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preopti

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Quaternions 2023-11-17 16:37:55 -08:00
parent e33adeadc8
commit a6f9f144f4
1 changed files with 6 additions and 6 deletions
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12
src/model_physics.rs
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@ -478,11 +478,11 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
match edge_id{
MinkowskiEdge::VertEdge(v0,e1)=>{
let e1f=self.mesh1.edge_faces(e1);
Cow::Owned([(e1f[0],e1f[1],true),(e1f[1],e1f[0],false)].map(|(edge_face_id1,other_edge_face_id1,face_parity)|{
let e1f0_n=self.mesh1.face_nd(e1f[0]).0;
let e1f1_n=self.mesh1.face_nd(e1f[1]).0;
Cow::Owned([(e1f[0],e1f0_n,e1f1_n,true),(e1f[1],e1f1_n,e1f0_n,false)].map(|(edge_face_id1,edge_face1_n,other_edge_face1_n,face_parity)|{
let mut best_edge=None;
let mut best_d=Planar64::MAX;
let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
let other_edge_face1_n=self.mesh1.face_nd(other_edge_face_id1).0;
for &directed_edge_id0 in self.mesh0.vert_edges(v0).iter(){
let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
if edge_face1_n.dot(edge0_n)<Planar64::ZERO{
@ -501,11 +501,11 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
},
MinkowskiEdge::EdgeVert(e0,v1)=>{
let e0f=self.mesh0.edge_faces(e0);
Cow::Owned([(e0f[0],e0f[1],true),(e0f[1],e0f[0],false)].map(|(edge_face_id0,other_edge_face_id0,face_parity)|{
let e0f0_n=self.mesh0.face_nd(e0f[0]).0;
let e0f1_n=self.mesh0.face_nd(e0f[1]).0;
Cow::Owned([(e0f[0],e0f0_n,e0f1_n,true),(e0f[1],e0f1_n,e0f0_n,false)].map(|(edge_face_id0,edge_face0_n,other_edge_face0_n,face_parity)|{
let mut best_edge=None;
let mut best_d=Planar64::MAX;
let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
let other_edge_face0_n=self.mesh0.face_nd(other_edge_face_id0).0;
for &directed_edge_id1 in self.mesh1.vert_edges(v1).iter(){
let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
if edge_face0_n.dot(edge1_n)<Planar64::ZERO{