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fix normal code

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Quaternions 2023-11-02 17:16:55 -07:00
parent fd9ca6cd3f
commit bf51afcf1d
1 changed files with 9 additions and 7 deletions
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16
src/physics.rs
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@ -1,6 +1,6 @@
use crate::instruction::{InstructionEmitter,InstructionConsumer,TimedInstruction};
use crate::integer::{Time,Planar64,Planar64Vec3,Planar64Mat3,Angle32,Ratio64,Ratio64Vec2};
use crate::model_physics::{PhysicsMesh,TransformedMesh};
use crate::model_physics::{PhysicsMesh,TransformedMesh,MeshQuery};
#[derive(Debug)]
pub enum PhysicsInstruction {
@ -741,15 +741,17 @@ impl TouchingState{
fn constrain_velocity(&self,models:&PhysicsModels,velocity:&mut Planar64Vec3){
//TODO: trey push solve
for contact in &self.contacts{
let n=contact.normal(models);
velocity-=n.dot(velocity)/n.length();
let (n,_)=models.mesh(contact.model_id).face_nd(contact.face_id);
let d=n.dot(*velocity);
*velocity-=n*(d/n.dot(n));
}
}
fn constrain_acceleration(&self,models:&PhysicsModels,acceleration:&mut Planar64Vec3){
//TODO: trey push solve
for contact in &self.contacts{
let n=contact.normal(models);
acceleration-=n.dot(acceleration)/n.length();
let n=models.mesh(contact.model_id).face_nd(contact.face_id).0;
let d=n.dot(*acceleration);
*acceleration-=n*(d/n.dot(n));
}
}
fn get_move_state(&self,mut a:Planar64Vec3)->(MoveState,Planar64Vec3){
@ -1199,12 +1201,12 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
//ladder walkstate
let mut target_velocity=self.style.get_ladder_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time);
self.touching.constrain_velocity(&self.models,&mut target_velocity);
let (walk_state,mut a)=WalkState::ladder(&self.touching,&self.body,&self.style,&self.models,target_velocity,&c.normal(&self.models));
let (walk_state,mut a)=WalkState::ladder(&self.touching,&self.body,&self.style,&self.models,target_velocity,&self.models.mesh(c.model_id).face_nd(c.face_id).0);
self.move_state=MoveState::Ladder(walk_state);
self.touching.constrain_acceleration(&self.models,&mut a);
self.body.acceleration=a;
}
None=>if self.style.surf_slope.map_or(true,|s|s<c.normal(&self.models).slope(up)){
None=>if self.style.surf_slope.map_or(true,|s|s<self.models.mesh(model_id).face_nd(c.face_id).0.slope(up)){
//ground
let mut target_velocity=self.style.get_walk_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time);
self.touching.constrain_velocity(&self.models,&mut target_velocity);