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This commit is contained in:
Rhys Lloyd
2025-12-02 09:30:00 -08:00
parent 7f0f63570e
commit ae7582704b
1 changed files with 9 additions and 19 deletions
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28
engine/physics/src/minimum_difference.rs
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@@ -532,6 +532,7 @@ enum EV{
impl MinkowskiMesh<'_>{
fn next_transition_vert(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Fixed<2,64>,point:Planar64Vec3)->Transition{
// TODO: ensure test_vert_id is coplanar to simplex
let mut best_transition=Transition::Done;
for &directed_edge_id in self.vert_edges(vert_id).as_ref(){
//is boundary uncrossable by a crawl from infinity
@@ -549,6 +550,7 @@ impl MinkowskiMesh<'_>{
best_transition
}
fn final_ev(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Fixed<2,64>,point:Planar64Vec3)->EV{
// TODO: ensure directed_edge_id is coplanar to simplex
let mut best_transition=EV::Vert(vert_id);
let diff=point-self.vert(vert_id);
for &directed_edge_id in self.vert_edges(vert_id).as_ref(){
@@ -650,26 +652,14 @@ pub fn closest_fev_not_inside<'a>(mesh:&MinkowskiMesh<'a>,point:Planar64Vec3)->O
Simplex1_3::Simplex3([v0,v1,v2])=>{
// invert
let (v0,v1,v2)=(-v0,-v1,-v2);
let p0=mesh.vert(v0);
let p1=mesh.vert(v1);
let p2=mesh.vert(v2);
// spanning simplex normal
let n=(p2-p0).cross(p1-p0);
// Scan opposite vertices for coplanar ones and find a coplanar face
for &v0e in mesh.vert_edges(v0).as_ref(){
// check if opposite vertex is coplanar
let o0=mesh.edge_verts(v0e.as_undirected()).as_ref()[v0e.parity() as usize];
let o0p=mesh.vert(o0);
if n.dot(o0p-p0).is_zero(){
// always take left face (or right idk just use the parity)
let f0=mesh.edge_faces(v0e.as_undirected()).as_ref()[v0e.parity() as usize];
{
}
}
}
// Shimmy to the side until you find a face that contains the closest point
Err(OhNoes)
// it's ALWAYS representable as a face, but this algorithm may
// return E or V in edge cases but I don't think that will break the face crawler
let fev=mesh.crawl_to_closest_fev([v0,v1,v2],point);
if !matches!(fev,FEV::Face(_)){
println!("I can't believe it's not a face!");
}
Ok(fev)
},
})
},