From 72d8186ba401eacd82ff045489af79405e8ce999 Mon Sep 17 00:00:00 2001
From: Quaternions <krakow20@gmail.com>
Date: Mon, 20 Nov 2023 18:10:40 -0800
Subject: [PATCH] MinkowskiMesh::edge_faces sorting against incorrect value

---
 src/model_physics.rs | 43 +++++++++++++++++++++----------------------
 1 file changed, 21 insertions(+), 22 deletions(-)

diff --git a/src/model_physics.rs b/src/model_physics.rs
index e7e1d62..b387264 100644
--- a/src/model_physics.rs
+++ b/src/model_physics.rs
@@ -472,20 +472,20 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 	fn edge_faces(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiFace;2]>{
 		match edge_id{
 			MinkowskiEdge::VertEdge(v0,e1)=>{
-				let e1f=self.mesh1.edge_faces(e1);
-				let e1f0_n=self.mesh1.face_nd(e1f[0]).0;
-				let e1f1_n=self.mesh1.face_nd(e1f[1]).0;
-				Cow::Owned([(e1f[0],e1f0_n,e1f1_n,true),(e1f[1],e1f1_n,e1f0_n,false)].map(|(edge_face_id1,edge_face1_n,other_edge_face1_n,face_parity)|{
+				//tracking index with an external variable because .enumerate() is not available
+				let mut i=0;
+				Cow::Owned(self.mesh1.edge_faces(e1).map(|edge_face_id1|{
+					let face_parity=i==0;
+					i+=1;
 					let mut best_edge=None;
-					let mut best_d=Planar64::MAX;
+					let mut best_d=Planar64::ZERO;
+					let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
 					for &directed_edge_id0 in self.mesh0.vert_edges(v0).iter(){
 						let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
-						if edge_face1_n.dot(edge0_n)<Planar64::ZERO{
-							let d=other_edge_face1_n.dot(edge0_n);
-							if d<best_d{
-								best_d=d;
-								best_edge=Some(directed_edge_id0);
-							}
+						let d=edge_face1_n.dot(edge0_n);
+						if d<best_d{
+							best_d=d;
+							best_edge=Some(directed_edge_id0);
 						}
 					}
 					best_edge.map_or(
@@ -495,20 +495,19 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 				}))
 			},
 			MinkowskiEdge::EdgeVert(e0,v1)=>{
-				let e0f=self.mesh0.edge_faces(e0);
-				let e0f0_n=self.mesh0.face_nd(e0f[0]).0;
-				let e0f1_n=self.mesh0.face_nd(e0f[1]).0;
-				Cow::Owned([(e0f[0],e0f0_n,e0f1_n,true),(e0f[1],e0f1_n,e0f0_n,false)].map(|(edge_face_id0,edge_face0_n,other_edge_face0_n,face_parity)|{
+				let mut i=0;
+				Cow::Owned(self.mesh0.edge_faces(e0).map(|edge_face_id0|{
+					let face_parity=i==0;
+					i+=1;
 					let mut best_edge=None;
-					let mut best_d=Planar64::MAX;
+					let mut best_d=Planar64::ZERO;
+					let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
 					for &directed_edge_id1 in self.mesh1.vert_edges(v1).iter(){
 						let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
-						if edge_face0_n.dot(edge1_n)<Planar64::ZERO{
-							let d=other_edge_face0_n.dot(edge1_n);
-							if d<best_d{
-								best_d=d;
-								best_edge=Some(directed_edge_id1);
-							}
+						let d=edge_face0_n.dot(edge1_n);
+						if d<best_d{
+							best_d=d;
+							best_edge=Some(directed_edge_id1);
 						}
 					}
 					best_edge.map_or(