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implement MinkowskiMesh::face_edges MinkowskiFace::EdgeEdge case

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Quaternions 2023-11-15 18:00:14 -08:00
parent 48870b8a76
commit 21e29aa63e
1 changed files with 60 additions and 20 deletions
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80
src/model_physics.rs
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@ -564,31 +564,71 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
}).collect())
},
MinkowskiFace::EdgeEdge(e0,e1)=>{
/*
let e0v=self.mesh0.edge_verts(e0);
let e0f=self.mesh0.edge_faces(e0);
let edge0_n=self.mesh0.edge_n(e0);
let e1v=self.mesh1.edge_verts(e1);
let [r0,r1]=e0v.map(|vert_id0|{
//sort e1 ends by e0 edge dir to get v1
//find face normal formulation without cross products
let v1=if 0<(e0.v1-e0.v0).dot(e1.v1-e1.v0){
e1.v0
}else{
e1.v1
};
(MinkowskiEdge::VertEdge(vert_id0,e1),MinkowskiFace::FaceVert(face_id0,v1))
let e1f=self.mesh1.edge_faces(e1);
let edge1_n=self.mesh1.edge_n(e1);
//populate algorithm variables based on known parity
//I don't like that this arbitrarily picks a face to test against!
let (e0v0_face_id1,e0v1_face_id1)=if edge0_n.dot(self.mesh1.face_nd(e1f[0]).0)<=Planar64::ZERO{
(e1f[1],e1f[0])
}else{
(e1f[0],e1f[1])
};
let [r0,r1]=[(e0v[0],e0v0_face_id1),(e0v[1],e0v1_face_id1)].map(|(vert_id0,edge_face_id1)|{
(MinkowskiEdge::VertEdge(vert_id0,e1),{
let mut best_edge=None;
let mut best_d=Planar64::MAX;
let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
let v0e=self.mesh0.vert_directed_edges(vert_id0);
for &directed_edge_id0 in v0e.iter(){
let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
if edge_face1_n.dot(edge0_n)<Planar64::ZERO{
//I think face_id1 == edge_face_id1 in this case
let d=edge_face1_n.dot(edge0_n);
if d<best_d{
best_d=d;
best_edge=Some(directed_edge_id0)
}
}
}
best_edge.map_or(
MinkowskiFace::VertFace(vert_id0,edge_face_id1),
|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_edge_id(),e1)
)
})
});
let [r2,r3]=e1v.map(|vert_id1|{
//sort e0 ends by e1 edge dir to get v0
let v0=if 0<(e0.v1-e0.v0).dot(e1.v1-e1.v0){
e0.v0
}else{
e0.v1
};
(MinkowskiEdge::EdgeVert(e0,vert_id1),MinkowskiFace::VertFace(v0,face_id1))
let (e1v0_face_id0,e1v1_face_id0)=if edge1_n.dot(self.mesh0.face_nd(e0f[0]).0)<=Planar64::ZERO{
(e0f[1],e0f[0])
}else{
(e0f[0],e0f[1])
};
let [r2,r3]=[(e1v0_face_id0,e1v[0]),(e1v1_face_id0,e1v[1])].map(|(edge_face_id0,vert_id1)|{
(MinkowskiEdge::EdgeVert(e0,vert_id1),{
let mut best_edge=None;
let mut best_d=Planar64::MAX;
let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
let v1e=self.mesh1.vert_directed_edges(vert_id1);
for &directed_edge_id1 in v1e.iter(){
let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
if edge_face0_n.dot(edge1_n)<Planar64::ZERO{
let d=edge_face0_n.dot(edge1_n);
if d<best_d{
best_d=d;
best_edge=Some(directed_edge_id1)
}
}
}
best_edge.map_or(
MinkowskiFace::FaceVert(edge_face_id0,vert_id1),
|directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_edge_id())
)
})
});
//could sort this if ordered edges are needed
Cow::Owned(vec![r0,r1,r2,r3])
*/
todo!()
},
MinkowskiFace::FaceVert(f0,v1)=>{
let face0_n=self.mesh0.face_nd(f0).0;