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would you look at that, my old code was right!

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Quaternions 2023-11-28 17:35:49 -08:00
parent 660ea42576
commit 1d50eac5e4
1 changed files with 27 additions and 22 deletions
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25
src/model_physics.rs
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@ -575,15 +575,18 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
match edge_id{ match edge_id{
MinkowskiEdge::VertEdge(v0,e1)=>{ MinkowskiEdge::VertEdge(v0,e1)=>{
//faces are listed backwards from the minkowski mesh //faces are listed backwards from the minkowski mesh
let e1f=self.mesh1.edge_faces(e1);
let v0e=self.mesh0.vert_edges(v0); let v0e=self.mesh0.vert_edges(v0);
Cow::Owned([(e1f[1],false),(e1f[0],true)].map(|(edge_face_id1,face_parity)|{ let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).borrow();
let e1f0_n=self.mesh0.face_nd(e1f0).0;
let e1f1_n=self.mesh0.face_nd(e1f1).0;
Cow::Owned([(e1f1,e1f1_n,e1f0_n,false),(e1f0,e1f0_n,e1f1_n,true)].map(|(edge_face_id1,edge_face1_n,edge_other_face1_n,face_parity)|{
let mut best_edge=None; let mut best_edge=None;
let mut best_d=Planar64::ZERO; let mut best_d=Planar64::MAX;
let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
let edge_face1_nn=edge_face1_n.dot(edge_face1_n); let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
for &directed_edge_id0 in v0e.iter(){ for &directed_edge_id0 in v0e.iter(){
let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0); let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
//must be behind other face.
if edge_other_face1_n.dot(edge0_n)<Planar64::ZERO{
let edge0_nn=edge0_n.dot(edge0_n); let edge0_nn=edge0_n.dot(edge0_n);
let d=edge_face1_n.dot(edge0_n); let d=edge_face1_n.dot(edge0_n);
let dd=d*d/(edge_face1_nn*edge0_nn); let dd=d*d/(edge_face1_nn*edge0_nn);
@ -592,6 +595,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
best_edge=Some(directed_edge_id0); best_edge=Some(directed_edge_id0);
} }
} }
}
best_edge.map_or( best_edge.map_or(
MinkowskiFace::VertFace(v0,edge_face_id1), MinkowskiFace::VertFace(v0,edge_face_id1),
|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_undirected(),e1,directed_edge_id0.parity()^face_parity) |directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_undirected(),e1,directed_edge_id0.parity()^face_parity)
@ -600,17 +604,17 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
}, },
MinkowskiEdge::EdgeVert(e0,v1)=>{ MinkowskiEdge::EdgeVert(e0,v1)=>{
//tracking index with an external variable because .enumerate() is not available //tracking index with an external variable because .enumerate() is not available
let mut i=0;
let v1e=self.mesh1.vert_edges(v1); let v1e=self.mesh1.vert_edges(v1);
Cow::Owned(self.mesh0.edge_faces(e0).map(|edge_face_id0|{ let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).borrow();
let face_parity=i==0;//always two edge faces let e0f0_n=self.mesh0.face_nd(e0f0).0;
i+=1; let e0f1_n=self.mesh0.face_nd(e0f1).0;
Cow::Owned([(e0f0,e0f0_n,e0f1_n,false),(e0f1,e0f1_n,e0f0_n,true)].map(|(edge_face_id0,edge_face0_n,edge_other_face0_n,face_parity)|{
let mut best_edge=None; let mut best_edge=None;
let mut best_d=Planar64::ZERO; let mut best_d=Planar64::MAX;
let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
let edge_face0_nn=edge_face0_n.dot(edge_face0_n); let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
for &directed_edge_id1 in v1e.iter(){ for &directed_edge_id1 in v1e.iter(){
let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1); let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
if edge_other_face0_n.dot(edge1_n)<Planar64::ZERO{
let edge1_nn=edge1_n.dot(edge1_n); let edge1_nn=edge1_n.dot(edge1_n);
let d=edge_face0_n.dot(edge1_n); let d=edge_face0_n.dot(edge1_n);
let dd=d*d/(edge_face0_nn*edge1_nn); let dd=d*d/(edge_face0_nn*edge1_nn);
@ -619,6 +623,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
best_edge=Some(directed_edge_id1); best_edge=Some(directed_edge_id1);
} }
} }
}
best_edge.map_or( best_edge.map_or(
MinkowskiFace::FaceVert(edge_face_id0,v1), MinkowskiFace::FaceVert(edge_face_id0,v1),
|directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_undirected(),directed_edge_id1.parity()^face_parity) |directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_undirected(),directed_edge_id1.parity()^face_parity)