From 9ec55cc0a71ac0134dacc825c4a9b1cea81b72f6 Mon Sep 17 00:00:00 2001 From: Quaternions Date: Wed, 2 Oct 2024 15:01:21 -0700 Subject: [PATCH] wip --- src/push_solve.rs | 104 +++++++++++++++++++--------------------------- 1 file changed, 43 insertions(+), 61 deletions(-) diff --git a/src/push_solve.rs b/src/push_solve.rs index aa61ba9..0574f16 100644 --- a/src/push_solve.rs +++ b/src/push_solve.rs @@ -1,4 +1,4 @@ -use strafesnet_common::integer::{Planar64,Planar64Vec3}; +use strafesnet_common::integer::{vec3::{self, Vector3}, Fixed, Planar64, Planar64Vec3, Ratio}; // This algorithm is based on Lua code // written by Trey Reynolds in 2021 @@ -34,96 +34,78 @@ impl Contact{ normal:self.normal, } } - fn relative_dot(&self,direction:Planar64Vec3)->Planar64{ + fn relative_dot(&self,direction:Planar64Vec3)->Fixed<2,64>{ (direction-self.velocity).dot(self.normal) } /// Calculate the time of intersection. (previously get_touch_time) - fn solve(&self,ray:&Ray)->Planar64{ + fn solve(&self,ray:&Ray)->Ratio,Fixed<2,64>>{ (self.position-ray.origin).dot(self.normal)/(ray.direction-self.velocity).dot(self.normal) } } //note that this is horrible with fixed point arithmetic -fn solve1(c0:&Contact)->Option{ +fn solve1(c0:&Contact)->Ratio>,Fixed<2,64>>{ let det=c0.normal.dot(c0.velocity); - if det.get().abs()Option{ +fn solve2(c0:&Contact,c1:&Contact)->Ratio>,Fixed<4,128>>{ let u0_u1=c0.velocity.cross(c1.velocity); let n0_n1=c0.normal.cross(c1.normal); let det=u0_u1.dot(n0_n1); - if det.get().abs()Option{ +fn solve3(c0:&Contact,c1:&Contact,c2:&Contact)->Ratio>,Fixed<3,96>>{ let n0_n1=c0.normal.cross(c1.normal); let det=c2.normal.dot(n0_n1); - if det.get().abs()Option{ +fn decompose1(point:Planar64Vec3,u0:Planar64Vec3)->[Ratio,Fixed<2,64>>;1]{ let det=u0.dot(u0); - if det==Planar64::ZERO{ - return None; - } let s0=u0.dot(point)/det; - Some(s0) + [s0] } -fn decompose2(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3)->Option<(Planar64,Planar64)>{ +fn decompose2(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3)->[Ratio,Fixed<4,128>>;2]{ let u0_u1=u0.cross(u1); let det=u0_u1.dot(u0_u1); - if det==Planar64::ZERO{ - return None; - } let s0=u0_u1.dot(point.cross(u1))/det; let s1=u0_u1.dot(u0.cross(point))/det; - Some((s0,s1)) + [s0,s1] } -fn decompose3(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3,u2:Planar64Vec3)->Option<(Planar64,Planar64,Planar64)>{ +fn decompose3(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3,u2:Planar64Vec3)->[Ratio,Fixed<3,96>>;3]{ let det=u0.cross(u1).dot(u2); - if det==Planar64::ZERO{ - return None; - } let s0=point.cross(u1).dot(u2)/det; let s1=u0.cross(point).dot(u2)/det; let s2=u0.cross(u1).dot(point)/det; - Some((s0,s1,s2)) + [s0,s1,s2] } fn is_space_enclosed_2( a:Planar64Vec3, b:Planar64Vec3, )->bool{ - a.cross(b)==Planar64Vec3::ZERO - &&a.dot(b)bool{ - a.cross(b).dot(c)==Planar64::ZERO + a.cross(b).dot(c)==Fixed::ZERO &&{ let det_abac=a.cross(b).dot(a.cross(c)); let det_abbc=a.cross(b).dot(b.cross(c)); let det_acbc=a.cross(c).dot(b.cross(c)); - return det_abac*det_abbc<=Planar64::ZERO - && det_abbc*det_acbc<=Planar64::ZERO - &&-det_acbc*det_abac<=Planar64::ZERO + return!( det_abac*det_abbc).is_positive() + &&!( det_abbc*det_acbc).is_positive() + &&!(-det_acbc*det_abac).is_positive() ||is_space_enclosed_2(a,b) ||is_space_enclosed_2(a,c) ||is_space_enclosed_2(b,c) @@ -139,12 +121,12 @@ fn is_space_enclosed_4( let det_abd=a.cross(b).dot(d); let det_acd=a.cross(c).dot(d); let det_bcd=b.cross(c).dot(d); - return det_abc*det_abdOption{ - Some(Ray{origin:point,direction:Planar64Vec3::ZERO}) + Some(Ray{origin:point,direction:vec3::ZERO}) } fn get_push_ray_1(point:Planar64Vec3,c0:&Contact)->Option{ - let direction=solve1(c0)?; - let s0=decompose1(direction,c0.velocity)?; + let direction=solve1(c0); + let s0=decompose1(direction,c0.velocity); if s0Option{ @@ -209,7 +191,7 @@ fn get_best_push_ray_and_conts_2<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Co return Some((ray,Conts::from_iter([c0,c1]))); } if let Some(ray)=get_push_ray_1(point,c0){ - if Planar64::ZERO<=c1.relative_dot(ray.direction){ + if !c1.relative_dot(ray.direction).is_negative(){ return Some((ray,Conts::from_iter([c0]))); } } @@ -223,18 +205,18 @@ fn get_best_push_ray_and_conts_3<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Co return Some((ray,Conts::from_iter([c0,c1,c2]))); } if let Some(ray)=get_push_ray_2(point,c0,c1){ - if Planar64::ZERO<=c2.relative_dot(ray.direction){ + if !c2.relative_dot(ray.direction).is_negative(){ return Some((ray,Conts::from_iter([c0,c1]))); } } if let Some(ray)=get_push_ray_2(point,c0,c2){ - if Planar64::ZERO<=c1.relative_dot(ray.direction){ + if !c1.relative_dot(ray.direction).is_negative(){ return Some((ray,Conts::from_iter([c0,c2]))); } } if let Some(ray)=get_push_ray_1(point,c0){ - if Planar64::ZERO<=c1.relative_dot(ray.direction) - &&Planar64::ZERO<=c2.relative_dot(ray.direction){ + if !c1.relative_dot(ray.direction).is_negative() + &&!c2.relative_dot(ray.direction).is_negative(){ return Some((ray,Conts::from_iter([c0]))); } } @@ -279,11 +261,11 @@ fn get_best_push_ray_and_conts<'a>( } } -fn get_first_touch<'a>(contacts:&'a Vec,ray:&Ray,conts:&Conts)->Option<(Planar64,&'a Contact)>{ +fn get_first_touch<'a>(contacts:&'a Vec,ray:&Ray,conts:&Conts)->Option<(Ratio,Fixed<2,64>>,&'a Contact)>{ contacts.iter() .filter(|&contact| !conts.iter().any(|&c|std::ptr::eq(c,contact)) - &&contact.relative_dot(ray.direction)< -EPSILON + &&contact.relative_dot(ray.direction).is_negative() ) .map(|contact|(contact.solve(ray),contact)) .min_by_key(|&(t,_)|t) @@ -326,14 +308,14 @@ mod tests{ fn test_push_solve(){ let contacts=vec![ Contact{ - position:Planar64Vec3::ZERO, - velocity:Planar64Vec3::Y, - normal:Planar64Vec3::Y, + position:vec3::ZERO, + velocity:vec3::Y, + normal:vec3::Y, } ]; assert_eq!( - Some(Planar64Vec3::ZERO), - push_solve(&contacts,Planar64Vec3::NEG_Y) + Some(vec3::ZERO), + push_solve(&contacts,vec3::NEG_Y) ); } }