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minkowski vert_edges

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Quaternions 2023-11-10 14:02:39 -08:00
parent 3cbefbab03
commit 4fc09806f6
1 changed files with 35 additions and 8 deletions
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43
src/model_physics.rs
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@ -229,6 +229,13 @@ impl PhysicsMesh{
} }
best_face.map(|f|(f,best_time)) best_face.map(|f|(f,best_time))
} }
fn vert_directed_edges(&self,vert_id:VertId)->Cow<Vec<DirectedEdgeId>>{
Cow::Borrowed(&self.vert_topology[vert_id.0].edges)
}
fn directed_edge_n(&self,directed_edge_id:DirectedEdgeId)->Planar64Vec3{
let verts=self.edge_verts(directed_edge_id.as_edge_id());
(self.vert(verts[1].clone())-self.vert(verts[0].clone()))*(directed_edge_id.signum() as i64)
}
} }
impl MeshQuery<FaceId,EdgeId,VertId> for PhysicsMesh{ impl MeshQuery<FaceId,EdgeId,VertId> for PhysicsMesh{
fn closest_fev(&self,point:Planar64Vec3)->FEV<FaceId,EdgeId,VertId>{ fn closest_fev(&self,point:Planar64Vec3)->FEV<FaceId,EdgeId,VertId>{
@ -290,7 +297,8 @@ impl MeshQuery<FaceId,EdgeId,VertId> for PhysicsMesh{
Cow::Borrowed(&self.edge_topology[edge_id.0].verts) Cow::Borrowed(&self.edge_topology[edge_id.0].verts)
} }
fn vert_edges(&self,vert_id:VertId)->Cow<Vec<EdgeId>>{ fn vert_edges(&self,vert_id:VertId)->Cow<Vec<EdgeId>>{
Cow::Borrowed(&self.vert_topology[vert_id.0].edges) //not poggers
Cow::Owned(self.vert_topology[vert_id.0].edges.iter().map(|directed_edge_id|directed_edge_id.as_edge_id()).collect())
} }
fn vert_faces(&self,vert_id:VertId)->Cow<Vec<FaceId>>{ fn vert_faces(&self,vert_id:VertId)->Cow<Vec<FaceId>>{
Cow::Borrowed(&self.vert_topology[vert_id.0].faces) Cow::Borrowed(&self.vert_topology[vert_id.0].faces)
@ -376,6 +384,14 @@ impl TransformedMesh<'_>{
} }
best_face.map(|f|(f,best_time)) best_face.map(|f|(f,best_time))
} }
#[inline]
fn vert_directed_edges(&self,vert_id:VertId)->Cow<Vec<DirectedEdgeId>>{
self.mesh.vert_directed_edges(vert_id)
}
#[inline]
fn directed_edge_n(&self,directed_edge_id:DirectedEdgeId)->Planar64Vec3{
self.mesh.directed_edge_n(directed_edge_id)
}
} }
impl MeshQuery<FaceId,EdgeId,VertId> for TransformedMesh<'_>{ impl MeshQuery<FaceId,EdgeId,VertId> for TransformedMesh<'_>{
fn closest_fev(&self,point:Planar64Vec3)->FEV<FaceId,EdgeId,VertId>{ fn closest_fev(&self,point:Planar64Vec3)->FEV<FaceId,EdgeId,VertId>{
@ -588,13 +604,24 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
fn vert_edges(&self,vert_id:MinkowskiVert)->Cow<Vec<MinkowskiEdge>>{ fn vert_edges(&self,vert_id:MinkowskiVert)->Cow<Vec<MinkowskiEdge>>{
match vert_id{ match vert_id{
MinkowskiVert::VertVert(v0,v1)=>{ MinkowskiVert::VertVert(v0,v1)=>{
let v0e=self.mesh0.vert_edges(v0); let mut edges=Vec::new();
let v1e=self.mesh1.vert_edges(v1); let v0e=self.mesh0.vert_directed_edges(v0);
//uh oh dot product let v1f=self.mesh1.vert_faces(v1);
//pass all dots? for &directed_edge_id in v0e.iter(){
//it's a convex hull of {v0e,-v1e} let n=self.mesh0.directed_edge_n(directed_edge_id);
//each edge needs to know which vert to use from the other mesh if v1f.iter().all(|&face_id|n.dot(self.mesh1.face_nd(face_id).0)<Planar64::ZERO){
todo!() edges.push(MinkowskiEdge::EdgeVert(directed_edge_id.as_edge_id(),v1));
}
}
let v1e=self.mesh1.vert_directed_edges(v1);
let v0f=self.mesh0.vert_faces(v0);
for &directed_edge_id in v1e.iter(){
let n=self.mesh1.directed_edge_n(directed_edge_id);
if v0f.iter().all(|&face_id|n.dot(self.mesh0.face_nd(face_id).0)<Planar64::ZERO){
edges.push(MinkowskiEdge::VertEdge(v0,directed_edge_id.as_edge_id()));
}
}
Cow::Owned(edges)
}, },
} }
} }