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a-b != b-a

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Quaternions 2023-11-20 19:53:59 -08:00
parent f04e6ee4b7
commit d2f209869d
1 changed files with 5 additions and 5 deletions
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10
src/physics.rs
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@ -928,7 +928,7 @@ impl TouchingState{
for contact in &self.contacts{ for contact in &self.contacts{
//detect face slide off //detect face slide off
let model_mesh=models.mesh(contact.model_id); let model_mesh=models.mesh(contact.model_id);
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&style_mesh,&model_mesh); let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,&style_mesh);
collector.collect(minkowski.predict_collision_face_out(&relative_body,collector.time(),contact.face_id).map(|(face,time)|{ collector.collect(minkowski.predict_collision_face_out(&relative_body,collector.time(),contact.face_id).map(|(face,time)|{
TimedInstruction{ TimedInstruction{
time, time,
@ -941,7 +941,7 @@ impl TouchingState{
for intersect in &self.intersects{ for intersect in &self.intersects{
//detect model collision in reverse //detect model collision in reverse
let model_mesh=models.mesh(intersect.model_id); let model_mesh=models.mesh(intersect.model_id);
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&style_mesh,&model_mesh); let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,&style_mesh);
collector.collect(minkowski.predict_collision_out(&relative_body,collector.time()).map(|(face,time)|{ collector.collect(minkowski.predict_collision_out(&relative_body,collector.time()).map(|(face,time)|{
TimedInstruction{ TimedInstruction{
time, time,
@ -1280,7 +1280,7 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
self.bvh.the_tester(&aabb,&mut |id|{ self.bvh.the_tester(&aabb,&mut |id|{
//no checks are needed because of the time limits. //no checks are needed because of the time limits.
let model_mesh=self.models.mesh(id); let model_mesh=self.models.mesh(id);
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&style_mesh,&model_mesh); let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,&style_mesh);
collector.collect(minkowski.predict_collision_in(&relative_body,collector.time()).map(|(face,time)|{ collector.collect(minkowski.predict_collision_in(&relative_body,collector.time()).map(|(face,time)|{
TimedInstruction{time,instruction:PhysicsInstruction::CollisionStart(match self.models.attr(id){ TimedInstruction{time,instruction:PhysicsInstruction::CollisionStart(match self.models.attr(id){
PhysicsCollisionAttributes::Contact{contacting:_,general:_}=>Collision::Contact(ContactCollision{model_id:id,face_id:face}), PhysicsCollisionAttributes::Contact{contacting:_,general:_}=>Collision::Contact(ContactCollision{model_id:id,face_id:face}),
@ -1309,7 +1309,7 @@ fn jumped_velocity(models:&PhysicsModels,style:&StyleModifiers,walk_state:&WalkS
fn contact_normal(models:&PhysicsModels,style_mesh:&TransformedMesh,contact:&ContactCollision)->Planar64Vec3{ fn contact_normal(models:&PhysicsModels,style_mesh:&TransformedMesh,contact:&ContactCollision)->Planar64Vec3{
let model_mesh=models.mesh(contact.model_id); let model_mesh=models.mesh(contact.model_id);
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(style_mesh,&model_mesh); let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,style_mesh);
minkowski.face_nd(contact.face_id).0 minkowski.face_nd(contact.face_id).0
} }
@ -1661,7 +1661,7 @@ fn hit_the_ground(){
Planar64Vec3::ZERO, Planar64Vec3::ZERO,
Time::ZERO Time::ZERO
); );
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&mesh0,&mesh1); let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&mesh1,&mesh0);
let collision=minkowski.predict_collision_in(&relative_body,Time::ONE_SECOND); let collision=minkowski.predict_collision_in(&relative_body,Time::ONE_SECOND);
assert!(collision.is_some(),"No collision was generated"); assert!(collision.is_some(),"No collision was generated");
assert_eq!(Time::ONE_SECOND/2,collision.unwrap().1,"Incorrect time of collision"); assert_eq!(Time::ONE_SECOND/2,collision.unwrap().1,"Incorrect time of collision");