wip

src/model_physics.rs

@@ -751,6 +751,16 @@ impl MinkowskiMesh<'_>{
 		}
 		best_edge.map(|e|(e.as_undirected(),best_time))
 	}
+	pub fn is_point_in_mesh(&self,point:Planar64Vec3)->bool{
+		let infinity_body=crate::physics::Body::new(point,Planar64Vec3::Y,Planar64Vec3::ZERO,integer::Time::ZERO);
+		//movement must escape the mesh forwards and backwards in time,
+		//otherwise the point is not inside the mesh
+		self.predict_collision_out(&infinity_body,integer::Time::MAX)
+    	.is_some_and(|_|
+			self.predict_collision_out(&-infinity_body,integer::Time::MAX)
+    		.is_some()
+     	)
+	}
 }
 impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiMesh<'_>{
 	fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){

src/physics.rs

@@ -1254,14 +1254,50 @@ fn contact_normal(models:&PhysicsModels,hitbox_mesh:&HitboxMesh,contact:&Contact
 	minkowski.face_nd(contact.face_id).0
 }
 
+fn recalculate_touching(
+		state:&mut PhysicsState,
+		data:&PhysicsData,
+		models:&PhysicsModels,
+){
+	//drain all existing contacts
+	for contact in state.touching.contacts.drain(){
+		collision_end_contact(state,data,models.contact_attr(contact.model_id),contact);
+	}
+	for intersect in state.touching.intersects.drain(){
+		collision_end_intersect(state,data,models.intersect_attr(intersect.model_id),intersect);
+	}
+	//find all models in the teleport region
+	let mut aabb=aabb::Aabb::default();
+	aabb.grow(state.body.position);
+	aabb.inflate(data.hitbox_mesh.halfsize);
+	//relative to moving platforms
+	//let relative_body=&VirtualBody::relative(&Body::default(),&state.body).body(state.time);
+	let relative_body=&state.body;
+	data.bvh.the_tester(&aabb,&mut |&convex_mesh_id|{
+		//no checks are needed because of the time limits.
+		let model_mesh=data.models.mesh(convex_mesh_id);
+		let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,data.hitbox_mesh.transformed_mesh());
+		if minkowski.is_point_in_mesh(relative_body.position){
+			match convex_mesh_id.model_id{
+				//being inside of contact objects is an invalid physics state
+				//but the physics isn't advanced enough to do anything about it yet
+				//TODO: PushSolve and search for the closest valid position
+				PhysicsModelId::Contact(_)=>(),
+				PhysicsModelId::Intersect(model_id)=>
+				collision_start_intersect(state,data,data.models.intersect_attr(model_id),IntersectCollision{
+					model_id,
+					submesh_id:convex_mesh_id.submesh_id,
+				}),
+			}
+		}
+	});
+}
 fn set_position(body:&mut Body,touching:&mut TouchingState,point:Planar64Vec3)->Planar64Vec3{
 	//test intersections at new position
 	//hovering above the surface 0 units is not intersecting.  you will fall into it just fine
 	body.position=point;
-	//manual clear //for c in contacts{process_instruction(CollisionEnd(c))}
-	touching.clear();
-	//TODO: calculate contacts and determine the actual state
-	//touching.recalculate(body);
+	//calculate contacts and determine the actual state
+	recalculate_touching(body);
 	point
 }
 fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,v:Planar64Vec3)->bool{