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fix vert_edges

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Quaternions 2023-11-27 19:43:09 -08:00
parent a31c3bc848
commit 660ea42576
1 changed files with 51 additions and 3 deletions
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54
src/model_physics.rs
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@ -645,17 +645,36 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
match vert_id{
MinkowskiVert::VertVert(v0,v1)=>{
let mut edges=Vec::new();
//detect shared volume when the other mesh is mirrored along a test edge dir
let v0f=self.mesh0.vert_faces(v0);
let v1f=self.mesh1.vert_faces(v1);
let v0f_n:Vec<Planar64Vec3>=v0f.iter().map(|&face_id|self.mesh0.face_nd(face_id).0).collect();
let v1f_n:Vec<Planar64Vec3>=v1f.iter().map(|&face_id|self.mesh1.face_nd(face_id).0).collect();
let the_len=v0f.len()+v1f.len();
for &directed_edge_id in self.mesh0.vert_edges(v0).iter(){
let n=self.mesh0.directed_edge_n(directed_edge_id);
if v1f.iter().any(|&face_id|n.dot(self.mesh1.face_nd(face_id).0)<=Planar64::ZERO){
let nn=n.dot(n);
//make a set of faces
let mut face_normals=Vec::with_capacity(the_len);
//add mesh0 faces as-is
face_normals.clone_from(&v0f_n);
for face_n in &v1f_n{
//add reflected mesh1 faces
face_normals.push(*face_n-n*(face_n.dot(n)*2/nn));
}
if is_empty_volume(face_normals){
edges.push(MinkowskiDirectedEdge::EdgeVert(directed_edge_id,v1));
}
}
let v0f=self.mesh0.vert_faces(v0);
for &directed_edge_id in self.mesh1.vert_edges(v1).iter(){
let n=self.mesh1.directed_edge_n(directed_edge_id);
if v0f.iter().any(|&face_id|n.dot(self.mesh0.face_nd(face_id).0)<=Planar64::ZERO){
let nn=n.dot(n);
let mut face_normals=Vec::with_capacity(the_len);
face_normals.clone_from(&v1f_n);
for face_n in &v0f_n{
face_normals.push(*face_n-n*(face_n.dot(n)*2/nn));
}
if is_empty_volume(face_normals){
edges.push(MinkowskiDirectedEdge::VertEdge(v0,directed_edge_id));
}
}
@ -668,6 +687,35 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
}
}
fn is_empty_volume(normals:Vec<Planar64Vec3>)->bool{
let len=normals.len();
for i in 0..len-1{
for j in i+1..len{
let n=normals[i].cross(normals[j]);
let mut d_comp=None;
for k in 0..len{
if k!=i&&k!=j{
let d=n.dot(normals[k]);
if let Some(comp)=&d_comp{
if *comp*d<Planar64::ZERO{
return true;
}
}else{
d_comp=Some(d);
}
}
}
}
}
return false;
}
#[test]
fn test_is_empty_volume(){
assert!(!is_empty_volume([Planar64Vec3::X,Planar64Vec3::Y,Planar64Vec3::Z].to_vec()));
assert!(is_empty_volume([Planar64Vec3::X,Planar64Vec3::Y,Planar64Vec3::Z,Planar64Vec3::NEG_X].to_vec()));
}
#[test]
fn build_me_a_cube(){
let unit_cube=crate::primitives::unit_cube();