StrafesNET/strafe-project
7
Fork 4
Code Issues 18 Pull Requests Packages Projects Releases 2 Wiki Activity

Meshquery::farthest_vert

Browse Source
This commit is contained in:
Rhys Lloyd
2025-12-05 09:13:13 -08:00
parent 80d3df4659
commit 8a1f434a2a
1 changed files with 28 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
engine/physics/src/model.rs
View File

@@ -93,6 +93,7 @@ pub trait MeshQuery{
/// This must return a point inside the mesh.
#[expect(dead_code)]
fn hint_point(&self)->Planar64Vec3;
fn farthest_vert(&self,dir:Planar64Vec3)->Self::Vert;
fn vert(&self,vert_id:Self::Vert)->Planar64Vec3;
fn face_nd(&self,face_id:Self::Face)->(Self::Normal,Self::Offset);
fn face_edges(&self,face_id:Self::Face)->impl AsRef<[Self::Edge]>;
@@ -458,6 +459,18 @@ impl MeshQuery for PhysicsMeshView<'_>{
// invariant: meshes always encompass the origin
vec3::zero()
}
fn farthest_vert(&self,dir:Planar64Vec3)->SubmeshVertId{
//this happens to be well-defined. there are no virtual virtices
SubmeshVertId::new(
self.topology.verts.iter()
.enumerate()
.max_by_key(|&(_,&vert_id)|
dir.dot(self.data.verts[vert_id.get() as usize].0)
)
//assume there is more than zero vertices.
.unwrap().0 as u32
)
}
//ideally I never calculate the vertex position, but I have to for the graphical meshes...
fn vert(&self,vert_id:SubmeshVertId)->Planar64Vec3{
let vert_idx=self.topology.verts[vert_id.get() as usize].get() as usize;
@@ -514,18 +527,6 @@ impl TransformedMesh<'_>{
pub fn verts<'a>(&'a self)->impl Iterator<Item=Vector3<Fixed<2,64>>>+'a{
self.view.data.verts.iter().map(|&Vert(pos)|self.transform.vertex.transform_point3(pos))
}
pub fn farthest_vert(&self,dir:Planar64Vec3)->SubmeshVertId{
//this happens to be well-defined. there are no virtual virtices
SubmeshVertId::new(
self.view.topology.verts.iter()
.enumerate()
.max_by_key(|&(_,&vert_id)|
dir.dot(self.transform.vertex.transform_point3(self.view.data.verts[vert_id.get() as usize].0))
)
//assume there is more than zero vertices.
.unwrap().0 as u32
)
}
}
impl MeshQuery for TransformedMesh<'_>{
type Face=SubmeshFaceId;
@@ -546,6 +547,18 @@ impl MeshQuery for TransformedMesh<'_>{
fn hint_point(&self)->Planar64Vec3{
self.transform.vertex.translation
}
fn farthest_vert(&self,dir:Planar64Vec3)->SubmeshVertId{
//this happens to be well-defined. there are no virtual virtices
SubmeshVertId::new(
self.view.topology.verts.iter()
.enumerate()
.max_by_key(|&(_,&vert_id)|
dir.dot(self.transform.vertex.transform_point3(self.view.data.verts[vert_id.get() as usize].0))
)
//assume there is more than zero vertices.
.unwrap().0 as u32
)
}
#[inline]
fn face_edges(&self,face_id:SubmeshFaceId)->impl AsRef<[SubmeshDirectedEdgeId]>{
self.view.face_edges(face_id)
@@ -658,9 +671,6 @@ impl MinkowskiMesh<'_>{
mesh1,
}
}
pub fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
}
pub fn predict_collision_in(&self,relative_body:&Body,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
let fev=match crate::minimum_difference::closest_fev_not_inside(self,relative_body.position)?{
Ok(fev)=>fev,
@@ -760,6 +770,9 @@ impl MeshQuery for MinkowskiMesh<'_>{
fn hint_point(&self)->Planar64Vec3{
self.mesh0.transform.vertex.translation-self.mesh1.transform.vertex.translation
}
fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
}
fn face_edges(&self,face_id:MinkowskiFace)->impl AsRef<[MinkowskiDirectedEdge]>{
match face_id{
MinkowskiFace::VertFace(v0,f1)=>{