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Quaternions 2023-11-22 19:26:52 -08:00
parent 6766ad832d
commit 096284ea60
1 changed files with 2 additions and 2 deletions
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4
src/model_physics.rs
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@ -391,13 +391,13 @@ impl MinkowskiMesh<'_>{
let edge_n=self.edge_n(edge_id); let edge_n=self.edge_n(edge_id);
let edge_verts=self.edge_verts(edge_id); let edge_verts=self.edge_verts(edge_id);
for (i,&face_id) in self.edge_faces(edge_id).iter().enumerate(){ for (i,&face_id) in self.edge_faces(edge_id).iter().enumerate(){
let face_n=self.face_nd(face_id).0; let (face_n,face_d)=self.face_nd(face_id);
//edge-face boundary nd, n facing out of the face towards the edge //edge-face boundary nd, n facing out of the face towards the edge
let boundary_n=edge_n.cross(face_n)*((i as i64)*4-2); let boundary_n=edge_n.cross(face_n)*((i as i64)*4-2);
let boundary_d=boundary_n.dot(self.vert(edge_verts[0]))+boundary_n.dot(self.vert(edge_verts[1])); let boundary_d=boundary_n.dot(self.vert(edge_verts[0]))+boundary_n.dot(self.vert(edge_verts[1]));
if point.dot(boundary_n)<=boundary_d{ if point.dot(boundary_n)<=boundary_d{
//must be normalized to compare distances //must be normalized to compare distances
let d=point.dot(face_n); let d=point.dot(face_n)-face_d;
let dd=d*d/face_n.dot(face_n); let dd=d*d/face_n.dot(face_n);
if dd<best_d{ if dd<best_d{
best_d=dd; best_d=dd;