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attempt to fix the bug

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Quaternions 2023-12-02 02:09:48 -08:00
parent 97a1b57b65
commit 5da5006027
1 changed files with 15 additions and 12 deletions
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17
src/model_physics.rs
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@ -384,12 +384,12 @@ impl MinkowskiMesh<'_>{
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);
//is boundary uncrossable by a crawl from infinity //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()); let edge_verts=self.edge_verts(directed_edge_id.as_undirected());
//select opposite vertex //select opposite vertex
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);
if crate::zeroes::zeroes1(edge_n.dot(diff),edge_n.dot(infinity_dir)).len()==0{
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);
@ -405,9 +405,10 @@ impl MinkowskiMesh<'_>{
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);
//is boundary uncrossable by a crawl from infinity //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 //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={
@ -446,7 +447,8 @@ impl MinkowskiMesh<'_>{
EV::Edge(edge_id)=>{ EV::Edge(edge_id)=>{
//cross to face if the boundary is not crossable and we are on the wrong side //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 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(); let &[v0,v1]=self.edge_verts(edge_id).borrow();
self.vert(v0)+self.vert(v1) self.vert(v0)+self.vert(v1)
}; };
@ -454,9 +456,10 @@ impl MinkowskiMesh<'_>{
let face_n=self.face_nd(face_id).0; let face_n=self.face_nd(face_id).0;
//edge-face boundary nd, n facing out of the face towards the edge //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_n=face_n.cross(edge_n)*(i as i64*2-1);
let boundary_d=boundary_n.dot128(vert_sum); let boundary_d=boundary_n.dot(delta_pos);
// point.dot(boundary_n) is multiplied by two because vert_sum sums two vertices. //check if time of collision is outside Time::MIN..Time::MAX
if infinity_dir.dot(boundary_n)==Planar64::ZERO&&point.dot128(boundary_n)*2<=boundary_d{ //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. //both faces cannot pass this condition, return early if one does.
return FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id); return FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id);
} }