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fix big wrong

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Quaternions 2023-11-15 19:48:13 -08:00
parent b20f573f1d
commit 4c05c01b6e
1 changed files with 8 additions and 2 deletions
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10
src/face_crawler.rs
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@ -35,7 +35,10 @@ impl<F:Copy,E:Copy,V:Copy> State<FEV<F,E,V>>{
} }
//test each edge collision time, ignoring roots with zero or conflicting derivative //test each edge collision time, ignoring roots with zero or conflicting derivative
for &(edge_id,test_face_id) in mesh.face_edges(face_id).iter(){ for &(edge_id,test_face_id) in mesh.face_edges(face_id).iter(){
let (n,d)=mesh.face_nd(test_face_id); let edge_n=mesh.edge_n(edge_id);
let n=n.cross(edge_n);
//picking a vert randomly is terrible
let d=n.dot(mesh.vert(mesh.edge_verts(edge_id)[0]));
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 self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{ if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
@ -49,8 +52,11 @@ impl<F:Copy,E:Copy,V:Copy> State<FEV<F,E,V>>{
}, },
&FEV::<F,E,V>::Edge(edge_id)=>{ &FEV::<F,E,V>::Edge(edge_id)=>{
//test each face collision time, ignoring roots with zero or conflicting derivative //test each face collision time, ignoring roots with zero or conflicting derivative
let edge_n=mesh.edge_n(edge_id);
for &test_face_id in mesh.edge_faces(edge_id).iter(){ for &test_face_id in mesh.edge_faces(edge_id).iter(){
let (n,d)=mesh.face_nd(test_face_id); let face_n=mesh.face_nd(test_face_id).0;
let n=edge_n.cross(face_n);
let d=n.dot(mesh.vert(mesh.edge_verts(edge_id)[0]));
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 self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{ if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{