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rewrite infinity crawl to use a straight line

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for predict_collision_out use an extrapolated body that will exist outside of the mesh in the hit case we care about
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Quaternions 2023-11-17 15:26:35 -08:00
parent 1a250fe8d6
commit 563ade11f7
2 changed files with 40 additions and 12 deletions
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10
src/face_crawler.rs
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@ -101,13 +101,17 @@ enum Transition<F,E:DirectedEdge,V>{
} }
best_transtition best_transtition
} }
pub fn crawl_fev<F:Copy,E:Copy+DirectedEdge,V:Copy>(mut fev:FEV<F,E,V>,mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,start_time:Time,time_limit:Time)->Option<(F,Time)>{ pub enum CrawlResult<F,E:DirectedEdge,V>{
Miss(FEV<F,E,V>),
Hit(F,Time),
}
pub fn crawl_fev<F:Copy,E:Copy+DirectedEdge,V:Copy>(mut fev:FEV<F,E,V>,mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,start_time:Time,time_limit:Time)->CrawlResult<F,E,V>{
let mut time=start_time; let mut time=start_time;
loop{ loop{
match next_transition(&fev,time,mesh,relative_body,time_limit){ match next_transition(&fev,time,mesh,relative_body,time_limit){
Transition::Miss=>return None, Transition::Miss=>return CrawlResult::Miss(fev),
Transition::Next(next_fev,next_time)=>(fev,time)=(next_fev,next_time), Transition::Next(next_fev,next_time)=>(fev,time)=(next_fev,next_time),
Transition::Hit(face,time)=>return Some((face,time)), Transition::Hit(face,time)=>return CrawlResult::Hit(face,time),
} }
} }
} }

42
src/model_physics.rs
View File

@ -354,20 +354,44 @@ impl MinkowskiMesh<'_>{
MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir)) MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
} }
pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{ pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
(-relative_body.clone()).infinity_dir().map_or(None,|dir|{ let mut infinity_body=-relative_body.clone();
infinity_body.acceleration=Planar64Vec3::ZERO;
infinity_body.infinity_dir().map_or(None,|dir|{
let start_vert=FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(self.farthest_vert(dir)); let start_vert=FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(self.farthest_vert(dir));
let start_time=crate::integer::Time::MIN;//relative_body.time //crawl in from negative infinity along a tangent line to get the closest fev
crate::face_crawler::crawl_fev(start_vert,self,relative_body,start_time,time_limit) match crate::face_crawler::crawl_fev(start_vert,self,&infinity_body,crate::integer::Time::MIN,relative_body.time){
crate::face_crawler::CrawlResult::Miss(fev)=>{
//continue forwards along the body parabola
match crate::face_crawler::crawl_fev(fev,self,relative_body,relative_body.time,time_limit){
crate::face_crawler::CrawlResult::Miss(_)=>None,
crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
}
},
crate::face_crawler::CrawlResult::Hit(_,_)=>None,
}
}) })
} }
pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{ pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
//This doesn't work if the out-path goes back in. it must be the final exit. //create an extrapolated body at time_limit
relative_body.infinity_dir().map_or(None,|dir|{ let infinity_body=crate::physics::Body::new(
relative_body.extrapolated_position(time_limit),
-relative_body.extrapolated_velocity(time_limit),
Planar64Vec3::ZERO,
-time_limit,
);
infinity_body.infinity_dir().map_or(None,|dir|{
let start_vert=FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(self.farthest_vert(dir)); let start_vert=FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(self.farthest_vert(dir));
let start_time=crate::integer::Time::MIN;//-time_limit //crawl in from positive infinity along a tangent line to get the closest fev
crate::face_crawler::crawl_fev(start_vert,self,&-relative_body.clone(),start_time,-relative_body.time) match crate::face_crawler::crawl_fev(start_vert,self,&infinity_body,crate::integer::Time::MIN,-time_limit){
.filter(|t|-t.1<time_limit) crate::face_crawler::CrawlResult::Miss(fev)=>{
.map(|t|(t.0,-t.1)) //continue backwards along the body parabola
match crate::face_crawler::crawl_fev(fev,self,&-relative_body.clone(),-time_limit,-relative_body.time){
crate::face_crawler::CrawlResult::Miss(_)=>None,
crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,-time)),//no need to test -time<time_limit because of the first step
}
},
crate::face_crawler::CrawlResult::Hit(_,_)=>None,
}
}) })
} }
pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,crate::integer::Time)>{ pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,crate::integer::Time)>{