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fw-calm-do
| Author | SHA1 | Date | |
|---|---|---|---|
| 6ca6e4ac3d |
14
Cargo.lock
generated
14
Cargo.lock
generated
@ -623,7 +623,7 @@ checksum = "835a3dc7d1ec9e75e2b5fb4ba75396837112d2060b03f7d43bc1897c7f7211da"
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[[package]]
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name = "fixed_wide"
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version = "0.1.0"
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source = "git+https://git.itzana.me/StrafesNET/fixed_wide_vectors?rev=438d0ec6ec4ae97d13d950ea317ce324dd205e10#438d0ec6ec4ae97d13d950ea317ce324dd205e10"
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source = "git+https://git.itzana.me/StrafesNET/fixed_wide_vectors?rev=861f9a081e60df6290f53742eb6a60c9ef8c0a0b#861f9a081e60df6290f53742eb6a60c9ef8c0a0b"
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dependencies = [
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"arrayvec",
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"bnum",
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@ -952,7 +952,7 @@ dependencies = [
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[[package]]
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name = "linear_ops"
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version = "0.1.0"
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source = "git+https://git.itzana.me/StrafesNET/fixed_wide_vectors?rev=438d0ec6ec4ae97d13d950ea317ce324dd205e10#438d0ec6ec4ae97d13d950ea317ce324dd205e10"
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source = "git+https://git.itzana.me/StrafesNET/fixed_wide_vectors?rev=861f9a081e60df6290f53742eb6a60c9ef8c0a0b#861f9a081e60df6290f53742eb6a60c9ef8c0a0b"
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dependencies = [
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"fixed_wide",
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"paste",
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@ -1594,7 +1594,7 @@ checksum = "9c8a99fddc9f0ba0a85884b8d14e3592853e787d581ca1816c91349b10e4eeab"
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[[package]]
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name = "ratio_ops"
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version = "0.1.0"
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source = "git+https://git.itzana.me/StrafesNET/fixed_wide_vectors?rev=438d0ec6ec4ae97d13d950ea317ce324dd205e10#438d0ec6ec4ae97d13d950ea317ce324dd205e10"
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source = "git+https://git.itzana.me/StrafesNET/fixed_wide_vectors?rev=861f9a081e60df6290f53742eb6a60c9ef8c0a0b#861f9a081e60df6290f53742eb6a60c9ef8c0a0b"
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[[package]]
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name = "raw-window-handle"
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@ -1922,7 +1922,7 @@ dependencies = [
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"parking_lot",
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"pollster",
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"strafesnet_bsp_loader",
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"strafesnet_common 0.4.1 (git+https://git.itzana.me/StrafesNET/common?rev=d3bc8e0e855503f368a60eee8e92b73302207272)",
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"strafesnet_common 0.4.1 (git+https://git.itzana.me/StrafesNET/common?rev=c5f01d4c3ea3aa2ee3448ff42f020f5f5239dc95)",
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"strafesnet_deferred_loader",
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"strafesnet_rbx_loader",
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"strafesnet_snf",
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@ -1957,7 +1957,7 @@ dependencies = [
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[[package]]
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name = "strafesnet_common"
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version = "0.4.1"
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source = "git+https://git.itzana.me/StrafesNET/common?rev=d3bc8e0e855503f368a60eee8e92b73302207272#d3bc8e0e855503f368a60eee8e92b73302207272"
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source = "git+https://git.itzana.me/StrafesNET/common?rev=c5f01d4c3ea3aa2ee3448ff42f020f5f5239dc95#c5f01d4c3ea3aa2ee3448ff42f020f5f5239dc95"
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dependencies = [
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"arrayvec",
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"bitflags 2.6.0",
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@ -1999,11 +1999,11 @@ dependencies = [
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[[package]]
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name = "strafesnet_snf"
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version = "0.1.3"
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source = "git+https://git.itzana.me/StrafesNET/snf?rev=cbe20623046ec4dd41234b473c8d6171048d7b2d#cbe20623046ec4dd41234b473c8d6171048d7b2d"
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source = "git+https://git.itzana.me/StrafesNET/snf?rev=1e0095ed1583f0330d8dbdf1f56edd61bfb43eec#1e0095ed1583f0330d8dbdf1f56edd61bfb43eec"
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dependencies = [
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"binrw 0.14.0",
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"id",
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"strafesnet_common 0.4.1 (git+https://git.itzana.me/StrafesNET/common?rev=d3bc8e0e855503f368a60eee8e92b73302207272)",
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"strafesnet_common 0.4.1 (git+https://git.itzana.me/StrafesNET/common?rev=c5f01d4c3ea3aa2ee3448ff42f020f5f5239dc95)",
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]
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[[package]]
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@ -23,10 +23,10 @@ id = { version = "0.1.0", registry = "strafesnet" }
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parking_lot = "0.12.1"
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pollster = "0.3.0"
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strafesnet_bsp_loader = { version = "0.1.3", registry = "strafesnet", optional = true }
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strafesnet_common = { git = "https://git.itzana.me/StrafesNET/common", rev = "d3bc8e0e855503f368a60eee8e92b73302207272" }
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strafesnet_common = { git = "https://git.itzana.me/StrafesNET/common", rev = "c5f01d4c3ea3aa2ee3448ff42f020f5f5239dc95" }
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strafesnet_deferred_loader = { version = "0.3.1", features = ["legacy"], registry = "strafesnet", optional = true }
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strafesnet_rbx_loader = { version = "0.3.2", registry = "strafesnet", optional = true }
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strafesnet_snf = { git = "https://git.itzana.me/StrafesNET/snf", rev = "cbe20623046ec4dd41234b473c8d6171048d7b2d", optional = true }
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strafesnet_snf = { git = "https://git.itzana.me/StrafesNET/snf", rev = "1e0095ed1583f0330d8dbdf1f56edd61bfb43eec", optional = true }
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wgpu = "22.0.0"
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winit = "0.30.4"
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@ -15,7 +15,7 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
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fn next_transition(fev:&MinkowskiFEV,body_time:GigaTime,mesh:&MinkowskiMesh,body:&Body,mut best_time:GigaTime)->MinkowskiTransition{
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//conflicting derivative means it crosses in the wrong direction.
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//if the transition time is equal to an already tested transition, do not replace the current best.
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let mut best_transition=MinkowskiTransition::Miss;
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let mut best_transtition=MinkowskiTransition::Miss;
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match fev{
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&MinkowskiFEV::Face(face_id)=>{
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//test own face collision time, ignoring roots with zero or conflicting derivative
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@ -24,10 +24,10 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
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let (n,d)=mesh.face_nd(face_id);
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//TODO: use higher precision d value?
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//use the mesh transform translation instead of baking it into the d value.
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for dt in Fixed::<4,128>::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
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for dt in Fixed::<2,64>::zeroes2((n.dot(body.position)-d).fix_2()*2,n.dot(body.velocity).fix_2()*2,n.dot(body.acceleration).fix_2()){
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if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
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best_time=dt;
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best_transition=MinkowskiTransition::Hit(face_id,dt);
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best_transtition=MinkowskiTransition::Hit(face_id,dt);
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break;
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}
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}
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@ -38,10 +38,10 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
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let verts=mesh.edge_verts(directed_edge_id.as_undirected());
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//WARNING: d is moved out of the *2 block because of adding two vertices!
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//WARNING: precision is swept under the rug!
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for dt in Fixed::<4,128>::zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))).fix_4(),n.dot(body.velocity).fix_4()*2,n.dot(body.acceleration).fix_4()){
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for dt in Fixed::<2,64>::zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))).fix_2(),n.dot(body.velocity).fix_2()*2,n.dot(body.acceleration).fix_2()){
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if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
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best_time=dt;
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best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
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best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
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break;
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}
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}
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@ -58,10 +58,10 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
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//edge_n gets parity from the order of edge_faces
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let n=face_n.cross(edge_n)*((i as i64)*2-1);
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//WARNING yada yada d *2
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for dt in Fixed::<4,128>::zeroes2(n.dot(delta_pos).fix_4(),n.dot(body.velocity).fix_4()*2,n.dot(body.acceleration).fix_4()){
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for dt in Fixed::<2,64>::zeroes2(n.dot(delta_pos).fix_2(),n.dot(body.velocity).fix_2()*2,n.dot(body.acceleration).fix_2()){
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if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
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best_time=dt;
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best_transition=MinkowskiTransition::Next(MinkowskiFEV::Face(edge_face_id),dt);
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best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Face(edge_face_id),dt);
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break;
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}
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}
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@ -72,9 +72,9 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
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let n=edge_n*(1-2*(i as i64));
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for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
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if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
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let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
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let dt=Ratio::new(dt.num.fix_2(),dt.den.fix_2());
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best_time=dt;
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best_transition=MinkowskiTransition::Next(MinkowskiFEV::Vert(vert_id),dt);
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best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Vert(vert_id),dt);
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break;
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}
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}
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@ -88,9 +88,9 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
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let n=-mesh.directed_edge_n(directed_edge_id);
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for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
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if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
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let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
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let dt=Ratio::new(dt.num.fix_2(),dt.den.fix_2());
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best_time=dt;
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best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
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best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
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break;
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}
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}
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@ -98,7 +98,7 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
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//if none:
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},
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}
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best_transition
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best_transtition
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}
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pub enum CrawlResult<F,E:DirectedEdge,V>{
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Miss(FEV<F,E,V>),
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@ -108,11 +108,11 @@ type MinkowskiCrawlResult=CrawlResult<MinkowskiFace,MinkowskiDirectedEdge,Minkow
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pub fn crawl_fev(mut fev:MinkowskiFEV,mesh:&MinkowskiMesh,relative_body:&Body,start_time:Time,time_limit:Time)->MinkowskiCrawlResult{
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let mut body_time={
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let r=(start_time-relative_body.time).to_ratio();
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Ratio::new(r.num.fix_4(),r.den.fix_4())
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Ratio::new(r.num.fix_2(),r.den.fix_2())
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};
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let time_limit={
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let r=(time_limit-relative_body.time).to_ratio();
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Ratio::new(r.num.fix_4(),r.den.fix_4())
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Ratio::new(r.num.fix_2(),r.den.fix_2())
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};
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for _ in 0..20{
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match next_transition(&fev,body_time,mesh,relative_body,time_limit){
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@ -599,7 +599,7 @@ enum EV{
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Edge(MinkowskiEdge),
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}
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pub type GigaTime=Ratio<Fixed<4,128>,Fixed<4,128>>;
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pub type GigaTime=Ratio<Fixed<2,64>,Fixed<2,64>>;
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impl MinkowskiMesh<'_>{
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pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
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@ -707,8 +707,7 @@ impl MinkowskiMesh<'_>{
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infinity_body.velocity=dir;
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infinity_body.acceleration=vec3::ZERO;
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//crawl in from negative infinity along a tangent line to get the closest fev
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// TODO: change crawl_fev args to delta time? Optional values?
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match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN/4,infinity_body.time){
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match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
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crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
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crate::face_crawler::CrawlResult::Hit(_,_)=>None,
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}
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@ -744,7 +743,7 @@ impl MinkowskiMesh<'_>{
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//determine when it passes an edge ("sliding off" case)
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let mut best_time={
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let r=(time_limit-relative_body.time).to_ratio();
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Ratio::new(r.num.fix_4(),r.den.fix_4())
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Ratio::new(r.num.fix_2(),r.den.fix_2())
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};
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let mut best_edge=None;
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let face_n=self.face_nd(contact_face_id).0;
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@ -756,7 +755,7 @@ impl MinkowskiMesh<'_>{
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let d=n.dot(self.vert(verts[0])+self.vert(verts[1]));
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//WARNING! d outside of *2
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//WARNING: truncated precision
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for dt in Fixed::<4,128>::zeroes2(((n.dot(relative_body.position))*2-d).fix_4(),n.dot(relative_body.velocity).fix_4()*2,n.dot(relative_body.acceleration).fix_4()){
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for dt in Fixed::<2,64>::zeroes2(((n.dot(relative_body.position))*2-d).fix_2(),n.dot(relative_body.velocity).fix_2()*2,n.dot(relative_body.acceleration).fix_2()){
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if dt.num.is_positive()&&dt.lt_ratio(best_time)&&n.dot(relative_body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
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best_time=dt;
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best_edge=Some(directed_edge_id);
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@ -768,7 +767,7 @@ impl MinkowskiMesh<'_>{
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}
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fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,GigaTime)>{
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let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position);
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match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN/4,infinity_body.time){
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match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
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crate::face_crawler::CrawlResult::Miss(_)=>None,
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crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
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}
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@ -850,7 +849,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
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let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).borrow();
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Cow::Owned([(e1f1,false),(e1f0,true)].map(|(edge_face_id1,face_parity)|{
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let mut best_edge=None;
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let mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
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let mut best_d:Ratio<Fixed<2,64>,Fixed<2,64>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
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let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
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let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
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for &directed_edge_id0 in v0e.iter(){
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@ -861,7 +860,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
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let edge0_nn=edge0_n.dot(edge0_n);
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// Assume not every number is huge
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// TODO: revisit this
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let dd=(d*d)/(edge_face1_nn*edge0_nn);
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let dd=(d*d).fix_2()/(edge_face1_nn*edge0_nn).fix_2();
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if best_d<dd{
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best_d=dd;
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best_edge=Some(directed_edge_id0);
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@ -880,7 +879,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
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let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).borrow();
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Cow::Owned([(e0f0,true),(e0f1,false)].map(|(edge_face_id0,face_parity)|{
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let mut best_edge=None;
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let mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
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let mut best_d:Ratio<Fixed<2,64>,Fixed<2,64>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
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let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
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let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
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for &directed_edge_id1 in v1e.iter(){
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@ -888,7 +887,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
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let d=edge_face0_n.dot(edge1_n);
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if d.is_negative(){
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let edge1_nn=edge1_n.dot(edge1_n);
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let dd=(d*d)/(edge_face0_nn*edge1_nn);
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let dd=(d*d).fix_2()/(edge_face0_nn*edge1_nn).fix_2();
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if best_d<dd{
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best_d=dd;
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best_edge=Some(directed_edge_id1);
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@ -1957,7 +1957,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
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_=>println!("{}|{:?}",ins.time,ins.instruction),
|
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}
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if ins.time<state.time{
|
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println!("@@@@ Time travel warning! state.time={} ins.time={}\nInstruction={:?}",state.time,ins.time,ins.instruction);
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println!("@@@@ Time travel warning! {:?}",ins);
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}
|
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//idle is special, it is specifically a no-op to get Internal events to catch up to real time
|
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match ins.instruction{
|
||||
|
||||
Reference in New Issue
Block a user