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physics work

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Quaternions 2023-11-15 21:06:24 -08:00
parent f50670db57
commit 33972b0c2c
2 changed files with 14 additions and 13 deletions
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4
src/model_physics.rs
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@ -344,10 +344,10 @@ impl MinkowskiMesh<'_>{
let fev=FEV::<MinkowskiFace,MinkowskiEdge,MinkowskiVert>::Vert(self.farthest_vert(point)); let fev=FEV::<MinkowskiFace,MinkowskiEdge,MinkowskiVert>::Vert(self.farthest_vert(point));
crate::face_crawler::crawl_fev_dot(fev,self,point) crate::face_crawler::crawl_fev_dot(fev,self,point)
} }
pub fn predict_collision(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{ pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
crate::face_crawler::crawl_fev_body(self.closest_fev(relative_body.position),self,relative_body,time_limit) crate::face_crawler::crawl_fev_body(self.closest_fev(relative_body.position),self,relative_body,time_limit)
} }
pub fn predict_collision_end(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,crate::integer::Time)>{ pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,crate::integer::Time)>{
//no algorithm needed, there is only one state and two cases (Edge,None) //no algorithm needed, there is only one state and two cases (Edge,None)
//determine when it passes an edge ("sliding off" case) //determine when it passes an edge ("sliding off" case)
let mut best_time=time_limit; let mut best_time=time_limit;

23
src/physics.rs
View File

@ -731,8 +731,7 @@ impl PhysicsModel{
#[derive(Debug,Clone,Eq,Hash,PartialEq)] #[derive(Debug,Clone,Eq,Hash,PartialEq)]
struct ContactCollision{ struct ContactCollision{
//face_id:crate::model_physics::MinkowskiFace, face_id:crate::model_physics::MinkowskiFace,
face_id:crate::model_physics::FaceId,
model_id:usize,//using id to avoid lifetimes model_id:usize,//using id to avoid lifetimes
} }
#[derive(Debug,Clone,Eq,Hash,PartialEq)] #[derive(Debug,Clone,Eq,Hash,PartialEq)]
@ -751,7 +750,7 @@ impl Collision{
|&Collision::Intersect(IntersectCollision{model_id})=>model_id, |&Collision::Intersect(IntersectCollision{model_id})=>model_id,
} }
} }
fn face_id(&self)->Option<crate::model_physics::FaceId>{ fn face_id(&self)->Option<crate::model_physics::MinkowskiFace>{
match self{ match self{
&Collision::Contact(ContactCollision{model_id:_,face_id})=>Some(face_id), &Collision::Contact(ContactCollision{model_id:_,face_id})=>Some(face_id),
&Collision::Intersect(IntersectCollision{model_id:_})=>None, &Collision::Intersect(IntersectCollision{model_id:_})=>None,
@ -873,10 +872,12 @@ impl TouchingState{
self.constrain_acceleration(models,&mut a); self.constrain_acceleration(models,&mut a);
(move_state,a) (move_state,a)
} }
fn predict_collision_end(&self,collector:&mut crate::instruction::InstructionCollector<PhysicsInstruction>,models:&PhysicsModels,body:&Body,time:Time){ fn predict_collision_end(&self,collector:&mut crate::instruction::InstructionCollector<PhysicsInstruction>,models:&PhysicsModels,style_mesh:&TransformedMesh,body:&Body,time:Time){
let relative_body=VirtualBody::relative(&Body::default(),body).body(time);
for contact in &self.contacts{ for contact in &self.contacts{
//detect face slide off //detect face slide off
collector.collect(models.mesh(contact.model_id).brute_out_face(body,collector.time(),contact.face_id).map(|(face,time)|{ let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&style_mesh,&models.mesh(contact.model_id));
collector.collect(minkowski.predict_collision_face_out(&relative_body,collector.time(),contact.face_id).map(|(face,time)|{
TimedInstruction{ TimedInstruction{
time, time,
instruction:PhysicsInstruction::CollisionEnd( instruction:PhysicsInstruction::CollisionEnd(
@ -885,10 +886,10 @@ impl TouchingState{
} }
})); }));
} }
let relative_body=VirtualBody::relative(&Body::default(),body).body(time);
for intersect in &self.intersects{ for intersect in &self.intersects{
//detect model collision in reverse //detect model collision in reverse
collector.collect(models.mesh(intersect.model_id).brute_out(&relative_body,collector.time()).map(|(face,time)|{ let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&style_mesh,&models.mesh(intersect.model_id));
collector.collect(minkowski.predict_collision_out(&relative_body,collector.time()).map(|(face,time)|{
TimedInstruction{ TimedInstruction{
time, time,
instruction:PhysicsInstruction::CollisionEnd( instruction:PhysicsInstruction::CollisionEnd(
@ -1176,8 +1177,9 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
collector.collect(self.next_move_instruction()); collector.collect(self.next_move_instruction());
let style_mesh=self.style.mesh();
//check for collision ends //check for collision ends
self.touching.predict_collision_end(&mut collector,&self.models,&self.body,self.time); self.touching.predict_collision_end(&mut collector,&self.models,&style_mesh,&self.body,self.time);
//check for collision starts //check for collision starts
let mut aabb=crate::aabb::Aabb::default(); let mut aabb=crate::aabb::Aabb::default();
aabb.grow(self.body.extrapolated_position(self.time)); aabb.grow(self.body.extrapolated_position(self.time));
@ -1187,9 +1189,8 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
let relative_body=VirtualBody::relative(&Body::default(),&self.body).body(self.time); let relative_body=VirtualBody::relative(&Body::default(),&self.body).body(self.time);
self.bvh.the_tester(&aabb,&mut |id|{ self.bvh.the_tester(&aabb,&mut |id|{
//no checks are needed because of the time limits. //no checks are needed because of the time limits.
//let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(self.style.mesh,&self.models.mesh(id)); let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&style_mesh,&self.models.mesh(id));
//collector.collect(crate::face_crawler::predict_collision(&minkowski,&relative_body,collector.time()).map(|(face,time)|{ collector.collect(minkowski.predict_collision_in(&relative_body,collector.time()).map(|(face,time)|{
collector.collect(self.models.mesh(id).brute_in(&relative_body,collector.time()).map(|(face,time)|{
TimedInstruction{time,instruction:PhysicsInstruction::CollisionStart(match self.models.attr(id){ TimedInstruction{time,instruction:PhysicsInstruction::CollisionStart(match self.models.attr(id){
PhysicsCollisionAttributes::Contact{contacting:_,general:_}=>Collision::Contact(ContactCollision{model_id:id,face_id:face}), PhysicsCollisionAttributes::Contact{contacting:_,general:_}=>Collision::Contact(ContactCollision{model_id:id,face_id:face}),
PhysicsCollisionAttributes::Intersect{intersecting:_,general:_}=>Collision::Intersect(IntersectCollision{model_id:id}), PhysicsCollisionAttributes::Intersect{intersecting:_,general:_}=>Collision::Intersect(IntersectCollision{model_id:id}),