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face crawler work

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Quaternions 2023-10-26 15:51:47 -07:00
parent b215578c8d
commit 19c7a8924e
1 changed files with 33 additions and 20 deletions
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53
src/face_crawler.rs
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@ -1,5 +1,5 @@
use crate::physics::Body; use crate::physics::Body;
use crate::integer::Time; use crate::integer::{Time,Planar64Vec3};
struct VertexId(usize); struct VertexId(usize);
struct EdgeId(usize); struct EdgeId(usize);
@ -24,24 +24,31 @@ enum Transition{
} }
impl State{ impl State{
fn next_transition(&self,mesh:&VirtualMesh,time_limit:Time)->Transition{ fn next_transition(&self,mesh:&VirtualMesh,body:&Body,time_limit:Time)->Transition{
//conflicting derivative means it crosses in the wrong direction. //conflicting derivative means it crosses in the wrong direction.
match self.fev{ //if the transition time is equal to an already tested transition, do not replace the current best.
match &self.fev{
FEV::Face(face_id)=>{ FEV::Face(face_id)=>{
//test own face collision time //test own face collision time, ignoring edges with zero or conflicting derivative
//test each edge collision time, ignoring edges with zero or conflicting derivative //test each edge collision time, ignoring edges with zero or conflicting derivative
//if face: return (Face,Time) //if face: Transition::Hit(Face,Time)
//if edge: goto edge //if edge: Transition::NextState(State{time,fev:FEV::Edge(edge_id)})
//if none:
Transition::Miss
}, },
FEV::Edge(edge_id)=>{ FEV::Edge(edge_id)=>{
//test each face collision time, ignoring faces with zero or conflicting derivative //test each face collision time, ignoring faces with zero or conflicting derivative
//test each vertex collision time, ignoring vertices with zero or conflicting derivative //test each vertex collision time, ignoring vertices with zero or conflicting derivative
//if face: goto face //if face: Transition::NextState(State{time,fev:FEV::Face(face_id)})
//if vertex: goto vertex //if vert: Transition::NextState(State{time,fev:FEV::Vertex(vertex_id)})
//if none:
Transition::Miss
}, },
FEV::Vertex(vertex_id)=>{ FEV::Vertex(vertex_id)=>{
//test each edge collision time, ignoring edges with zero or conflicting derivative //test each edge collision time, ignoring edges with zero or conflicting derivative
//goto edge //if some: Transition::NextState(State{time,fev:FEV::Edge(edge_id)})
//if none:
Transition::Miss
}, },
} }
} }
@ -52,24 +59,30 @@ impl State{
//(edge,edge) //(edge,edge)
//(vertex,face) //(vertex,face)
struct VirtualMesh{ struct VirtualMesh<'a>{
//??? mesh0:&'a PhysicsMesh,
mesh1:&'a PhysicsMesh,
} }
impl VirtualMesh{ impl VirtualMesh<'_>{
pub fn minkowski_sum(mesh0:&PhysicsMesh,mesh1:&PhysicsMesh)->Self{ pub fn minkowski_sum<'a>(mesh0:&PhysicsMesh,mesh1:&PhysicsMesh)->VirtualMesh<'a>{
//????? Self{
mesh0,
mesh1,
}
} }
pub fn predict_collision(&self,body:&Body,time:Time,time_limit:Time)->Option<(FaceId,Time)>{ fn closest_fev(&self,point:Planar64Vec3)->FEV{
//mesh.closest_point returns if the point is on a face, edge or vertex //put some genius code right here
let (point,fev)=self.closest_point(body.extrapolated_position(time)); todo!()
}
pub fn predict_collision(&self,relative_body:&Body,time_limit:Time)->Option<(FaceId,Time)>{
let mut state=State{ let mut state=State{
time, time:relative_body.time,
fev, fev:self.closest_fev(relative_body.position),
}; };
//it would be possible to write down the point of closest approach... //it would be possible to write down the point of closest approach...
loop{ loop{
match state.next_transition(self,time_limit){ match state.next_transition(self,relative_body,time_limit){
Transition::Miss=>return None, Transition::Miss=>return None,
Transition::NextState(next_state)=>state=next_state, Transition::NextState(next_state)=>state=next_state,
Transition::Hit(hit_face,hit_time)=>return Some((hit_face,hit_time)), Transition::Hit(hit_face,hit_time)=>return Some((hit_face,hit_time)),