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next_instruction face crawler implementation

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Quaternions 2023-10-31 21:32:29 -07:00
parent d63a76269f
commit 5f1b93d9c4
1 changed files with 14 additions and 14 deletions
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28
src/physics.rs
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@ -976,25 +976,25 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
fn next_instruction(&self,time_limit:Time) -> Option<TimedInstruction<PhysicsInstruction>> {
//JUST POLLING!!! NO MUTATION
let mut collector = crate::instruction::InstructionCollector::new(time_limit);
//check for collision stop instructions with curent contacts
//TODO: make this into a touching.next_instruction(&mut collector) member function
for (_,collision_data) in &self.touching.contacts {
collector.collect(self.predict_collision_end(self.time,time_limit,collision_data));
}
// for collision_data in &self.intersects{
// collector.collect(self.predict_collision_end2(self.time,time_limit,collision_data));
// }
//check for collision start instructions (against every part in the game with no optimization!!)
collector.collect(self.next_move_instruction());
//check for collision ends
self.touching.next_instruction(&mut collector,self.style.mesh,self.body,self.time,collector.time());
//check for collision starts
let mut aabb=crate::aabb::Aabb::default();
aabb.grow(self.body.extrapolated_position(self.time));
aabb.grow(self.body.extrapolated_position(time_limit));
aabb.grow(self.body.extrapolated_position(collector.time()));
aabb.inflate(self.style.hitbox_halfsize);
self.bvh.the_tester(&aabb,&mut |id|{
if !(self.touching.contacts.contains_key(&id)||self.touching.intersects.contains_key(&id)){
collector.collect(self.predict_collision_start(self.time,time_limit,id));
}
//no checks are needed because of the time limits.
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(self.style.mesh,self.models.mesh(id));
let relative_body=VirtualBody::relative(&self.body,&Body::default()).body(self.time);
collector.collect(crate::face_crawler::predict_collision(&minkowski,&relative_body,collector.time()).map(|(face,time)|{
//TODO: match model attribute and generate Collision::{Contact,Intersect}
TimedInstruction{time,instruction:PhysicsInstruction::CollisionStart(Collision::Contact(ContactCollision{model_id:id,face_id:face}))}
}));
});
collector.collect(self.next_move_instruction());
collector.instruction()
}
}