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Quaternions 2023-11-28 20:19:39 -08:00
parent 78b94d7259
commit 7e7915293e
1 changed files with 10 additions and 12 deletions
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22
src/model_physics.rs
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@ -578,19 +578,18 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
//faces are listed backwards from the minkowski mesh //faces are listed backwards from the minkowski mesh
let v0e=self.mesh0.vert_edges(v0); let v0e=self.mesh0.vert_edges(v0);
let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).borrow(); let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).borrow();
let e1f0_n=self.mesh0.face_nd(e1f0).0; Cow::Owned([(e1f1,true),(e1f0,false)].map(|(edge_face_id1,face_parity)|{
let e1f1_n=self.mesh0.face_nd(e1f1).0;
Cow::Owned([(e1f1,e1f1_n,true),(e1f0,e1f0_n,false)].map(|(edge_face_id1,edge_face_n,face_parity)|{
let mut best_edge=None; let mut best_edge=None;
let mut best_d=Planar64::ZERO; let mut best_d=Planar64::ZERO;
let edge_face_nn=edge_face_n.dot(edge_face_n); let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
for &directed_edge_id0 in v0e.iter(){ for &directed_edge_id0 in v0e.iter(){
let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0); let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
//must be behind other face. //must be behind other face.
let d=edge_face_n.dot(edge0_n); let d=edge_face1_n.dot(edge0_n);
if d<Planar64::ZERO{ if d<Planar64::ZERO{
let edge0_nn=edge0_n.dot(edge0_n); let edge0_nn=edge0_n.dot(edge0_n);
let dd=d*d/(edge_face_nn*edge0_nn); let dd=d*d/(edge_face1_nn*edge0_nn);
if best_d<dd{ if best_d<dd{
best_d=dd; best_d=dd;
best_edge=Some(directed_edge_id0); best_edge=Some(directed_edge_id0);
@ -607,18 +606,17 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
//tracking index with an external variable because .enumerate() is not available //tracking index with an external variable because .enumerate() is not available
let v1e=self.mesh1.vert_edges(v1); let v1e=self.mesh1.vert_edges(v1);
let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).borrow(); let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).borrow();
let e0f0_n=self.mesh0.face_nd(e0f0).0; Cow::Owned([(e0f0,true),(e0f1,false)].map(|(edge_face_id0,face_parity)|{
let e0f1_n=self.mesh0.face_nd(e0f1).0;
Cow::Owned([(e0f0,e0f0_n,true),(e0f1,e0f1_n,false)].map(|(edge_face_id0,edge_face_n,face_parity)|{
let mut best_edge=None; let mut best_edge=None;
let mut best_d=Planar64::ZERO; let mut best_d=Planar64::ZERO;
let edge_face_nn=edge_face_n.dot(edge_face_n); let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
for &directed_edge_id1 in v1e.iter(){ for &directed_edge_id1 in v1e.iter(){
let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1); let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
let d=edge_face_n.dot(edge1_n); let d=edge_face0_n.dot(edge1_n);
if d<Planar64::ZERO{ if d<Planar64::ZERO{
let edge1_nn=edge1_n.dot(edge1_n); let edge1_nn=edge1_n.dot(edge1_n);
let dd=d*d/(edge_face_nn*edge1_nn); let dd=d*d/(edge_face0_nn*edge1_nn);
if best_d<dd{ if best_d<dd{
best_d=dd; best_d=dd;
best_edge=Some(directed_edge_id1); best_edge=Some(directed_edge_id1);