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normalize your normals broh

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Quaternions 2023-11-23 18:46:09 -08:00
parent 2cef4cba66
commit 3cc006d3fb
1 changed files with 12 additions and 6 deletions
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18
src/model_physics.rs
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@ -580,17 +580,20 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
let mut best_edge=None; let mut best_edge=None;
let mut best_d=Planar64::ZERO; let mut best_d=Planar64::ZERO;
let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0; let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
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);
let edge0_nn=edge0_n.dot(edge0_n);
let d=edge_face1_n.dot(edge0_n); let d=edge_face1_n.dot(edge0_n);
if d<best_d{ let dd=d*d/(edge_face1_nn*edge0_nn);
best_d=d; if dd<best_d{
best_d=dd;
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,face_parity) |directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_undirected(),e1,directed_edge_id0.parity()^face_parity)
) )
})) }))
}, },
@ -604,17 +607,20 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
let mut best_edge=None; let mut best_edge=None;
let mut best_d=Planar64::ZERO; let mut best_d=Planar64::ZERO;
let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0; let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
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);
let edge1_nn=edge1_n.dot(edge1_n);
let d=edge_face0_n.dot(edge1_n); let d=edge_face0_n.dot(edge1_n);
if d<best_d{ let dd=d*d/(edge_face0_nn*edge1_nn);
best_d=d; if dd<best_d{
best_d=dd;
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(),face_parity) |directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_undirected(),directed_edge_id1.parity()^face_parity)
) )
})) }))
}, },