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Quaternions 2023-11-23 18:02:05 -08:00
parent 14e168942d
commit 2cef4cba66
1 changed files with 3 additions and 2 deletions
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5
src/face_crawler.rs
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@ -33,7 +33,7 @@ enum Transition<F,E:DirectedEdge,V>{
let edge_n=mesh.directed_edge_n(directed_edge_id);
let n=n.cross(edge_n);
let verts=mesh.edge_verts(directed_edge_id.as_undirected());
let d=n.dot(mesh.vert(verts[0]))+n.dot(mesh.vert(verts[1]));
let d=n.dot(mesh.vert(verts[0])+mesh.vert(verts[1]));
//WARNING: d is moved out of the *2 block because of adding two vertices!
for t in zeroes2(n.dot(body.position)*2-d,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t);
@ -50,11 +50,12 @@ enum Transition<F,E:DirectedEdge,V>{
//test each face collision time, ignoring roots with zero or conflicting derivative
let edge_n=mesh.edge_n(edge_id);
let edge_verts=mesh.edge_verts(edge_id);
let vert_sum=mesh.vert(edge_verts[0])+mesh.vert(edge_verts[1]);
for (i,&edge_face_id) in mesh.edge_faces(edge_id).iter().enumerate(){
let face_n=mesh.face_nd(edge_face_id).0;
//edge_n gets parity from the order of edge_faces
let n=edge_n.cross(face_n)*((i as i64)*2-1);
let d=n.dot(mesh.vert(edge_verts[0]))+n.dot(mesh.vert(edge_verts[1]));
let d=n.dot(vert_sum);
//WARNING yada yada d *2
for t in zeroes2((n.dot(body.position))*2-d,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t);