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push solve!

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This commit is contained in:
Quaternions 2024-08-21 18:02:00 -07:00
parent 412d9ada8f
commit 4cc1a172bd
1 changed files with 26 additions and 2 deletions
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28
src/push_solve.rs
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@ -6,6 +6,11 @@ struct Ray{
origin:Planar64Vec3,
direction:Planar64Vec3,
}
impl Ray{
fn extrapolate(&self,t:Planar64)->Planar64Vec3{
self.origin+self.direction*t
}
}
/// Information about a contact restriction
pub struct Contact{
@ -236,8 +241,27 @@ fn get_best_push_ray_and_indices(
}
}
pub fn push_solve(pnv_list:&Vec<Contact>,point:Planar64Vec3){
//
pub fn push_solve(pnv_list:&Vec<Contact>,point:Planar64Vec3)->Option<Planar64Vec3>{
let (mut ray,mut indices)=get_best_push_ray_and_indices_0(point)?;
loop{
let (next_index,next_t)=get_first_touch(pnv_list,ray,indices)?;
if Planar64::ZERO<=next_t{
return Some(ray.origin);
}
//edit the indices
if indices.len()==4{
indices.pop();
}
indices.push(next_index);
let meet_point=ray.extrapolate(next_t);
match get_best_push_ray_and_indices(meet_point,pnv_list,indices){
Some((new_ray,new_indices))=>(ray,indices)=(new_ray,new_indices),
None=>return Some(meet_point),
}
}
}
pub fn push_solve_with_output(pnv_list:&Vec<Contact>,point:Planar64Vec3,output:&mut Vec<Planar64Vec3>){