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include relative point

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This commit is contained in:
Rhys Lloyd
2025-11-25 09:09:46 -08:00
parent 1b833ef6b3
commit 6621e369f2
1 changed files with 17 additions and 16 deletions
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33
engine/physics/src/minimum_difference.rs
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@@ -84,8 +84,9 @@ const fn choose_any_direction()->Planar64Vec3{
}
fn reduce_simplex(
mesh:&MinkowskiMesh,
mut simplex:Simplex,
mesh:&MinkowskiMesh,
point:Planar64Vec3,
)->(Planar64Vec3,Simplex){
match simplex.len(){
0=>(choose_any_direction(),simplex),
@@ -93,7 +94,7 @@ fn reduce_simplex(
1=>{
// --debug.profilebegin("reduceSimplex0")
// local a = a1 - a0
let p0=mesh.vert(simplex[0]);
let p0=mesh.vert(simplex[0])+point;
// local p = -a
let p=-p0;
@@ -115,8 +116,8 @@ fn reduce_simplex(
// --debug.profilebegin("reduceSimplex1")
// local a = a1 - a0
// local b = b1 - b0
let p0=mesh.vert(simplex[0]);
let p1=mesh.vert(simplex[1]);
let p0=mesh.vert(simplex[0])+point;
let p1=mesh.vert(simplex[1])+point;
// local p = -a
// local u = b - a
@@ -161,9 +162,9 @@ fn reduce_simplex(
// local a = a1 - a0
// local b = b1 - b0
// local c = c1 - c0
let p0=mesh.vert(simplex[0]);
let p1=mesh.vert(simplex[1]);
let p2=mesh.vert(simplex[2]);
let p0=mesh.vert(simplex[0])+point;
let p1=mesh.vert(simplex[1])+point;
let p2=mesh.vert(simplex[2])+point;
// local p = -a
// local u = b - a
@@ -256,10 +257,10 @@ fn reduce_simplex(
// local b = b1 - b0
// local c = c1 - c0
// local d = d1 - d0
let p0=mesh.vert(simplex[0]);
let p1=mesh.vert(simplex[1]);
let p2=mesh.vert(simplex[2]);
let p3=mesh.vert(simplex[3]);
let p0=mesh.vert(simplex[0])+point;
let p1=mesh.vert(simplex[1])+point;
let p2=mesh.vert(simplex[2])+point;
let p3=mesh.vert(simplex[3])+point;
// local p = -a
// local u = b - a
@@ -470,7 +471,7 @@ pub fn contains_point(mesh:&MinkowskiMesh,point:Planar64Vec3)->bool{
// local dist = a:Dot(norm)
// local hits = -dist < radiusP + radiusQ
// return hits
mesh.vert(simplex[1]).dot(direction).is_positive()
(mesh.vert(simplex[1])+point).dot(direction).is_positive()
},
// on_escape
|_simplex|{
@@ -504,7 +505,7 @@ pub fn closest_fev(mesh:&MinkowskiMesh,point:Planar64Vec3)->Topology{
// )
fn minimum_difference<const ENABLE_FAST_FAIL:bool,T>(
mesh:&MinkowskiMesh,
rel_pos:Planar64Vec3,
point:Planar64Vec3,
on_exact:impl FnOnce(Simplex,Planar64Vec3)->T,
on_escape:impl FnOnce(Simplex)->T,
on_fast_fail:impl FnOnce()->T,
@@ -513,7 +514,7 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T>(
// local new_point_p = queryP(initialAxis)
// local new_point_q = queryQ(-initialAxis)
// local direction, a0, a1, b0, b1, c0, c1, d0, d1
let mut direction=mesh.hint_point()+rel_pos;
let mut direction=mesh.hint_point()+point;
// degenerate case
if direction==vec3::zero(){
direction=choose_any_direction();
@@ -537,7 +538,7 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T>(
let next_point=mesh.farthest_vert(direction);
// if -direction:Dot(next_point) > (exitRadius + radiusP + radiusQ)*direction.magnitude then
if ENABLE_FAST_FAIL&&direction.dot(mesh.vert(next_point)+rel_pos).is_negative(){
if ENABLE_FAST_FAIL&&direction.dot(mesh.vert(next_point)+point).is_negative(){
return on_fast_fail();
}
@@ -561,6 +562,6 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T>(
}
// direction, a0, a1, b0, b1, c0, c1, d0, d1 = reduceSimplex(new_point_p, new_point_q, a0, a1, b0, b1, c0, c1)
(direction,simplex)=reduce_simplex(mesh,simplex);
(direction,simplex)=reduce_simplex(simplex,mesh,point);
}
}