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Quaternions 2024-08-21 17:38:48 -07:00
parent 1928c2fc40
commit b4abe437f6
1 changed files with 68 additions and 18 deletions
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86
src/push_solve.rs
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@ -14,13 +14,16 @@ pub struct Contact{
pub normal:Planar64Vec3, pub normal:Planar64Vec3,
} }
impl Contact{ impl Contact{
const fn relative_to(&self,point:Planar64Vec3)->Self{ fn relative_to(&self,point:Planar64Vec3)->Self{
Self{ Self{
position:self.position-point, position:self.position-point,
velocity:self.velocity, velocity:self.velocity,
normal:self.normal, normal:self.normal,
} }
} }
fn relative_dot(&self,direction:Planar64Vec3)->Planar64{
(direction-self.velocity).dot(self.normal)
}
} }
const fn solve0()->Planar64Vec3{ const fn solve0()->Planar64Vec3{
@ -88,10 +91,6 @@ fn is_space_enclosed_4(
||is_space_enclosed_3(b,c,d) ||is_space_enclosed_3(b,c,d)
} }
fn test_positivity(direction:Planar64Vec3,c:&Contact)->bool{
Planar64::ZERO<=(direction-c.velocity).dot(c.normal)
}
const fn get_push_ray_0(point:Planar64Vec3)->Option<Ray>{ const fn get_push_ray_0(point:Planar64Vec3)->Option<Ray>{
Some(Ray{origin:point,direction:Planar64Vec3::ZERO}) Some(Ray{origin:point,direction:Planar64Vec3::ZERO})
} }
@ -113,7 +112,7 @@ fn get_push_ray_1(point:Planar64Vec3,c0:&Contact)->Option<Ray>{
)?; )?;
Some(Ray{origin,direction}) Some(Ray{origin,direction})
} }
fn get_best_push_ray_and_indices_1(pnv_list:&Vec<Contact>,point:Planar64Vec3,i0:usize)->Option<(Ray,Indices)>{ fn get_best_push_ray_and_indices_1(point:Planar64Vec3,pnv_list:&Vec<Contact>,i0:usize)->Option<(Ray,Indices)>{
get_push_ray_1(point,&pnv_list[i0]) get_push_ray_1(point,&pnv_list[i0])
.map(|ray|(ray,Indices::from_iter([i0]))) .map(|ray|(ray,Indices::from_iter([i0])))
} }
@ -130,12 +129,15 @@ fn get_push_ray_2(point:Planar64Vec3,c0:&Contact,c1:&Contact)->Option<Ray>{
)?; )?;
Some(Ray{origin,direction}) Some(Ray{origin,direction})
} }
fn get_best_push_ray_and_indices_2(pnv_list:&Vec<Contact>,point:Planar64Vec3,i0:usize,i1:usize)->Option<(Ray,Indices)>{ fn get_best_push_ray_and_indices_2(point:Planar64Vec3,pnv_list:&Vec<Contact>,i0:usize,i1:usize)->Option<(Ray,Indices)>{
if is_space_enclosed_2(pnv_list[i0].normal,pnv_list[i1].normal){
return None;
}
if let Some(ray)=get_push_ray_2(point,&pnv_list[i0],&pnv_list[i1]){ if let Some(ray)=get_push_ray_2(point,&pnv_list[i0],&pnv_list[i1]){
return Some((ray,Indices::from_iter([i0,i1]))); return Some((ray,Indices::from_iter([i0,i1])));
} }
if let Some(ray)=get_push_ray_1(point,&pnv_list[i0]){ if let Some(ray)=get_push_ray_1(point,&pnv_list[i0]){
if test_positivity(ray.direction,&pnv_list[i0]){ if Planar64::ZERO<=pnv_list[i1].relative_dot(ray.direction){
return Some((ray,Indices::from_iter([i0]))); return Some((ray,Indices::from_iter([i0])));
} }
} }
@ -155,22 +157,70 @@ fn get_push_ray_3(point:Planar64Vec3,c0:&Contact,c1:&Contact,c2:&Contact)->Optio
)?; )?;
Some(Ray{origin,direction}) Some(Ray{origin,direction})
} }
fn get_best_push_ray_and_indices_3(pnv_list:&Vec<Contact>,point:Planar64Vec3,i0:usize,i1:usize,i2:usize)->Option<(Ray,Indices)>{ fn get_best_push_ray_and_indices_3(point:Planar64Vec3,pnv_list:&Vec<Contact>,i0:usize,i1:usize,i2:usize)->Option<(Ray,Indices)>{
get_push_ray_3(point,&pnv_list[i0],&pnv_list[i1],&pnv_list[i2]) if is_space_enclosed_3(pnv_list[i0].normal,pnv_list[i1].normal,pnv_list[i2].normal){
.map(|ray|(ray,Indices::from_iter([i0,i1,i2]))) return None;
}
if let Some(ray)=get_push_ray_3(point,&pnv_list[i0],&pnv_list[i1],&pnv_list[i2]){
return Some((ray,Indices::from_iter([i0,i1,i2])));
}
if let Some(ray)=get_push_ray_2(point,&pnv_list[i0],&pnv_list[i1]){
if Planar64::ZERO<=pnv_list[i2].relative_dot(ray.direction){
return Some((ray,Indices::from_iter([i0,i1])));
}
}
if let Some(ray)=get_push_ray_2(point,&pnv_list[i0],&pnv_list[i2]){
if Planar64::ZERO<=pnv_list[i1].relative_dot(ray.direction){
return Some((ray,Indices::from_iter([i0,i2])));
}
}
if let Some(ray)=get_push_ray_1(point,&pnv_list[i0]){
if Planar64::ZERO<=pnv_list[i1].relative_dot(ray.direction)
&&Planar64::ZERO<=pnv_list[i2].relative_dot(ray.direction){
return Some((ray,Indices::from_iter([i0])));
}
}
return None;
}
fn get_best_push_ray_and_indices_4(point:Planar64Vec3,pnv_list:&Vec<Contact>,i0:usize,i1:usize,i2:usize,i3:usize)->Option<(Ray,Indices)>{
if is_space_enclosed_4(pnv_list[i0].normal,pnv_list[i1].normal,pnv_list[i2].normal,pnv_list[i3].normal){
return None;
}
let (ray012,indices012)=get_best_push_ray_and_indices_3(point,pnv_list,i0,i1,i2)?;
let (ray013,indices013)=get_best_push_ray_and_indices_3(point,pnv_list,i0,i1,i3)?;
let (ray023,indices023)=get_best_push_ray_and_indices_3(point,pnv_list,i0,i2,i3)?;
let err012=pnv_list[i3].relative_dot(ray012.direction);
let err013=pnv_list[i2].relative_dot(ray013.direction);
let err023=pnv_list[i1].relative_dot(ray023.direction);
let best_err=err012.max(err013).max(err023);
if best_err==err012{
return Some((ray012,indices012))
}else if best_err==err012{
return Some((ray013,indices013))
}else if best_err==err012{
return Some((ray023,indices023))
}
unreachable!()
} }
fn get_best_push_ray_and_indices( fn get_best_push_ray_and_indices(
pnv_list:&Vec<Contact>,
point:Planar64Vec3, point:Planar64Vec3,
pnv_list:&Vec<Contact>,
indices:Indices, indices:Indices,
)->Option<(Ray,Indices)>{ )->Option<(Ray,Indices)>{
let is_space_enclosed=match indices.as_slice(){ match indices.as_slice(){
&[i0,i1,i2,i3]=>is_space_enclosed_4(pnv_list[i0].normal,pnv_list[i1].normal,pnv_list[i2].normal,pnv_list[i3].normal), &[i0,i1,i2,i3]=>get_best_push_ray_and_indices_4(point,pnv_list,i0,i1,i2,i3),
&[i0,i1,i2]=>is_space_enclosed_3(pnv_list[i0].normal,pnv_list[i1].normal,pnv_list[i2].normal), &[i0,i1,i2]=>get_best_push_ray_and_indices_3(point,pnv_list,i0,i1,i2),
&[i0,i1]=>is_space_enclosed_2(pnv_list[i0].normal,pnv_list[i1].normal), &[i0,i1]=>get_best_push_ray_and_indices_2(point,pnv_list,i0,i1),
&[_]|&[]=>is_space_enclosed_0_1(), &[i0]=>get_best_push_ray_and_indices_1(point,pnv_list,i0),
}; &[]=>get_best_push_ray_and_indices_0(point),
_=>unreachable!(),
}
} }
pub fn push_solve(pnv_list:&Vec<Contact>,point:Planar64Vec3){ pub fn push_solve(pnv_list:&Vec<Contact>,point:Planar64Vec3){