work

engine/physics/src/minimum_difference.rs

@@ -1,13 +1,13 @@
 use strafesnet_common::integer::{Planar64,Planar64Vec3};
 
-use crate::model::{TransformedMesh,MeshQuery};
+use crate::model::{MeshQuery,SubmeshVertId,TransformedMesh};
 
 // This algorithm is based on Lua code
 // written by Trey Reynolds in 2021
 
 struct PQ{
-	p:Planar64Vec3,
-	q:Planar64Vec3,
+	p:SubmeshVertId,
+	q:SubmeshVertId,
 }
 type Simplex=arrayvec::ArrayVec<PQ,4>;
 
@@ -51,10 +51,12 @@ pub fn minimum_difference<'p,'q>(p:&'p TransformedMesh,q:&'q TransformedMesh)->O
 	// local new_point_p = queryP(initialAxis)
 	// local new_point_q = queryQ(-initialAxis)
 	// local direction, a0, a1, b0, b1, c0, c1, d0, d1
-	let initial_axis=q.hint_point()-p.hint_point();
-	let new_point_p=p.farthest_vert(initial_axis);
-	let new_point_q=q.farthest_vert(-initial_axis);
-	let mut simplex=Simplex::from_iter([PQ{p:new_point_p,q:new_point_q}]);
+	let mut direction=q.hint_point()-p.hint_point();
+	let new_point=PQ{
+		p:p.farthest_vert(direction),
+		q:q.farthest_vert(-direction),
+	};
+	let mut simplex=Simplex::from_iter([new_point]);
 
 	// exitRadius = testIntersection and 0 or exitRadius or 1/0
 	// for _ = 1, 100 do
@@ -67,6 +69,10 @@ pub fn minimum_difference<'p,'q>(p:&'p TransformedMesh,q:&'q TransformedMesh)->O
 		// new_point_p = queryP(-direction)
 		// new_point_q = queryQ(direction)
 		// local newPoint = new_point_q - new_point_p
+		let new_point=PQ{
+			p:p.farthest_vert(direction),
+			q:q.farthest_vert(-direction),
+		};
 
 		// if -direction:Dot(newPoint) > (exitRadius + radiusP + radiusQ)*direction.magnitude then
 		// 	return false
@@ -92,7 +98,7 @@ pub fn minimum_difference<'p,'q>(p:&'p TransformedMesh,q:&'q TransformedMesh)->O
 		// end
 
 		// direction, a0, a1, b0, b1, c0, c1, d0, d1 = reduceSimplex(new_point_p, new_point_q, a0, a1, b0, b1, c0, c1)
-		let s:Simplex = reduce_simplex();
+		(direction,simplex) = reduce_simplex();
 		panic!("quit underlining all my code!");
 	}
 	// return nil