From 5da50060270259f5212413eb7dc9cc2158dfcf13 Mon Sep 17 00:00:00 2001 From: Quaternions Date: Sat, 2 Dec 2023 02:09:48 -0800 Subject: [PATCH] attempt to fix the bug --- src/model_physics.rs | 27 +++++++++++++++------------ 1 file changed, 15 insertions(+), 12 deletions(-) diff --git a/src/model_physics.rs b/src/model_physics.rs index d404cba6..0e6b82b4 100644 --- a/src/model_physics.rs +++ b/src/model_physics.rs @@ -384,12 +384,12 @@ impl MinkowskiMesh<'_>{ 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{ - let edge_verts=self.edge_verts(directed_edge_id.as_undirected()); - //select opposite vertex - let test_vert_id=edge_verts[directed_edge_id.parity() as usize]; - //test if it's closer - let diff=point-self.vert(test_vert_id); + let edge_verts=self.edge_verts(directed_edge_id.as_undirected()); + //select opposite vertex + let test_vert_id=edge_verts[directed_edge_id.parity() as usize]; + //test if it's closer + let diff=point-self.vert(test_vert_id); + if crate::zeroes::zeroes1(edge_n.dot(diff),edge_n.dot(infinity_dir)).len()==0{ let distance_squared=diff.dot(diff); if distance_squared<*best_distance_squared{ best_transition=Transition::Vert(test_vert_id); @@ -405,9 +405,10 @@ impl MinkowskiMesh<'_>{ 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{ + //check if time of collision is outside Time::MIN..Time::MAX + let d=edge_n.dot(diff); + if crate::zeroes::zeroes1(d,edge_n.dot(infinity_dir)).len()==0{ //test the edge - let d=diff.dot(edge_n); let edge_nn=edge_n.dot(edge_n); if Planar64::ZERO<=d&&d<=edge_nn{ let distance_squared={ @@ -446,7 +447,8 @@ impl MinkowskiMesh<'_>{ EV::Edge(edge_id)=>{ //cross to face if the boundary is not crossable and we are on the wrong side let edge_n=self.edge_n(edge_id); - let vert_sum={ + // point is multiplied by two because vert_sum sums two vertices. + let delta_pos=point*2-{ let &[v0,v1]=self.edge_verts(edge_id).borrow(); self.vert(v0)+self.vert(v1) }; @@ -454,9 +456,10 @@ impl MinkowskiMesh<'_>{ let face_n=self.face_nd(face_id).0; //edge-face boundary nd, n facing out of the face towards the edge let boundary_n=face_n.cross(edge_n)*(i as i64*2-1); - let boundary_d=boundary_n.dot128(vert_sum); - // point.dot(boundary_n) is multiplied by two because vert_sum sums two vertices. - if infinity_dir.dot(boundary_n)==Planar64::ZERO&&point.dot128(boundary_n)*2<=boundary_d{ + let boundary_d=boundary_n.dot(delta_pos); + //check if time of collision is outside Time::MIN..Time::MAX + //infinity_dir can always be treated as a velocity + if (boundary_d)<=Planar64::ZERO&&crate::zeroes::zeroes1(boundary_d,boundary_n.dot(infinity_dir)*2).len()==0{ //both faces cannot pass this condition, return early if one does. return FEV::::Face(face_id); }