lower_bound,&dt);
+					let upp=upp(&dt,&upper_bound);
+					let into=n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative();
+					println!("dt={} low={low} upp={upp} into={into}",dt.divide());
+					if low&&upp&&into{
 						upper_bound=Bound::Included(dt);
 						best_transition=Transition::Hit(face_id,dt);
 						break;
@@ -127,10 +135,16 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 					let face_n=mesh.face_nd(edge_face_id).0;
 					//edge_n gets parity from the order of edge_faces
 					let n=face_n.cross(edge_n)*((i as i64)*2-1);
+					let d=n.dot(delta_pos).wrap_4();
+					println!("Edge Face={:?} boundary_n={} boundary_d={}",edge_face_id,n,d>>1);
 					//WARNING yada yada d *2
 					//wrap for speed
-					for dt in Fixed::<4,128>::zeroes2(n.dot(delta_pos).wrap_4(),n.dot(body.velocity).wrap_4()*2,n.dot(body.acceleration).wrap_4()){
-						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+					for dt in Fixed::<4,128>::zeroes2(d,n.dot(body.velocity).wrap_4()*2,n.dot(body.acceleration).wrap_4()){
+						let low=low(&lower_bound,&dt);
+						let upp=upp(&dt,&upper_bound);
+						let into=n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative();
+						println!("dt={} low={low} upp={upp} into={into}",dt.divide());
+						if low&&upp&&into{
 							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Face(edge_face_id),dt);
 							break;
@@ -174,8 +188,11 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 	pub fn crawl(mut self,mesh:&M,relative_body:&Body,lower_bound:Bound<&Time>,upper_bound:Bound<&Time>)->CrawlResult<M>{
 		let mut lower_bound=lower_bound.map(|&t|into_giga_time(t,relative_body.time));
 		let upper_bound=upper_bound.map(|&t|into_giga_time(t,relative_body.time));
+		println!("crawl begin={self:?}");
 		for _ in 0..20{
-			match self.next_transition(mesh,relative_body,lower_bound,upper_bound){
+			let transition=self.next_transition(mesh,relative_body,lower_bound,upper_bound);
+			println!("transition={transition:?}");
+			match transition{
 				Transition::Miss=>return CrawlResult::Miss(self),
 				Transition::Next(next_fev,next_time)=>(self,lower_bound)=(next_fev,Bound::Included(next_time)),
 				Transition::Hit(face,time)=>return CrawlResult::Hit(face,time),

engine/physics/src/model.rs

@@ -76,9 +76,9 @@ struct Face{
 #[derive(Debug)]
 struct Vert(Planar64Vec3);
 pub trait MeshQuery{
-	type Face:Copy;
-	type Edge:Copy+DirectedEdge;
-	type Vert:Copy;
+	type Face:Copy+std::fmt::Debug;
+	type Edge:Copy+DirectedEdge+std::fmt::Debug;
+	type Vert:Copy+std::fmt::Debug;
 	// Vertex must be Planar64Vec3 because it represents an actual position
 	type Normal;
 	type Offset;
@@ -759,7 +759,9 @@ impl MinkowskiMesh<'_>{
 		})
 	}
 	pub fn predict_collision_in(&self,relative_body:&Body,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
+		println!("@@@BEGIN SETUP@@@");
 		self.closest_fev_not_inside(relative_body.clone(),range.start_bound()).and_then(|fev|{
+			println!("@@@BEGIN REAL CRAWL@@@");
 			//continue forwards along the body parabola
 			fev.crawl(self,relative_body,range.start_bound(),range.end_bound()).hit()
 		})