wip

engine/physics/src/lib.rs

@@ -1,7 +1,9 @@
 mod body;
-mod push_solve;
 mod face_crawler;
+mod mesh_query;
+mod minkowski;
 mod model;
+mod push_solve;
 
 pub mod physics;
 

engine/physics/src/mesh_query.rs

@@ -0,0 +1,36 @@
+pub struct Vert<VertId>(pub VertId);
+pub struct Edge<VertId>(pub VertId,pub VertId);
+pub struct Face<VertId>(pub VertId,pub VertId,pub VertId);
+
+pub enum FEV<VertId>{
+	Vert(Vert<VertId>),
+	Edge(Edge<VertId>),
+	Face(Face<VertId>),
+}
+
+pub trait MeshTopology{
+	type VertId;
+	fn for_each_vert_edge(&self,vert_id:Vert<Self::VertId>,f:impl FnMut(Edge<Self::VertId>));
+	fn for_each_vert_face(&self,vert_id:Vert<Self::VertId>,f:impl FnMut(Face<Self::VertId>));
+	fn edge_faces(&self,edge_id:Edge<Self::VertId>)->impl AsRef<[Face<Self::VertId>;2]>;
+	fn edge_verts(&self,edge_id:Edge<Self::VertId>)->impl AsRef<[Vert<Self::VertId>;2]>;
+	fn for_each_face_vert(&self,face_id:Face<Self::VertId>,f:impl FnMut(Vert<Self::VertId>));
+	fn for_each_face_edge(&self,face_id:Face<Self::VertId>,f:impl FnMut(Edge<Self::VertId>));
+}
+
+// Make face_nd d value relative
+// euclidean point?
+// Simplex physics
+// Directed edge nucessary?
+// recursive for_each function calls
+// define faces from vertices (Fixed<2> vs Fixed<3>)
+pub trait MeshQuery:MeshTopology{
+	type Position;
+	type Normal;
+	type Offset;
+	fn vert(&self,vert_id:Vert<Self::VertId>)->Self::Position;
+	/// This must return a point inside the mesh.
+	fn hint_point(&self)->Self::Position;
+	fn face_nd(&self,face_id:Face<Self::VertId>)->(Self::Normal,Self::Offset);
+	fn edge_n(&self,edge_id:Edge<Self::VertId>)->Self::Position;
+}

engine/physics/src/minkowski.rs

@@ -0,0 +1,75 @@
+use crate::mesh_query::{MeshQuery,MeshTopology};
+use crate::mesh_query::{Face,Edge,Vert};
+
+struct AsRefHelper<T>(T);
+impl<T> AsRef<T> for AsRefHelper<T>{
+	fn as_ref(&self)->&T{
+		&self.0
+	}
+}
+
+pub struct MinkowskiVert<V>{
+	vert0:V,
+	vert1:V,
+}
+
+pub struct Minkowski<M>{
+	mesh0:M,
+	mesh1:M,
+}
+
+impl<M> Minkowski<M>{
+	pub fn sum(mesh0:M,mesh1:M)->Self{
+		Self{mesh0,mesh1}
+	}
+}
+
+impl<M:MeshTopology> MeshTopology for Minkowski<M>{
+	type VertId=MinkowskiVert<M::VertId>;
+	fn for_each_vert_edge(&self,vert_id:Vert<Self::VertId>,f:impl FnMut(Edge<Self::VertId>)){
+		todo!()
+	}
+	fn for_each_vert_face(&self,vert_id:Vert<Self::VertId>,f:impl FnMut(Face<Self::VertId>)){
+		todo!()
+	}
+	fn edge_faces(&self,edge_id:Edge<Self::VertId>)->impl AsRef<[Face<Self::VertId>;2]>{
+		AsRefHelper(todo!())
+	}
+	fn edge_verts(&self,edge_id:Edge<Self::VertId>)->impl AsRef<[Vert<Self::VertId>;2]>{
+		AsRefHelper(todo!())
+	}
+	fn for_each_face_vert(&self,face_id:Face<Self::VertId>,f:impl FnMut(Vert<Self::VertId>)){
+		todo!()
+	}
+	fn for_each_face_edge(&self,face_id:Face<Self::VertId>,f:impl FnMut(Edge<Self::VertId>)){
+		todo!()
+	}
+}
+
+use strafesnet_common::integer::vec3::Vector3;
+use strafesnet_common::integer::Fixed;
+impl<M> MeshQuery for Minkowski<M>
+where
+	M:MeshQuery<
+		Position=Vector3<Fixed<1,32>>,
+		Normal=Vector3<Fixed<3,96>>,
+		Offset=Fixed<4,128>,
+	>
+{
+	type Position=M::Position;
+	type Normal=M::Normal;
+	type Offset=M::Offset;
+	fn vert(&self,vert_id:Vert<Self::VertId>)->Self::Position{
+		let Vert(MinkowskiVert{vert0,vert1})=vert_id;
+		self.mesh1.vert(Vert(vert1))-self.mesh0.vert(Vert(vert0))
+	}
+	fn hint_point(&self)->Self::Position{
+		self.mesh1.hint_point()-self.mesh0.hint_point()
+	}
+	fn face_nd(&self,face_id:Face<Self::VertId>)->(Self::Normal,Self::Offset){
+		todo!()
+	}
+	fn edge_n(&self,edge_id:Edge<Self::VertId>)->Self::Position{
+		todo!()
+	}
+}

engine/physics/src/physics_mesh.rs

@@ -0,0 +1,2 @@
+// PhysicsMesh
+// TransformedMesh?