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implement MinkowskiMesh::farthest_vert

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This commit is contained in:
Quaternions 2023-11-15 21:05:18 -08:00
parent 751ccf57ca
commit 559a38b607
2 changed files with 17 additions and 0 deletions
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1
src/integer.rs
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@ -415,6 +415,7 @@ impl Planar64{
pub const ZERO:Self=Self(0); pub const ZERO:Self=Self(0);
pub const ONE:Self=Self(1<<32); pub const ONE:Self=Self(1<<32);
pub const MAX:Self=Self(i64::MAX); pub const MAX:Self=Self(i64::MAX);
pub const MIN:Self=Self(i64::MIN);
#[inline] #[inline]
pub const fn int(num:i32)->Self{ pub const fn int(num:i32)->Self{
Self(Self::ONE.0*num as i64) Self(Self::ONE.0*num as i64)

16
src/model_physics.rs
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@ -244,6 +244,19 @@ impl TransformedMesh<'_>{
normal_transform, normal_transform,
} }
} }
fn farthest_vert(&self,dir:Planar64Vec3)->VertId{
let best_dot=Planar64::MIN;
let best_vert;
for (i,vert) in self.mesh.verts.iter().enumerate(){
let p=self.transform.transform_point3(vert.0);
let d=dir.dot(p);
if best_dot<d{
best_dot=d;
best_vert=VertId(i);
}
}
best_vert
}
#[inline] #[inline]
fn vert_directed_edges(&self,vert_id:VertId)->Cow<Vec<DirectedEdgeId>>{ fn vert_directed_edges(&self,vert_id:VertId)->Cow<Vec<DirectedEdgeId>>{
self.mesh.vert_directed_edges(vert_id) self.mesh.vert_directed_edges(vert_id)
@ -321,6 +334,9 @@ impl MinkowskiMesh<'_>{
mesh1, mesh1,
} }
} }
fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
}
fn closest_fev(&self,point:Planar64Vec3)->FEV<MinkowskiFace,MinkowskiEdge,MinkowskiVert>{ fn closest_fev(&self,point:Planar64Vec3)->FEV<MinkowskiFace,MinkowskiEdge,MinkowskiVert>{
//put some genius code right here instead of this //put some genius code right here instead of this
//assume that point is outside the mesh and nonzero //assume that point is outside the mesh and nonzero