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push solve tweaks

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Quaternions 2025-01-09 06:27:50 -08:00
parent 67f8569178
commit 16abe23e97
1 changed files with 5 additions and 6 deletions
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11
strafe-client/src/push_solve.rs
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@ -277,9 +277,9 @@ fn get_best_push_ray_and_conts_4<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Co
fn get_best_push_ray_and_conts<'a>( fn get_best_push_ray_and_conts<'a>(
point:Planar64Vec3, point:Planar64Vec3,
conts:Conts<'a>, conts:&[&'a Contact],
)->Option<(Ray,Conts<'a>)>{ )->Option<(Ray,Conts<'a>)>{
match conts.as_slice(){ match conts{
&[c0,c1,c2,c3]=>get_best_push_ray_and_conts_4(point,c0,c1,c2,c3), &[c0,c1,c2,c3]=>get_best_push_ray_and_conts_4(point,c0,c1,c2,c3),
&[c0,c1,c2]=>get_best_push_ray_and_conts_3(point,c0,c1,c2), &[c0,c1,c2]=>get_best_push_ray_and_conts_3(point,c0,c1,c2),
&[c0,c1]=>get_best_push_ray_and_conts_2(point,c0,c1), &[c0,c1]=>get_best_push_ray_and_conts_2(point,c0,c1),
@ -300,15 +300,14 @@ fn get_first_touch<'a>(contacts:&'a Vec<Contact>,ray:&Ray,conts:&Conts)->Option<
} }
pub fn push_solve(contacts:&Vec<Contact>,point:Planar64Vec3)->Planar64Vec3{ pub fn push_solve(contacts:&Vec<Contact>,point:Planar64Vec3)->Planar64Vec3{
const ZERO:Ratio<Fixed<1,32>,Fixed<1,32>>=Ratio::new(Fixed::ZERO,Fixed::EPSILON);
let (mut ray,mut conts)=get_best_push_ray_and_conts_0(point); let (mut ray,mut conts)=get_best_push_ray_and_conts_0(point);
loop{ loop{
let (next_t,next_cont)=match get_first_touch(contacts,&ray,&conts){ let (next_t,next_cont)=match get_first_touch(contacts,&ray,&conts){
Some((t,conts))=>(t,conts), Some((t,cont))=>(t,cont),
None=>return ray.origin, None=>return ray.origin,
}; };
if ZERO.le_ratio(next_t){ if RATIO_ZERO.le_ratio(next_t){
return ray.origin; return ray.origin;
} }
@ -323,7 +322,7 @@ pub fn push_solve(contacts:&Vec<Contact>,point:Planar64Vec3)->Planar64Vec3{
} }
let meet_point=ray.extrapolate(next_t); let meet_point=ray.extrapolate(next_t);
match get_best_push_ray_and_conts(meet_point,conts){ match get_best_push_ray_and_conts(meet_point,conts.as_slice()){
Some((new_ray,new_conts))=>(ray,conts)=(new_ray,new_conts), Some((new_ray,new_conts))=>(ray,conts)=(new_ray,new_conts),
None=>return meet_point, None=>return meet_point,
} }