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infinity_fev edge case handling algorithm

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Quaternions 2023-11-22 19:54:29 -08:00
parent dded820fc5
commit 66d799b3c3
2 changed files with 104 additions and 76 deletions
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158
src/model_physics.rs
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@ -356,6 +356,17 @@ pub struct MinkowskiMesh<'a>{
mesh1:&'a TransformedMesh<'a>, mesh1:&'a TransformedMesh<'a>,
} }
//infinity fev algorithm state transition
enum Transition{
Done,//found closest vert, no edges are better
Vert(MinkowskiVert),//transition to vert
Edge(MinkowskiEdge),//transition to edge, algorithm finished
}
enum EV{
Vert(MinkowskiVert),
Edge(MinkowskiEdge),
}
impl MinkowskiMesh<'_>{ impl MinkowskiMesh<'_>{
pub fn minkowski_sum<'a>(mesh0:&'a TransformedMesh,mesh1:&'a TransformedMesh)->MinkowskiMesh<'a>{ pub fn minkowski_sum<'a>(mesh0:&'a TransformedMesh,mesh1:&'a TransformedMesh)->MinkowskiMesh<'a>{
MinkowskiMesh{ MinkowskiMesh{
@ -366,75 +377,100 @@ impl MinkowskiMesh<'_>{
fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{ fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir)) MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
} }
fn handle_vert_degenerate_case(&self,vert_id:MinkowskiVert,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{ fn next_transition(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{
let mut best_edge=None; let mut best_transition=Transition::Done;
let mut best_d=Planar64::ZERO;
//find edge with highest non-negative dot with point
let p=point-self.vert(vert_id);
for &directed_edge_id in self.vert_edges(vert_id).iter(){ for &directed_edge_id in self.vert_edges(vert_id).iter(){
let edge_n=self.directed_edge_n(directed_edge_id); let edge_n=self.directed_edge_n(directed_edge_id);
let d=p.dot(edge_n); //is boundary uncrossable by a crawl from infinity
if best_d<d{ if infinity_dir.dot(edge_n)==Planar64::ZERO{
best_d=d; let edge_verts=self.edge_verts(directed_edge_id.as_undirected());
best_edge=Some(directed_edge_id.as_undirected()); //select opposite vertex
let test_vert_id=edge_verts[directed_edge_id.parity() as usize];
//test if it's closer
let diff=point-self.vert(test_vert_id);
let distance_squared=diff.dot(diff);
if distance_squared<*best_distance_squared{
best_transition=Transition::Vert(test_vert_id);
*best_distance_squared=distance_squared;
} }
} //test the edge
best_edge.map_or( let d=diff.dot(edge_n);
FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(vert_id), if Planar64::ZERO<d&&d<edge_n.dot(edge_n){
|edge_id|self.handle_edge_degenerate_case(edge_id,point) let distance_squared={
) let c=diff.cross(edge_n);
} c.dot(c)/edge_n.dot(edge_n)
fn handle_edge_degenerate_case(&self,edge_id:MinkowskiEdge,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{ };
//test all faces with point beyond edge-face boundary if distance_squared<*best_distance_squared{
let mut best_face=None; best_transition=Transition::Edge(directed_edge_id.as_undirected());
let mut best_d=Planar64::MAX; *best_distance_squared=distance_squared;
let edge_n=self.edge_n(edge_id);
let edge_verts=self.edge_verts(edge_id);
for (i,&face_id) in self.edge_faces(edge_id).iter().enumerate(){
let (face_n,face_d)=self.face_nd(face_id);
//edge-face boundary nd, n facing out of the face towards the edge
let boundary_n=edge_n.cross(face_n)*((i as i64)*4-2);
let boundary_d=boundary_n.dot(self.vert(edge_verts[0]))+boundary_n.dot(self.vert(edge_verts[1]));
if point.dot(boundary_n)<=boundary_d{
//must be normalized to compare distances
let d=point.dot(face_n)-face_d;
let dd=d*d/face_n.dot(face_n);
if dd<best_d{
best_d=dd;
best_face=Some(face_id);
} }
} }
} }
best_face.map_or( }
FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Edge(edge_id), best_transition
|face_id|FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id) }
) fn crawl_boundaries(&self,mut vert_id:MinkowskiVert,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
let mut best_distance_squared={
let diff=point-self.vert(vert_id);
diff.dot(diff)
};
loop{
match self.next_transition(vert_id,&mut best_distance_squared,infinity_dir,point){
Transition::Done=>return EV::Vert(vert_id),
Transition::Vert(new_vert_id)=>vert_id=new_vert_id,
Transition::Edge(edge_id)=>return EV::Edge(edge_id),
}
}
} }
/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex /// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
fn handle_degenerate_cases(&self,fev:FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{ fn infinity_fev(&self,infinity_dir:Planar64Vec3,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{
match &fev{ //start on any vertex
FEV::Face(_)=>fev,//face has no edge cases //cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
&FEV::Edge(edge_id)=>self.handle_edge_degenerate_case(edge_id,point), //cross edge-face boundary if it's uncrossable
&FEV::Vert(vert_id)=>self.handle_vert_degenerate_case(vert_id,point), match self.crawl_boundaries(self.farthest_vert(infinity_dir),infinity_dir,point){
//if a vert is returned, it is the closest point to the infinity point
EV::Vert(vert_id)=>FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(vert_id),
EV::Edge(edge_id)=>{
//cross to face if the boundary is not crossable and we are on the wrong side
let edge_n=self.edge_n(edge_id);
let vert_sum={
let &[v0,v1]=self.edge_verts(edge_id).borrow();
self.vert(v0)+self.vert(v1)
};
for (i,&face_id) in self.edge_faces(edge_id).iter().enumerate(){
let face_n=self.face_nd(face_id).0;
//edge-face boundary nd, n facing out of the face towards the edge
let boundary_n=edge_n.cross(face_n)*(i as i64*4-2);
let boundary_d=boundary_n.dot(vert_sum);
if infinity_dir.dot(boundary_n)==Planar64::ZERO&&point.dot(boundary_n)<=boundary_d{
//both faces cannot pass this condition, return early if one does.
return FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id);
} }
} }
FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Edge(edge_id)
},
}
}
fn closest_fev_not_inside(&self,mut infinity_body:crate::physics::Body)->Option<FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>>{
infinity_body.infinity_dir().map_or(None,|dir|{
let infinity_fev=self.infinity_fev(-dir,infinity_body.position);
//a line is simpler to solve than a parabola
infinity_body.velocity=dir;
infinity_body.acceleration=Planar64Vec3::ZERO;
//crawl in from negative infinity along a tangent line to get the closest fev
match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,crate::integer::Time::MIN,infinity_body.time){
crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
crate::face_crawler::CrawlResult::Hit(_,_)=>None,
}
})
}
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)>{
let mut infinity_body=relative_body.clone(); self.closest_fev_not_inside(relative_body.clone()).map_or(None,|fev|{
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));
//crawl in from negative infinity along a tangent line to get the closest fev
match crate::face_crawler::crawl_fev(start_vert,self,&infinity_body,crate::integer::Time::MIN,infinity_body.time){
crate::face_crawler::CrawlResult::Miss(fev)=>{
let closest_fev=self.handle_degenerate_cases(fev,infinity_body.position);
//continue forwards along the body parabola //continue forwards along the body parabola
match crate::face_crawler::crawl_fev(closest_fev,self,relative_body,relative_body.time,time_limit){ 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::Miss(_)=>None,
crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)), 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)>{
@ -442,23 +478,15 @@ impl MinkowskiMesh<'_>{
let infinity_body=crate::physics::Body::new( let infinity_body=crate::physics::Body::new(
relative_body.extrapolated_position(time_limit), relative_body.extrapolated_position(time_limit),
-relative_body.extrapolated_velocity(time_limit), -relative_body.extrapolated_velocity(time_limit),
Planar64Vec3::ZERO, relative_body.acceleration,
-time_limit, -time_limit,
); );
infinity_body.infinity_dir().map_or(None,|dir|{ self.closest_fev_not_inside(infinity_body).map_or(None,|fev|{
let start_vert=FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(self.farthest_vert(dir));
//crawl in from positive infinity along a tangent line to get the closest fev
match crate::face_crawler::crawl_fev(start_vert,self,&infinity_body,crate::integer::Time::MIN,-time_limit){
crate::face_crawler::CrawlResult::Miss(fev)=>{
let closest_fev=self.handle_degenerate_cases(fev,infinity_body.position);
//continue backwards along the body parabola //continue backwards along the body parabola
match crate::face_crawler::crawl_fev(closest_fev,self,&-relative_body.clone(),-time_limit,-relative_body.time){ 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::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(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)>{

6
src/physics.rs
View File

@ -977,14 +977,14 @@ impl Body{
self.time=time; self.time=time;
} }
pub fn infinity_dir(&self)->Option<Planar64Vec3>{ pub fn infinity_dir(&self)->Option<Planar64Vec3>{
if self.acceleration==Planar64Vec3::ZERO{
if self.velocity==Planar64Vec3::ZERO{ if self.velocity==Planar64Vec3::ZERO{
if self.acceleration==Planar64Vec3::ZERO{
None None
}else{ }else{
Some(self.velocity) Some(self.acceleration)
} }
}else{ }else{
Some(self.acceleration) Some(self.velocity)
} }
} }
pub fn grow_aabb(&self,aabb:&mut crate::aabb::Aabb,t0:Time,t1:Time){ pub fn grow_aabb(&self,aabb:&mut crate::aabb::Aabb,t0:Time,t1:Time){