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move code around

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Quaternions 2023-11-28 21:25:31 -08:00
parent 7e7915293e
commit 6e8719136d
1 changed files with 7 additions and 5 deletions
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12
src/model_physics.rs
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@ -381,7 +381,6 @@ impl MinkowskiMesh<'_>{
let mut best_transition=Transition::Done; let mut best_transition=Transition::Done;
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 edge_nn=edge_n.dot(edge_n);
//is boundary uncrossable by a crawl from infinity //is boundary uncrossable by a crawl from infinity
if infinity_dir.dot(edge_n)==Planar64::ZERO{ if infinity_dir.dot(edge_n)==Planar64::ZERO{
let edge_verts=self.edge_verts(directed_edge_id.as_undirected()); let edge_verts=self.edge_verts(directed_edge_id.as_undirected());
@ -389,13 +388,16 @@ impl MinkowskiMesh<'_>{
let test_vert_id=edge_verts[directed_edge_id.parity() as usize]; let test_vert_id=edge_verts[directed_edge_id.parity() as usize];
//test if it's closer //test if it's closer
let diff=point-self.vert(test_vert_id); let diff=point-self.vert(test_vert_id);
let distance_squared=diff.dot(diff); {
if distance_squared<*best_distance_squared{ let distance_squared=diff.dot(diff);
best_transition=Transition::Vert(test_vert_id); if distance_squared<*best_distance_squared{
*best_distance_squared=distance_squared; best_transition=Transition::Vert(test_vert_id);
*best_distance_squared=distance_squared;
}
} }
//test the edge. negative because this is from the opposite vert's perspective. //test the edge. negative because this is from the opposite vert's perspective.
let d=-diff.dot(edge_n); let d=-diff.dot(edge_n);
let edge_nn=edge_n.dot(edge_n);
if Planar64::ZERO<=d&&d<=edge_nn{ if Planar64::ZERO<=d&&d<=edge_nn{
let distance_squared={ let distance_squared={
let c=diff.cross(edge_n); let c=diff.cross(edge_n);