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getting ahead of myself trying to save a vert_edges call

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Quaternions 2023-11-28 21:41:46 -08:00
parent 6e8719136d
commit ddb91031b0
1 changed files with 21 additions and 14 deletions
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25
src/model_physics.rs
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@ -360,7 +360,6 @@ pub struct MinkowskiMesh<'a>{
enum Transition{ enum Transition{
Done,//found closest vert, no edges are better Done,//found closest vert, no edges are better
Vert(MinkowskiVert),//transition to vert Vert(MinkowskiVert),//transition to vert
Edge(MinkowskiEdge),//transition to edge, algorithm finished
} }
enum EV{ enum EV{
Vert(MinkowskiVert), Vert(MinkowskiVert),
@ -377,7 +376,7 @@ impl MinkowskiMesh<'_>{
fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{ fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir)) MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
} }
fn next_transition(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{ fn next_transition_vert(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{
let mut best_transition=Transition::Done; let mut best_transition=Transition::Done;
for &directed_edge_id in self.vert_edges(vert_id).iter(){ for &directed_edge_id in self.vert_edges(vert_id).iter(){
let edge_n=self.directed_edge_n(directed_edge_id); let edge_n=self.directed_edge_n(directed_edge_id);
@ -388,15 +387,24 @@ impl MinkowskiMesh<'_>{
let test_vert_id=edge_verts[directed_edge_id.parity() as usize]; let test_vert_id=edge_verts[directed_edge_id.parity() as usize];
//test if it's closer //test if it's closer
let diff=point-self.vert(test_vert_id); let diff=point-self.vert(test_vert_id);
{
let distance_squared=diff.dot(diff); let distance_squared=diff.dot(diff);
if distance_squared<*best_distance_squared{ if distance_squared<*best_distance_squared{
best_transition=Transition::Vert(test_vert_id); best_transition=Transition::Vert(test_vert_id);
*best_distance_squared=distance_squared; *best_distance_squared=distance_squared;
} }
} }
//test the edge. negative because this is from the opposite vert's perspective. }
let d=-diff.dot(edge_n); best_transition
}
fn final_ev(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
let mut best_transition=EV::Vert(vert_id);
let diff=point-self.vert(vert_id);
for &directed_edge_id in self.vert_edges(vert_id).iter(){
let edge_n=self.directed_edge_n(directed_edge_id);
//is boundary uncrossable by a crawl from infinity
if infinity_dir.dot(edge_n)==Planar64::ZERO{
//test the edge
let d=diff.dot(edge_n);
let edge_nn=edge_n.dot(edge_n); let edge_nn=edge_n.dot(edge_n);
if Planar64::ZERO<=d&&d<=edge_nn{ if Planar64::ZERO<=d&&d<=edge_nn{
let distance_squared={ let distance_squared={
@ -404,7 +412,7 @@ impl MinkowskiMesh<'_>{
c.dot(c)/edge_nn c.dot(c)/edge_nn
}; };
if distance_squared<=*best_distance_squared{ if distance_squared<=*best_distance_squared{
best_transition=Transition::Edge(directed_edge_id.as_undirected()); best_transition=EV::Edge(directed_edge_id.as_undirected());
*best_distance_squared=distance_squared; *best_distance_squared=distance_squared;
} }
} }
@ -418,10 +426,9 @@ impl MinkowskiMesh<'_>{
diff.dot(diff) diff.dot(diff)
}; };
loop{ loop{
match self.next_transition(vert_id,&mut best_distance_squared,infinity_dir,point){ match self.next_transition_vert(vert_id,&mut best_distance_squared,infinity_dir,point){
Transition::Done=>return EV::Vert(vert_id), Transition::Done=>return self.final_ev(vert_id,&mut best_distance_squared,infinity_dir,point),
Transition::Vert(new_vert_id)=>vert_id=new_vert_id, Transition::Vert(new_vert_id)=>vert_id=new_vert_id,
Transition::Edge(edge_id)=>return EV::Edge(edge_id),
} }
} }
} }