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tweak minkowski code + fix edge_verts

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Quaternions 2023-11-01 18:03:11 -07:00
parent 6fec6b9f59
commit a5ef0195e2
1 changed files with 6 additions and 6 deletions
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12
src/model_physics.rs
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@ -407,7 +407,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
MinkowskiFace::EdgeEdge(e0,e1)=>{ MinkowskiFace::EdgeEdge(e0,e1)=>{
let e0v=self.mesh0.edge_verts(e0); let e0v=self.mesh0.edge_verts(e0);
let e1v=self.mesh1.edge_verts(e1); let e1v=self.mesh1.edge_verts(e1);
let [r0,r1]=e0v.map(|(vert_id0,face_id0)|{ let [r0,r1]=e0v.map(|vert_id0|{
//sort e1 ends by e0 edge dir to get v1 //sort e1 ends by e0 edge dir to get v1
//find face normal formulation without cross products //find face normal formulation without cross products
let v1=if 0<(e0.v1-e0.v0).dot(e1.v1-e1.v0){ let v1=if 0<(e0.v1-e0.v0).dot(e1.v1-e1.v0){
@ -417,7 +417,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
}; };
(MinkowskiEdge::VertEdge(vert_id0,e1),MinkowskiFace::FaceVert(face_id0,v1)) (MinkowskiEdge::VertEdge(vert_id0,e1),MinkowskiFace::FaceVert(face_id0,v1))
}); });
let [r2,r3]=e1v.map(|(vert_id1,face_id1)|{ let [r2,r3]=e1v.map(|vert_id1|{
//sort e0 ends by e1 edge dir to get v0 //sort e0 ends by e1 edge dir to get v0
let v0=if 0<(e0.v1-e0.v0).dot(e1.v1-e1.v0){ let v0=if 0<(e0.v1-e0.v0).dot(e1.v1-e1.v0){
e0.v0 e0.v0
@ -452,13 +452,13 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
fn edge_verts(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiVert;2]>{ fn edge_verts(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiVert;2]>{
match edge_id{ match edge_id{
MinkowskiEdge::VertEdge(v0,e1)=>{ MinkowskiEdge::VertEdge(v0,e1)=>{
Cow::Owned(self.mesh1.edge_verts(e1).map(|(vert_id1,face_id1)|{ Cow::Owned(self.mesh1.edge_verts(e1).map(|vert_id1|{
(MinkowskiVert::VertVert(v0,vert_id1),MinkowskiFace::VertFace(v0,face_id1)) MinkowskiVert::VertVert(v0,vert_id1)
})) }))
}, },
MinkowskiEdge::EdgeVert(e0,v1)=>{ MinkowskiEdge::EdgeVert(e0,v1)=>{
Cow::Owned(self.mesh0.edge_verts(e0).map(|(vert_id0,face_id0)|{ Cow::Owned(self.mesh0.edge_verts(e0).map(|vert_id0|{
(MinkowskiVert::VertVert(vert_id0,v1),MinkowskiFace::FaceVert(face_id0,v1)) MinkowskiVert::VertVert(vert_id0,v1)
})) }))
}, },
} }