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Quaternions 2023-11-17 14:57:16 -08:00
parent dc5649f2b5
commit 4be218defb
1 changed files with 5 additions and 5 deletions
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10
src/face_crawler.rs
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@ -22,7 +22,7 @@ enum Transition<F,E:DirectedEdge,V>{
let (n,d)=mesh.face_nd(face_id); let (n,d)=mesh.face_nd(face_id);
for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){ for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t); let t=body.time+Time::from(t);
if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{ if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t; best_time=t;
best_transtition=Transition::Hit(face_id,t); best_transtition=Transition::Hit(face_id,t);
} }
@ -36,7 +36,7 @@ enum Transition<F,E:DirectedEdge,V>{
//WARNING: d is moved out of the *2 block because of adding two vertices! //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)){ 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); let t=body.time+Time::from(t);
if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{ if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t; best_time=t;
best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t); best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
break; break;
@ -57,7 +57,7 @@ enum Transition<F,E:DirectedEdge,V>{
//WARNING yada yada d *2 //WARNING yada yada d *2
for t in zeroes2((n.dot(body.position))*2-d,n.dot(body.velocity)*2,n.dot(body.acceleration)){ 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); let t=body.time+Time::from(t);
if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{ if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t; best_time=t;
best_transtition=Transition::Next(FEV::<F,E,V>::Face(edge_face_id),t); best_transtition=Transition::Next(FEV::<F,E,V>::Face(edge_face_id),t);
break; break;
@ -72,7 +72,7 @@ enum Transition<F,E:DirectedEdge,V>{
let d=n.dot(mesh.vert(vert_id)); let d=n.dot(mesh.vert(vert_id));
for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){ for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t); let t=body.time+Time::from(t);
if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{ if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t; best_time=t;
best_transtition=Transition::Next(FEV::<F,E,V>::Vert(vert_id),t); best_transtition=Transition::Next(FEV::<F,E,V>::Vert(vert_id),t);
break; break;
@ -89,7 +89,7 @@ enum Transition<F,E:DirectedEdge,V>{
let d=n.dot(mesh.vert(vert_id)); let d=n.dot(mesh.vert(vert_id));
for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){ for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
let t=body.time+Time::from(t); let t=body.time+Time::from(t);
if time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{ if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
best_time=t; best_time=t;
best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t); best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
break; break;