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Quaternions 2024-02-06 19:04:23 -08:00
parent 0c4dab76a6
commit f883d5ee91
1 changed files with 120 additions and 33 deletions
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153
src/model_physics.rs
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@ -3,20 +3,10 @@ use strafesnet_common::model;
use strafesnet_common::zeroes; use strafesnet_common::zeroes;
use strafesnet_common::integer::{self,Planar64,Planar64Vec3}; use strafesnet_common::integer::{self,Planar64,Planar64Vec3};
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct VertId(usize);
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct EdgeId(usize);
pub trait UndirectedEdge{ pub trait UndirectedEdge{
type DirectedEdge:Copy+DirectedEdge; type DirectedEdge:Copy+DirectedEdge;
fn as_directed(&self,parity:bool)->Self::DirectedEdge; fn as_directed(&self,parity:bool)->Self::DirectedEdge;
} }
impl UndirectedEdge for EdgeId{
type DirectedEdge=DirectedEdgeId;
fn as_directed(&self,parity:bool)->DirectedEdgeId{
DirectedEdgeId(self.0|((parity as usize)<<(usize::BITS-1)))
}
}
pub trait DirectedEdge{ pub trait DirectedEdge{
type UndirectedEdge:Copy+UndirectedEdge; type UndirectedEdge:Copy+UndirectedEdge;
fn as_undirected(&self)->Self::UndirectedEdge; fn as_undirected(&self)->Self::UndirectedEdge;
@ -26,20 +16,32 @@ pub trait DirectedEdge{
self.as_undirected().as_directed(!self.parity()) self.as_undirected().as_directed(!self.parity())
} }
} }
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct VertId(u32);
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct EdgeId(u32);
/// DirectedEdgeId refers to an EdgeId when undirected. /// DirectedEdgeId refers to an EdgeId when undirected.
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)] #[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct DirectedEdgeId(usize); pub struct DirectedEdgeId(u32);
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct FaceId(u32);
impl UndirectedEdge for EdgeId{
type DirectedEdge=DirectedEdgeId;
fn as_directed(&self,parity:bool)->DirectedEdgeId{
DirectedEdgeId(self.0|((parity as u32)<<(u32::BITS-1)))
}
}
impl DirectedEdge for DirectedEdgeId{ impl DirectedEdge for DirectedEdgeId{
type UndirectedEdge=EdgeId; type UndirectedEdge=EdgeId;
fn as_undirected(&self)->EdgeId{ fn as_undirected(&self)->EdgeId{
EdgeId(self.0&!(1<<(usize::BITS-1))) EdgeId(self.0&!(1<<(u32::BITS-1)))
} }
fn parity(&self)->bool{ fn parity(&self)->bool{
self.0&(1<<(usize::BITS-1))!=0 self.0&(1<<(u32::BITS-1))!=0
} }
} }
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct FaceId(usize);
//Vertex <-> Edge <-> Face -> Collide //Vertex <-> Edge <-> Face -> Collide
pub enum FEV<F,E:DirectedEdge,V>{ pub enum FEV<F,E:DirectedEdge,V>{
@ -84,11 +86,13 @@ struct VertRefs{
edges:Vec<DirectedEdgeId>, edges:Vec<DirectedEdgeId>,
} }
struct PhysicsMeshData{ struct PhysicsMeshData{
//this contains all real and virtual faces used in both the complete mesh and convex submeshes
//faces are sorted such that all faces that belong to the complete mesh appear first, and then
//all remaining faces are virtual to operate internal logic of the face crawler
//and cannot be part of a physics collision
//virtual faces are only used in convex submeshes.
faces:Vec<Face>, faces:Vec<Face>,
verts:Vec<Vert>, verts:Vec<Vert>,
face_topology:Vec<FaceRefs>,
edge_topology:Vec<EdgeRefs>,
vert_topology:Vec<VertRefs>,
} }
struct PhysicsMeshTopology{ struct PhysicsMeshTopology{
//mapping of local ids to PhysicsMeshData ids //mapping of local ids to PhysicsMeshData ids
@ -100,24 +104,98 @@ struct PhysicsMeshTopology{
vert_topology:Vec<VertRefs>, vert_topology:Vec<VertRefs>,
} }
pub struct PhysicsMesh{ pub struct PhysicsMesh{
mesh:PhysicsMeshData, mesh_data:PhysicsMeshData,
convex_submeshes:Vec<PhysicsMeshTopology>, //index 0 is the complete mesh.
//index 1-2+ is convex submeshes.
//Most objects in roblox maps are already convex, so the list length is 1
//as soon as the mesh is divided into 2 submeshes, the list length jumps to 3.
//length 2 is unnecessary since the complete mesh would be a duplicate of the only submesh, but would still function properly
submeshes:Vec<PhysicsMeshTopology>,
} }
impl PhysicsMesh{ impl PhysicsMesh{
pub fn unit_cube()->Self{ pub fn unit_cube()->Self{
//go go gadget debug print mesh //go go gadget debug print mesh
let mesh=PhysicsMeshData { faces: vec![Face { normal: Planar64Vec3::raw(4294967296, 0, 0), dot: Planar64::raw(4294967296) }, Face { normal: Planar64Vec3::raw(0, 4294967296, 0), dot: Planar64::raw(4294967296) }, Face { normal: Planar64Vec3::raw(0, 0, 4294967296), dot: Planar64::raw(4294967296) }, Face { normal: Planar64Vec3::raw(-4294967296, 0, 0), dot: Planar64::raw(4294967296) }, Face { normal: Planar64Vec3::raw(0, -4294967296, 0), dot: Planar64::raw(4294967296) }, Face { normal: Planar64Vec3::raw(0, 0, -4294967296), dot: Planar64::raw(4294967296) }], verts: vec![Vert(Planar64Vec3::raw(4294967296, -4294967296, -4294967296)), Vert(Planar64Vec3::raw(4294967296, 4294967296, -4294967296)), Vert(Planar64Vec3::raw(4294967296, 4294967296, 4294967296)), Vert(Planar64Vec3::raw(4294967296, -4294967296, 4294967296)), Vert(Planar64Vec3::raw(-4294967296, 4294967296, -4294967296)), Vert(Planar64Vec3::raw(-4294967296, 4294967296, 4294967296)), Vert(Planar64Vec3::raw(-4294967296, -4294967296, 4294967296)), Vert(Planar64Vec3::raw(-4294967296, -4294967296, -4294967296))]}; let mesh_data=PhysicsMeshData{
let mesh_topology=PhysicsMeshTopology { face: vec![FaceRefs { edges: vec![DirectedEdgeId(9223372036854775808), DirectedEdgeId(9223372036854775809), DirectedEdgeId(9223372036854775810), DirectedEdgeId(3)] }, FaceRefs { edges: vec![DirectedEdgeId(9223372036854775812), DirectedEdgeId(9223372036854775813), DirectedEdgeId(6), DirectedEdgeId(1)] }, FaceRefs { edges: vec![DirectedEdgeId(7), DirectedEdgeId(2), DirectedEdgeId(9223372036854775814), DirectedEdgeId(9223372036854775816)] }, FaceRefs { edges: vec![DirectedEdgeId(8), DirectedEdgeId(5), DirectedEdgeId(9223372036854775817), DirectedEdgeId(10)] }, FaceRefs { edges: vec![DirectedEdgeId(9223372036854775815), DirectedEdgeId(9223372036854775818), DirectedEdgeId(11), DirectedEdgeId(9223372036854775811)] }, FaceRefs { edges: vec![DirectedEdgeId(4), DirectedEdgeId(0), DirectedEdgeId(9223372036854775819), DirectedEdgeId(9)] }], edge: vec![EdgeRefs { faces: [FaceId(0), FaceId(5)], verts: [VertId(0), VertId(1)] }, EdgeRefs { faces: [FaceId(0), FaceId(1)], verts: [VertId(1), VertId(2)] }, EdgeRefs { faces: [FaceId(0), FaceId(2)], verts: [VertId(2), VertId(3)] }, EdgeRefs { faces: [FaceId(4), FaceId(0)], verts: [VertId(0), VertId(3)] }, EdgeRefs { faces: [FaceId(1), FaceId(5)], verts: [VertId(1), VertId(4)] }, EdgeRefs { faces: [FaceId(1), FaceId(3)], verts: [VertId(4), VertId(5)] }, EdgeRefs { faces: [FaceId(2), FaceId(1)], verts: [VertId(2), VertId(5)] }, EdgeRefs { faces: [FaceId(4), FaceId(2)], verts: [VertId(3), VertId(6)] }, EdgeRefs { faces: [FaceId(2), FaceId(3)], verts: [VertId(5), VertId(6)] }, EdgeRefs { faces: [FaceId(3), FaceId(5)], verts: [VertId(4), VertId(7)] }, EdgeRefs { faces: [FaceId(4), FaceId(3)], verts: [VertId(6), VertId(7)] }, EdgeRefs { faces: [FaceId(5), FaceId(4)], verts: [VertId(0), VertId(7)] }], vert: vec![VertRefs { faces: vec![FaceId(0), FaceId(4), FaceId(5)], edges: vec![DirectedEdgeId(9223372036854775811), DirectedEdgeId(9223372036854775819), DirectedEdgeId(9223372036854775808)] }, VertRefs { faces: vec![FaceId(0), FaceId(5), FaceId(1)], edges: vec![DirectedEdgeId(9223372036854775812), DirectedEdgeId(0), DirectedEdgeId(9223372036854775809)] }, VertRefs { faces: vec![FaceId(0), FaceId(2), FaceId(1)], edges: vec![DirectedEdgeId(1), DirectedEdgeId(9223372036854775810), DirectedEdgeId(9223372036854775814)] }, VertRefs { faces: vec![FaceId(0), FaceId(2), FaceId(4)], edges: vec![DirectedEdgeId(2), DirectedEdgeId(3), DirectedEdgeId(9223372036854775815)] }, VertRefs { faces: vec![FaceId(3), FaceId(5), FaceId(1)], edges: vec![DirectedEdgeId(4), DirectedEdgeId(9223372036854775817), DirectedEdgeId(9223372036854775813)] }, VertRefs { faces: vec![FaceId(2), FaceId(3), FaceId(1)], edges: vec![DirectedEdgeId(5), DirectedEdgeId(6), DirectedEdgeId(9223372036854775816)] }, VertRefs { faces: vec![FaceId(2), FaceId(3), FaceId(4)], edges: vec![DirectedEdgeId(7), DirectedEdgeId(8), DirectedEdgeId(9223372036854775818)] }, VertRefs { faces: vec![FaceId(4), FaceId(3), FaceId(5)], edges: vec![DirectedEdgeId(10), DirectedEdgeId(11), DirectedEdgeId(9)] }] }; faces:vec![
Face{normal:Planar64Vec3::raw( 4294967296, 0, 0),dot:Planar64::raw(4294967296)},
Face{normal:Planar64Vec3::raw( 0, 4294967296, 0),dot:Planar64::raw(4294967296)},
Face{normal:Planar64Vec3::raw( 0, 0, 4294967296),dot:Planar64::raw(4294967296)},
Face{normal:Planar64Vec3::raw(-4294967296, 0, 0),dot:Planar64::raw(4294967296)},
Face{normal:Planar64Vec3::raw( 0,-4294967296, 0),dot:Planar64::raw(4294967296)},
Face{normal:Planar64Vec3::raw( 0, 0,-4294967296),dot:Planar64::raw(4294967296)}
],
verts:vec![
Vert(Planar64Vec3::raw( 4294967296,-4294967296,-4294967296)),
Vert(Planar64Vec3::raw( 4294967296, 4294967296,-4294967296)),
Vert(Planar64Vec3::raw( 4294967296, 4294967296, 4294967296)),
Vert(Planar64Vec3::raw( 4294967296,-4294967296, 4294967296)),
Vert(Planar64Vec3::raw(-4294967296, 4294967296,-4294967296)),
Vert(Planar64Vec3::raw(-4294967296, 4294967296, 4294967296)),
Vert(Planar64Vec3::raw(-4294967296,-4294967296, 4294967296)),
Vert(Planar64Vec3::raw(-4294967296,-4294967296,-4294967296))
]
};
let mesh_topology=PhysicsMeshTopology{
faces:(0..mesh_data.faces.len()).map(FaceId).collect(),
verts:(0..mesh_data.verts.len()).map(VertId).collect(),
face_topology:vec![
FaceRefs{edges:vec![DirectedEdgeId(9223372036854775808),DirectedEdgeId(9223372036854775809),DirectedEdgeId(9223372036854775810),DirectedEdgeId(3)]},
FaceRefs{edges:vec![DirectedEdgeId(9223372036854775812),DirectedEdgeId(9223372036854775813),DirectedEdgeId(6),DirectedEdgeId(1)]},
FaceRefs{edges:vec![DirectedEdgeId(7),DirectedEdgeId(2),DirectedEdgeId(9223372036854775814),DirectedEdgeId(9223372036854775816)]},
FaceRefs{edges:vec![DirectedEdgeId(8),DirectedEdgeId(5),DirectedEdgeId(9223372036854775817),DirectedEdgeId(10)]},
FaceRefs{edges:vec![DirectedEdgeId(9223372036854775815),DirectedEdgeId(9223372036854775818),DirectedEdgeId(11),DirectedEdgeId(9223372036854775811)]},
FaceRefs{edges:vec![DirectedEdgeId(4),DirectedEdgeId(0),DirectedEdgeId(9223372036854775819),DirectedEdgeId(9)]}
],
edge_topology:vec![
EdgeRefs{faces:[FaceId(0),FaceId(5)],verts:[VertId(0),VertId(1)]},
EdgeRefs{faces:[FaceId(0),FaceId(1)],verts:[VertId(1),VertId(2)]},
EdgeRefs{faces:[FaceId(0),FaceId(2)],verts:[VertId(2),VertId(3)]},
EdgeRefs{faces:[FaceId(4),FaceId(0)],verts:[VertId(0),VertId(3)]},
EdgeRefs{faces:[FaceId(1),FaceId(5)],verts:[VertId(1),VertId(4)]},
EdgeRefs{faces:[FaceId(1),FaceId(3)],verts:[VertId(4),VertId(5)]},
EdgeRefs{faces:[FaceId(2),FaceId(1)],verts:[VertId(2),VertId(5)]},
EdgeRefs{faces:[FaceId(4),FaceId(2)],verts:[VertId(3),VertId(6)]},
EdgeRefs{faces:[FaceId(2),FaceId(3)],verts:[VertId(5),VertId(6)]},
EdgeRefs{faces:[FaceId(3),FaceId(5)],verts:[VertId(4),VertId(7)]},
EdgeRefs{faces:[FaceId(4),FaceId(3)],verts:[VertId(6),VertId(7)]},
EdgeRefs{faces:[FaceId(5),FaceId(4)],verts:[VertId(0),VertId(7)]}
],
vert_topology:vec![
VertRefs{faces:vec![FaceId(0),FaceId(4),FaceId(5)],edges:vec![DirectedEdgeId(9223372036854775811),DirectedEdgeId(9223372036854775819),DirectedEdgeId(9223372036854775808)]},
VertRefs{faces:vec![FaceId(0),FaceId(5),FaceId(1)],edges:vec![DirectedEdgeId(9223372036854775812),DirectedEdgeId(0),DirectedEdgeId(9223372036854775809)]},
VertRefs{faces:vec![FaceId(0),FaceId(2),FaceId(1)],edges:vec![DirectedEdgeId(1),DirectedEdgeId(9223372036854775810),DirectedEdgeId(9223372036854775814)]},
VertRefs{faces:vec![FaceId(0),FaceId(2),FaceId(4)],edges:vec![DirectedEdgeId(2),DirectedEdgeId(3),DirectedEdgeId(9223372036854775815)]},
VertRefs{faces:vec![FaceId(3),FaceId(5),FaceId(1)],edges:vec![DirectedEdgeId(4),DirectedEdgeId(9223372036854775817),DirectedEdgeId(9223372036854775813)]},
VertRefs{faces:vec![FaceId(2),FaceId(3),FaceId(1)],edges:vec![DirectedEdgeId(5),DirectedEdgeId(6),DirectedEdgeId(9223372036854775816)]},
VertRefs{faces:vec![FaceId(2),FaceId(3),FaceId(4)],edges:vec![DirectedEdgeId(7),DirectedEdgeId(8),DirectedEdgeId(9223372036854775818)]},
VertRefs{faces:vec![FaceId(4),FaceId(3),FaceId(5)],edges:vec![DirectedEdgeId(10),DirectedEdgeId(11),DirectedEdgeId(9)]}
]
};
Self{ Self{
mesh, mesh_data,
convex_submeshes:vec![mesh_topology], submeshes:vec![mesh_topology],
} }
} }
pub fn unit_cylinder()->Self{ pub fn unit_cylinder()->Self{
Self::unit_cube() Self::unit_cube()
} }
pub fn mesh_data(&self)->&PhysicsMeshData{
&self.mesh_data
}
pub fn complete_mesh(&self)->&PhysicsMeshTopology{
&self.submeshes[0]
}
pub fn convex_submeshes(&self)->&[PhysicsMeshTopology]{
if self.submeshes.len()==1{
//the complete mesh is already a convex mesh
&self.submeshes[0..0]
}else{
&self.submeshes[1..]
}
}
} }
//mesh builder code
#[derive(Default,Clone)] #[derive(Default,Clone)]
struct VertRefGuy{ struct VertRefGuy{
edges:std::collections::HashSet<DirectedEdgeId>, edges:std::collections::HashSet<DirectedEdgeId>,
@ -233,9 +311,9 @@ impl From<&model::IndexedModel> for PhysicsMesh{
} }
} }
impl PhysicsMesh{ impl PhysicsMeshView<'_>{
pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'a{ pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'a{
self.verts.iter().map(|Vert(pos)|*pos) self.mesh_data.verts.iter().map(|Vert(pos)|*pos)
} }
} }
impl MeshQuery<FaceId,DirectedEdgeId,VertId> for PhysicsMesh{ impl MeshQuery<FaceId,DirectedEdgeId,VertId> for PhysicsMesh{
@ -263,21 +341,30 @@ impl MeshQuery<FaceId,DirectedEdgeId,VertId> for PhysicsMesh{
} }
} }
pub struct TransformedMesh<'a>{ struct PhysicsMeshView<'a>{
mesh:&'a PhysicsMesh, mesh_data:&'a PhysicsMeshData,
topology:&'a PhysicsMeshTopology,
}
struct PhysicsMeshTransform<'a>{
transform:&'a integer::Planar64Affine3, transform:&'a integer::Planar64Affine3,
normal_transform:&'a integer::Planar64Mat3, normal_transform:&'a integer::Planar64Mat3,
transform_det:Planar64, transform_det:Planar64,
} }
pub struct TransformedMesh<'a>{
mesh:PhysicsMeshView<'a>,
transform:PhysicsMeshTransform<'a>,
}
impl TransformedMesh<'_>{ impl TransformedMesh<'_>{
pub fn new<'a>( pub fn new<'a>(
mesh:&'a PhysicsMesh, mesh_data:&'a PhysicsMeshData,
topology:&'a PhysicsMeshTopology,
transform:&'a integer::Planar64Affine3, transform:&'a integer::Planar64Affine3,
normal_transform:&'a integer::Planar64Mat3, normal_transform:&'a integer::Planar64Mat3,
transform_det:Planar64, transform_det:Planar64,
)->TransformedMesh<'a>{ )->TransformedMesh<'a>{
TransformedMesh{ TransformedMesh{
mesh, mesh_data,
topology,
transform, transform,
normal_transform, normal_transform,
transform_det, transform_det,
@ -384,8 +471,8 @@ pub enum MinkowskiFace{
} }
pub struct MinkowskiMesh<'a>{ pub struct MinkowskiMesh<'a>{
mesh0:&'a TransformedMesh<'a>, mesh0:TransformedMesh<'a>,
mesh1:&'a TransformedMesh<'a>, mesh1:TransformedMesh<'a>,
} }
//infinity fev algorithm state transition //infinity fev algorithm state transition
@ -399,7 +486,7 @@ enum EV{
} }
impl MinkowskiMesh<'_>{ impl MinkowskiMesh<'_>{
pub fn minkowski_sum<'a>(mesh0:&'a TransformedMesh,mesh1:&'a TransformedMesh)->MinkowskiMesh<'a>{ pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
MinkowskiMesh{ MinkowskiMesh{
mesh0, mesh0,
mesh1, mesh1,