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consistent ordering

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Quaternions 2023-11-15 16:05:42 -08:00
parent 6071e23be1
commit 8f63699d45
1 changed files with 41 additions and 41 deletions
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82
src/model_physics.rs
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@ -483,9 +483,9 @@ enum MinkowskiEdge{
} }
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)] #[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub enum MinkowskiFace{ pub enum MinkowskiFace{
FaceVert(FaceId,VertId),
EdgeEdge(EdgeId,EdgeId),
VertFace(VertId,FaceId), VertFace(VertId,FaceId),
EdgeEdge(EdgeId,EdgeId),
FaceVert(FaceId,VertId),
} }
pub struct MinkowskiMesh<'a>{ pub struct MinkowskiMesh<'a>{
@ -508,9 +508,9 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
} }
fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){ fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){
match face_id{ match face_id{
MinkowskiFace::FaceVert(f0,v1)=>{ MinkowskiFace::VertFace(v0,f1)=>{
let (n,d)=self.mesh0.face_nd(f0); let (n,d)=self.mesh1.face_nd(f1);
(n,d+n.dot(self.mesh1.vert(v1))) (-n,d-n.dot(self.mesh0.vert(v0)))
}, },
MinkowskiFace::EdgeEdge(e0,e1)=>{ MinkowskiFace::EdgeEdge(e0,e1)=>{
let edge0_n=self.mesh0.edge_n(e0); let edge0_n=self.mesh0.edge_n(e0);
@ -523,9 +523,9 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
let sign=e0d.signum_i64(); let sign=e0d.signum_i64();
(n*(sign*2),(e0d-e1d)*sign) (n*(sign*2),(e0d-e1d)*sign)
}, },
MinkowskiFace::VertFace(v0,f1)=>{ MinkowskiFace::FaceVert(f0,v1)=>{
let (n,d)=self.mesh1.face_nd(f1); let (n,d)=self.mesh0.face_nd(f0);
(-n,d-n.dot(self.mesh0.vert(v0))) (n,d+n.dot(self.mesh1.vert(v1)))
}, },
} }
} }
@ -538,33 +538,28 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
} }
fn face_edges(&self,face_id:MinkowskiFace)->Cow<Vec<(MinkowskiEdge,MinkowskiFace)>>{ fn face_edges(&self,face_id:MinkowskiFace)->Cow<Vec<(MinkowskiEdge,MinkowskiFace)>>{
match face_id{ match face_id{
MinkowskiFace::FaceVert(f0,v1)=>{ MinkowskiFace::VertFace(v0,f1)=>{
let face0_n=self.mesh0.face_nd(f0).0; let face1_n=self.mesh1.face_nd(f1).0;
Cow::Owned(self.mesh0.face_edges(f0).iter().map(|&(edge_id0,edge_face_id0)|{ Cow::Owned(self.mesh1.face_edges(f1).iter().map(|&(edge_id1,edge_face_id1)|{
//compare v1 edges //same as above
//candidate edges have negative dot with edge_face_id0 normal (MinkowskiEdge::VertEdge(v0,edge_id1),{
//choose the edge with the smallest edgedir dot with f0 normal
//MinkowskiFace::EdgeEdge(edge_id0,edge_id1)
//if there is no candidate edges
//MinkowskiFace::FaceVert(edge_face_id0,v1)
(MinkowskiEdge::EdgeVert(edge_id0,v1),{
let mut best_edge=None; let mut best_edge=None;
let mut best_d=Planar64::MAX; let mut best_d=Planar64::MAX;
let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0; let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
let v1e=self.mesh1.vert_directed_edges(v1); let v0e=self.mesh0.vert_directed_edges(v0);
for &directed_edge_id1 in v1e.iter(){ for &directed_edge_id0 in v0e.iter(){
let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1); let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
if edge_face0_n.dot(edge1_n)<Planar64::ZERO{ if edge_face1_n.dot(edge0_n)<Planar64::ZERO{
let d=face0_n.dot(edge1_n); let d=face1_n.dot(edge0_n);
if d<best_d{ if d<best_d{
best_d=d; best_d=d;
best_edge=Some(directed_edge_id1) best_edge=Some(directed_edge_id0)
} }
} }
} }
best_edge.map_or( best_edge.map_or(
MinkowskiFace::FaceVert(edge_face_id0,v1), MinkowskiFace::VertFace(v0,edge_face_id1),
|directed_edge_id1|MinkowskiFace::EdgeEdge(edge_id0,directed_edge_id1.as_edge_id()) |directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_edge_id(),edge_id1)
) )
}) })
}).collect()) }).collect())
@ -596,28 +591,33 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
*/ */
todo!() todo!()
}, },
MinkowskiFace::VertFace(v0,f1)=>{ MinkowskiFace::FaceVert(f0,v1)=>{
let face1_n=self.mesh1.face_nd(f1).0; let face0_n=self.mesh0.face_nd(f0).0;
Cow::Owned(self.mesh1.face_edges(f1).iter().map(|&(edge_id1,edge_face_id1)|{ Cow::Owned(self.mesh0.face_edges(f0).iter().map(|&(edge_id0,edge_face_id0)|{
//same as above //compare v1 edges
(MinkowskiEdge::VertEdge(v0,edge_id1),{ //candidate edges have negative dot with edge_face_id0 normal
//choose the edge with the smallest edgedir dot with f0 normal
//MinkowskiFace::EdgeEdge(edge_id0,edge_id1)
//if there is no candidate edges
//MinkowskiFace::FaceVert(edge_face_id0,v1)
(MinkowskiEdge::EdgeVert(edge_id0,v1),{
let mut best_edge=None; let mut best_edge=None;
let mut best_d=Planar64::MAX; let mut best_d=Planar64::MAX;
let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0; let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
let v0e=self.mesh0.vert_directed_edges(v0); let v1e=self.mesh1.vert_directed_edges(v1);
for &directed_edge_id0 in v0e.iter(){ for &directed_edge_id1 in v1e.iter(){
let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0); let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
if edge_face1_n.dot(edge0_n)<Planar64::ZERO{ if edge_face0_n.dot(edge1_n)<Planar64::ZERO{
let d=face1_n.dot(edge0_n); let d=face0_n.dot(edge1_n);
if d<best_d{ if d<best_d{
best_d=d; best_d=d;
best_edge=Some(directed_edge_id0) best_edge=Some(directed_edge_id1)
} }
} }
} }
best_edge.map_or( best_edge.map_or(
MinkowskiFace::VertFace(v0,edge_face_id1), MinkowskiFace::FaceVert(edge_face_id0,v1),
|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_edge_id(),edge_id1) |directed_edge_id1|MinkowskiFace::EdgeEdge(edge_id0,directed_edge_id1.as_edge_id())
) )
}) })
}).collect()) }).collect())