forked from StrafesNET/strafe-client
infinity_fev edge case handling algorithm
This commit is contained in:
parent
dded820fc5
commit
66d799b3c3
@ -356,6 +356,17 @@ pub struct MinkowskiMesh<'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<'_>{
|
||||
pub fn minkowski_sum<'a>(mesh0:&'a TransformedMesh,mesh1:&'a TransformedMesh)->MinkowskiMesh<'a>{
|
||||
MinkowskiMesh{
|
||||
@ -366,98 +377,115 @@ impl MinkowskiMesh<'_>{
|
||||
fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
|
||||
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>{
|
||||
let mut best_edge=None;
|
||||
let mut best_d=Planar64::ZERO;
|
||||
//find edge with highest non-negative dot with point
|
||||
let p=point-self.vert(vert_id);
|
||||
fn next_transition(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{
|
||||
let mut best_transition=Transition::Done;
|
||||
for &directed_edge_id in self.vert_edges(vert_id).iter(){
|
||||
let edge_n=self.directed_edge_n(directed_edge_id);
|
||||
let d=p.dot(edge_n);
|
||||
if best_d<d{
|
||||
best_d=d;
|
||||
best_edge=Some(directed_edge_id.as_undirected());
|
||||
}
|
||||
}
|
||||
best_edge.map_or(
|
||||
FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(vert_id),
|
||||
|edge_id|self.handle_edge_degenerate_case(edge_id,point)
|
||||
)
|
||||
}
|
||||
fn handle_edge_degenerate_case(&self,edge_id:MinkowskiEdge,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{
|
||||
//test all faces with point beyond edge-face boundary
|
||||
let mut best_face=None;
|
||||
let mut best_d=Planar64::MAX;
|
||||
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);
|
||||
//is boundary uncrossable by a crawl from infinity
|
||||
if infinity_dir.dot(edge_n)==Planar64::ZERO{
|
||||
let edge_verts=self.edge_verts(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
|
||||
let d=diff.dot(edge_n);
|
||||
if Planar64::ZERO<d&&d<edge_n.dot(edge_n){
|
||||
let distance_squared={
|
||||
let c=diff.cross(edge_n);
|
||||
c.dot(c)/edge_n.dot(edge_n)
|
||||
};
|
||||
if distance_squared<*best_distance_squared{
|
||||
best_transition=Transition::Edge(directed_edge_id.as_undirected());
|
||||
*best_distance_squared=distance_squared;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
best_face.map_or(
|
||||
FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Edge(edge_id),
|
||||
|face_id|FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id)
|
||||
)
|
||||
best_transition
|
||||
}
|
||||
/// 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>{
|
||||
match &fev{
|
||||
FEV::Face(_)=>fev,//face has no edge cases
|
||||
&FEV::Edge(edge_id)=>self.handle_edge_degenerate_case(edge_id,point),
|
||||
&FEV::Vert(vert_id)=>self.handle_vert_degenerate_case(vert_id,point),
|
||||
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),
|
||||
}
|
||||
}
|
||||
}
|
||||
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();
|
||||
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
|
||||
match crate::face_crawler::crawl_fev(closest_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)),
|
||||
/// 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 infinity_fev(&self,infinity_dir:Planar64Vec3,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{
|
||||
//start on any vertex
|
||||
//cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
|
||||
//cross edge-face boundary if it's uncrossable
|
||||
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)>{
|
||||
self.closest_fev_not_inside(relative_body.clone()).map_or(None,|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)),
|
||||
}
|
||||
})
|
||||
}
|
||||
pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
|
||||
//create an extrapolated body at time_limit
|
||||
let infinity_body=crate::physics::Body::new(
|
||||
relative_body.extrapolated_position(time_limit),
|
||||
-relative_body.extrapolated_velocity(time_limit),
|
||||
Planar64Vec3::ZERO,
|
||||
relative_body.acceleration,
|
||||
-time_limit,
|
||||
);
|
||||
infinity_body.infinity_dir().map_or(None,|dir|{
|
||||
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
|
||||
match crate::face_crawler::crawl_fev(closest_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,
|
||||
self.closest_fev_not_inside(infinity_body).map_or(None,|fev|{
|
||||
//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
|
||||
}
|
||||
})
|
||||
}
|
||||
|
||||
@ -977,14 +977,14 @@ impl Body{
|
||||
self.time=time;
|
||||
}
|
||||
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
|
||||
}else{
|
||||
Some(self.velocity)
|
||||
Some(self.acceleration)
|
||||
}
|
||||
}else{
|
||||
Some(self.acceleration)
|
||||
Some(self.velocity)
|
||||
}
|
||||
}
|
||||
pub fn grow_aabb(&self,aabb:&mut crate::aabb::Aabb,t0:Time,t1:Time){
|
||||
|
||||
Loading…
Reference in New Issue
Block a user