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implement MinkowskiMesh::face_nd for MinkowskiFace::EdgeEdge case

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This commit is contained in:
Quaternions 2023-11-10 17:12:11 -08:00
parent f7c613dfa6
commit 816f786763
2 changed files with 15 additions and 6 deletions
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5
src/integer.rs
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@ -427,9 +427,14 @@ impl Planar64{
pub const fn get(&self)->i64{ pub const fn get(&self)->i64{
self.0 self.0
} }
#[inline]
pub fn sqrt(&self)->Self{ pub fn sqrt(&self)->Self{
Planar64(unsafe{(((self.0 as i128)<<32) as f64).sqrt().to_int_unchecked()}) Planar64(unsafe{(((self.0 as i128)<<32) as f64).sqrt().to_int_unchecked()})
} }
#[inline]
pub const fn signum_i64(&self)->i64{
((self.0&(1<<63)!=0) as i64)*2-1
}
} }
const PLANAR64_ONE_FLOAT32:f32=(1u64<<32) as f32; const PLANAR64_ONE_FLOAT32:f32=(1u64<<32) as f32;
const PLANAR64_CONVERT_TO_FLOAT32:f32=1.0/PLANAR64_ONE_FLOAT32; const PLANAR64_CONVERT_TO_FLOAT32:f32=1.0/PLANAR64_ONE_FLOAT32;

16
src/model_physics.rs
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@ -1,5 +1,5 @@
use crate::integer::{Planar64,Planar64Vec3}; use crate::integer::{Planar64,Planar64Vec3};
use std::borrow::Cow; use std::borrow::{Borrow,Cow};
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)] #[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct VertId(usize); pub struct VertId(usize);
@ -513,11 +513,15 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
(n,d+n.dot(self.mesh1.vert(v1))) (n,d+n.dot(self.mesh1.vert(v1)))
}, },
MinkowskiFace::EdgeEdge(e0,e1)=>{ MinkowskiFace::EdgeEdge(e0,e1)=>{
let [e0f0,e0f1]=self.mesh0.edge_faces(e0).into_owned(); let edge0_n=self.mesh0.edge_n(e0);
let [e1f0,e1f1]=self.mesh1.edge_faces(e1).into_owned(); let edge1_n=self.mesh1.edge_n(e1);
//cross edge faces let &[e0v0,e0v1]=self.mesh0.edge_verts(e0).borrow();
//cross crosses let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).borrow();
todo!() let n=edge0_n.cross(edge1_n);
let e0d=n.dot(self.mesh0.vert(e0v0)+self.mesh0.vert(e0v1));
let e1d=n.dot(self.mesh0.vert(e1v0)+self.mesh0.vert(e1v1));
let sign=e0d.signum_i64();
(n*(sign*2),(e0d-e1d)*sign)
}, },
MinkowskiFace::VertFace(v0,f1)=>{ MinkowskiFace::VertFace(v0,f1)=>{
let (n,d)=self.mesh1.face_nd(f1); let (n,d)=self.mesh1.face_nd(f1);