forked from StrafesNET/strafe-client
getting ahead of myself trying to save a vert_edges call
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@ -360,7 +360,6 @@ pub struct MinkowskiMesh<'a>{
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enum Transition{
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enum Transition{
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Done,//found closest vert, no edges are better
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Done,//found closest vert, no edges are better
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Vert(MinkowskiVert),//transition to vert
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Vert(MinkowskiVert),//transition to vert
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Edge(MinkowskiEdge),//transition to edge, algorithm finished
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}
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}
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enum EV{
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enum EV{
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Vert(MinkowskiVert),
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Vert(MinkowskiVert),
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@ -377,7 +376,7 @@ impl MinkowskiMesh<'_>{
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fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
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fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
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MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
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MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
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}
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}
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fn next_transition(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{
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fn next_transition_vert(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{
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let mut best_transition=Transition::Done;
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let mut best_transition=Transition::Done;
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for &directed_edge_id in self.vert_edges(vert_id).iter(){
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for &directed_edge_id in self.vert_edges(vert_id).iter(){
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let edge_n=self.directed_edge_n(directed_edge_id);
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let edge_n=self.directed_edge_n(directed_edge_id);
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@ -388,15 +387,24 @@ impl MinkowskiMesh<'_>{
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let test_vert_id=edge_verts[directed_edge_id.parity() as usize];
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let test_vert_id=edge_verts[directed_edge_id.parity() as usize];
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//test if it's closer
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//test if it's closer
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let diff=point-self.vert(test_vert_id);
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let diff=point-self.vert(test_vert_id);
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{
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let distance_squared=diff.dot(diff);
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let distance_squared=diff.dot(diff);
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if distance_squared<*best_distance_squared{
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if distance_squared<*best_distance_squared{
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best_transition=Transition::Vert(test_vert_id);
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best_transition=Transition::Vert(test_vert_id);
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*best_distance_squared=distance_squared;
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*best_distance_squared=distance_squared;
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}
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}
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}
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//test the edge. negative because this is from the opposite vert's perspective.
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}
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let d=-diff.dot(edge_n);
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}
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best_transition
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}
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fn final_ev(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
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let mut best_transition=EV::Vert(vert_id);
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let diff=point-self.vert(vert_id);
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for &directed_edge_id in self.vert_edges(vert_id).iter(){
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let edge_n=self.directed_edge_n(directed_edge_id);
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//is boundary uncrossable by a crawl from infinity
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if infinity_dir.dot(edge_n)==Planar64::ZERO{
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//test the edge
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let d=diff.dot(edge_n);
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let edge_nn=edge_n.dot(edge_n);
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let edge_nn=edge_n.dot(edge_n);
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if Planar64::ZERO<=d&&d<=edge_nn{
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if Planar64::ZERO<=d&&d<=edge_nn{
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let distance_squared={
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let distance_squared={
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@ -404,7 +412,7 @@ impl MinkowskiMesh<'_>{
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c.dot(c)/edge_nn
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c.dot(c)/edge_nn
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};
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};
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if distance_squared<=*best_distance_squared{
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if distance_squared<=*best_distance_squared{
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best_transition=Transition::Edge(directed_edge_id.as_undirected());
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best_transition=EV::Edge(directed_edge_id.as_undirected());
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*best_distance_squared=distance_squared;
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*best_distance_squared=distance_squared;
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}
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}
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}
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}
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@ -418,10 +426,9 @@ impl MinkowskiMesh<'_>{
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diff.dot(diff)
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diff.dot(diff)
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};
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};
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loop{
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loop{
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match self.next_transition(vert_id,&mut best_distance_squared,infinity_dir,point){
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match self.next_transition_vert(vert_id,&mut best_distance_squared,infinity_dir,point){
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Transition::Done=>return EV::Vert(vert_id),
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Transition::Done=>return self.final_ev(vert_id,&mut best_distance_squared,infinity_dir,point),
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Transition::Vert(new_vert_id)=>vert_id=new_vert_id,
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Transition::Vert(new_vert_id)=>vert_id=new_vert_id,
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Transition::Edge(edge_id)=>return EV::Edge(edge_id),
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}
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}
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}
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}
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}
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}
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