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pull constant out of loop

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Quaternions 2023-11-21 17:33:24 -08:00
parent c1ae19b098
commit b964873785
1 changed files with 4 additions and 2 deletions
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6
src/model_physics.rs
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@ -492,11 +492,12 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
MinkowskiEdge::VertEdge(v0,e1)=>{ MinkowskiEdge::VertEdge(v0,e1)=>{
//faces are listed backwards from the minkowski mesh //faces are listed backwards from the minkowski mesh
let e1f=self.mesh1.edge_faces(e1); let e1f=self.mesh1.edge_faces(e1);
let v0e=self.mesh0.vert_edges(v0);
Cow::Owned([(e1f[1],true),(e1f[0],false)].map(|(edge_face_id1,face_parity)|{ Cow::Owned([(e1f[1],true),(e1f[0],false)].map(|(edge_face_id1,face_parity)|{
let mut best_edge=None; let mut best_edge=None;
let mut best_d=Planar64::ZERO; let mut best_d=Planar64::ZERO;
let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0; let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
for &directed_edge_id0 in self.mesh0.vert_edges(v0).iter(){ for &directed_edge_id0 in v0e.iter(){
let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0); let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
let d=edge_face1_n.dot(edge0_n); let d=edge_face1_n.dot(edge0_n);
if d<best_d{ if d<best_d{
@ -513,13 +514,14 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
MinkowskiEdge::EdgeVert(e0,v1)=>{ MinkowskiEdge::EdgeVert(e0,v1)=>{
//tracking index with an external variable because .enumerate() is not available //tracking index with an external variable because .enumerate() is not available
let mut i=0; let mut i=0;
let v1e=self.mesh1.vert_edges(v1);
Cow::Owned(self.mesh0.edge_faces(e0).map(|edge_face_id0|{ Cow::Owned(self.mesh0.edge_faces(e0).map(|edge_face_id0|{
let face_parity=i==0; let face_parity=i==0;
i+=1; i+=1;
let mut best_edge=None; let mut best_edge=None;
let mut best_d=Planar64::ZERO; let mut best_d=Planar64::ZERO;
let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0; let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
for &directed_edge_id1 in self.mesh1.vert_edges(v1).iter(){ for &directed_edge_id1 in v1e.iter(){
let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1); let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
let d=edge_face0_n.dot(edge1_n); let d=edge_face0_n.dot(edge1_n);
if d<best_d{ if d<best_d{