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precise time ratio

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Quaternions 2024-09-16 15:04:38 -07:00
parent 462950d526
commit a64b81f05e
1 changed files with 14 additions and 9 deletions
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23
src/model_physics.rs
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@ -597,6 +597,8 @@ enum EV{
Edge(MinkowskiEdge), Edge(MinkowskiEdge),
} }
pub type GigaTime=Ratio<Fixed<4,128>,Fixed<4,128>>;
impl MinkowskiMesh<'_>{ impl MinkowskiMesh<'_>{
pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{ pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
MinkowskiMesh{ MinkowskiMesh{
@ -709,7 +711,7 @@ impl MinkowskiMesh<'_>{
} }
}) })
} }
pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,integer::Time)>{ pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,GigaTime)>{
self.closest_fev_not_inside(relative_body.clone()).map_or(None,|fev|{ self.closest_fev_not_inside(relative_body.clone()).map_or(None,|fev|{
//continue forwards along the body parabola //continue forwards along the body parabola
match crate::face_crawler::crawl_fev(fev,self,relative_body,relative_body.time,time_limit){ match crate::face_crawler::crawl_fev(fev,self,relative_body,relative_body.time,time_limit){
@ -718,7 +720,7 @@ impl MinkowskiMesh<'_>{
} }
}) })
} }
pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,integer::Time)>{ pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,GigaTime)>{
//create an extrapolated body at time_limit //create an extrapolated body at time_limit
let infinity_body=crate::physics::Body::new( let infinity_body=crate::physics::Body::new(
relative_body.extrapolated_position(time_limit), relative_body.extrapolated_position(time_limit),
@ -734,10 +736,13 @@ impl MinkowskiMesh<'_>{
} }
}) })
} }
pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,integer::Time)>{ pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,GigaTime)>{
//no algorithm needed, there is only one state and two cases (Edge,None) //no algorithm needed, there is only one state and two cases (Edge,None)
//determine when it passes an edge ("sliding off" case) //determine when it passes an edge ("sliding off" case)
let mut best_time=time_limit; let mut best_time={
let r=(time_limit-relative_body.time).to_ratio();
Ratio::new(r.num.fix_4(),r.den.fix_4())
};
let mut best_edge=None; let mut best_edge=None;
let face_n=self.face_nd(contact_face_id).0; let face_n=self.face_nd(contact_face_id).0;
for &directed_edge_id in self.face_edges(contact_face_id).iter(){ for &directed_edge_id in self.face_edges(contact_face_id).iter(){
@ -747,10 +752,10 @@ impl MinkowskiMesh<'_>{
let verts=self.edge_verts(directed_edge_id.as_undirected()); let verts=self.edge_verts(directed_edge_id.as_undirected());
let d=n.dot(self.vert(verts[0])+self.vert(verts[1])); let d=n.dot(self.vert(verts[0])+self.vert(verts[1]));
//WARNING! d outside of *2 //WARNING! d outside of *2
for t in Fixed::<5,160>::zeroes2((n.dot(relative_body.position))*2-d,n.dot(relative_body.velocity)*2,n.dot(relative_body.acceleration)){ //WARNING: truncated precision
let t=relative_body.time.to_ratio().add_ratio(t); for dt in Fixed::<4,128>::zeroes2(((n.dot(relative_body.position))*2-d).fix_4(),n.dot(relative_body.velocity).fix_4()*2,n.dot(relative_body.acceleration).fix_4()){
if relative_body.time.to_ratio().lt_ratio(t)&&t.lt_ratio(best_time)&&n.dot(relative_body.extrapolated_velocity(t)).is_negative(){ if dt.num.is_positive()&&dt.lt_ratio(best_time)&&n.dot(relative_body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
best_time=t; best_time=dt;
best_edge=Some(directed_edge_id); best_edge=Some(directed_edge_id);
break; break;
} }
@ -758,7 +763,7 @@ impl MinkowskiMesh<'_>{
} }
best_edge.map(|e|(e.as_undirected(),best_time)) best_edge.map(|e|(e.as_undirected(),best_time))
} }
fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,integer::Time)>{ fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,GigaTime)>{
let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position); let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position);
match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){ match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
crate::face_crawler::CrawlResult::Miss(_)=>None, crate::face_crawler::CrawlResult::Miss(_)=>None,