refactor physics and try to fix a bunch of stuff
_
parent
8e7101dccd
commit
3aeced7c2f
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@ -127,6 +127,11 @@ impl GameGraphics {
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#[tokio::main]
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async fn main () -> Result <()> {
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tracing_subscriber::fmt::fmt ()
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.with_env_filter (tracing_subscriber::EnvFilter::from_default_env())
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.with_span_events (tracing_subscriber::fmt::format::FmtSpan::CLOSE)
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.init ();
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let sdl_context = sdl2::init ().map_err (|e| anyhow! ("Can't init SDL: {}", e))?;
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let video_subsystem = sdl_context.video ().map_err (|e| anyhow! ("Can't get SDL video subsystem: {}", e))?;
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let window = video_subsystem.window ("3D platformer", 1280, 720)
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463
src/physics.rs
463
src/physics.rs
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@ -51,12 +51,13 @@ impl Triangle {
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}
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}
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#[derive (Clone, Debug, PartialEq)]
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#[derive (Clone, Copy, Debug, PartialEq)]
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pub struct Collision {
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t: f32,
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p_impact: Vec3,
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normal: Vec3,
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i: usize,
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c_type: CollisionType,
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}
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impl Collision {
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@ -70,212 +71,29 @@ impl Collision {
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}
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}
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pub fn get_candidate (world: &[Triangle], p0: Vec3, p1: Vec3, radius: f32)
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-> Collision
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{
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let radius3 = Vec3::from ((
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radius,
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radius,
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radius
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));
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let v = p1 - p0;
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let mut candidate = Collision {
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t: 2.0,
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p_impact: Default::default (),
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normal: Default::default (),
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i: 0,
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};
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for (i, tri) in world.iter ().enumerate () {
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let tri_min = tri.min () - radius3;
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let tri_max = tri.max () + radius3;
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let ray_min = p0.min (p1);
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let ray_max = p0.max (p1);
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if
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ray_max.x < tri_min.x || ray_min.x > tri_max.x ||
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ray_max.y < tri_min.y || ray_min.y > tri_max.y ||
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ray_max.z < tri_min.z || ray_min.z > tri_max.z
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{
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// AABB reject
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continue;
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#[derive (Clone, Copy, Debug, PartialEq)]
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pub struct PrimCollision {
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t: f32,
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p_impact: Vec3,
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normal: Vec3,
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}
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// Collision for each triangle is roughly split into:
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// Face collisions
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// Edge collisions
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// Vertex collisions
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let normal = Vec3::cross (tri.verts [2] - tri.verts [1], tri.verts [1] - tri.verts [0]).normalize ();
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let speed_towards_face = -Vec3::dot (v, normal);
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// Face collisions
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if speed_towards_face >= 0.0 {
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let distance_to_face0 = Vec3::dot (normal, p0 - tri.verts [0]) - radius;
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let distance_to_face1 = Vec3::dot (normal, p1 - tri.verts [0]) - radius;
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let passed_plane = distance_to_face0 > 0.0 && distance_to_face1 < 0.0;
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if passed_plane {
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let denom = distance_to_face0 - distance_to_face1;
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let t_times_denom = distance_to_face0;
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// Because of previous early returns we know that 0.0 < t < 1.0
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let p_impact_times_denom = p0 * (denom - t_times_denom) + p1 * (t_times_denom);
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let impact_inside_tri = (|| {
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for j in 0..3 {
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let a = tri.verts [j];
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let b = tri.verts [(j + 1) % 3];
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let tangent = Vec3::cross (b - a, normal);
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if Vec3::dot (tangent, p_impact_times_denom - a * denom) < 0.0 {
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return false;
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impl PrimCollision {
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pub fn take_if_closer (&self, o: &Self) -> Self {
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if o.t < self.t && o.t >= 0.0 {
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o.clone ()
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}
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}
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true
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})();
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if impact_inside_tri {
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// Stop it
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let c = Collision {
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t: t_times_denom / denom,
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p_impact: p_impact_times_denom / denom,
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normal,
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i,
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};
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candidate = candidate.take_if_closer (&c);
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// goto triangle_collided
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else {
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self.clone ()
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}
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}
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}
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// Edge collisions
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let ray_dir = (p1 - p0).normalize ();
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for j in 0..3 {
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let a = tri.verts [j];
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let b = tri.verts [(j + 1) % 3];
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let cylinder_axis = (b - a).normalize ();
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let third_axis = Vec3::cross (cylinder_axis, ray_dir).normalize ();
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let perp_ray_axis = Vec3::cross (third_axis, cylinder_axis);
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let into_triangle = Vec3::cross (cylinder_axis, normal);
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let a_minus_p0 = a - p0;
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let a_ray = Vec2::from ((
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Vec3::dot (a_minus_p0, perp_ray_axis),
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Vec3::dot (a_minus_p0, third_axis)
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));
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// a_ray is now in a space where X is the ray's t,
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// Z is the cylinder axis (and irrelevant for now),
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// and Y is the cross of those.
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// I forgot the maths word for this
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let discriminant = radius * radius - a_ray.y * a_ray.y;
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if discriminant < 0.0 {
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// No possible collision
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continue;
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}
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let denom = (p1 - p0).length ();
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let t_times_denom = a_ray.x - discriminant.sqrt ();
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let t = t_times_denom / denom;
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if t_times_denom < 0.0 || t_times_denom > denom {
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// The cylinder is along the line,
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// but outside the line segment
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//triangles_hit.push_back (i);
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continue;
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}
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let p_impact_times_denom = p0 * (denom - t_times_denom) + p1 * (t_times_denom);
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let p_impact = p_impact_times_denom / denom;
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let impact_along_cylinder = Vec3::dot (cylinder_axis, p_impact);
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let a_along_cylinder = Vec3::dot (cylinder_axis, a);
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if impact_along_cylinder < a_along_cylinder || impact_along_cylinder > Vec3::dot (cylinder_axis, b)
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{
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// The infinite cylinder is on the line segment,
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// but the finite cylinder is not.
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//cout << "Finite cylinder reject" << endl;
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continue;
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}
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let edge_normal = (p_impact - (a + (impact_along_cylinder - a_along_cylinder) * cylinder_axis)).normalize ();
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let speed_towards_edge = -Vec3::dot (v, edge_normal);
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let speed_into_triangle = Vec3::dot (v, into_triangle);
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if speed_towards_edge > 0.0 && speed_into_triangle >= 0.0 {
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let c = Collision {
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t: t_times_denom / denom,
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p_impact,
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normal: edge_normal,
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i,
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};
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candidate = candidate.take_if_closer (&c);
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}
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}
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// Vertex collisions
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for j in 0..3 {
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let a = tri.verts [j];
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let a_minus_p0 = a - p0;
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let a_ray_x = Vec3::dot (a_minus_p0, ray_dir);
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let nearest_on_ray = p0 + a_ray_x * ray_dir;
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let a_ray_y = (a - nearest_on_ray).length ();
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let discriminant = radius * radius - a_ray_y * a_ray_y;
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if discriminant < 0.0 {
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// The sphere is not on the line
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continue;
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}
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let t = (a_ray_x - discriminant.sqrt ()) / (p1 - p0).length ();
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if t < 0.0 || t > 1.0 {
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// The sphere is along the line,
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// but outside the line segment
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continue;
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}
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let p_impact = p0 * (1.0 - t) + p1 * (t);
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let vert_normal = (p_impact - a).normalize ();
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// I skip the speed check here cause I'm pretty sure
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// the previous work makes it redundant
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let c = Collision {
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t,
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p_impact,
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normal: vert_normal,
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i,
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};
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candidate = candidate.take_if_closer (&c);
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}
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}
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candidate
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#[derive (Clone, Copy, Debug, PartialEq)]
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enum CollisionType {
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Face,
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Edge,
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Vert,
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}
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pub struct Params {
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@ -305,6 +123,7 @@ pub fn step (
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let candidate = get_candidate (world, old_pos, new_pos, radius);
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if candidate.t <= 1.0 {
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tracing::debug! ("Tri {}, type {:?}", candidate.i, candidate.c_type);
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t_remaining *= 1.0 - candidate.t;
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let speed_towards_normal = -Vec3::dot (new_vel, candidate.normal);
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@ -339,6 +158,246 @@ pub fn step (
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}
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}
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pub fn get_candidate (world: &[Triangle], p0: Vec3, p1: Vec3, radius: f32)
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-> Collision
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{
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let radius3 = Vec3::from ((
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radius,
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radius,
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radius
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));
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let v = p1 - p0;
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let mut candidate = Collision {
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t: 2.0,
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p_impact: Default::default (),
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normal: Default::default (),
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i: 0,
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c_type: CollisionType::Face,
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};
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for (i, tri) in world.iter ().enumerate () {
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let tri_min = tri.min () - radius3;
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let tri_max = tri.max () + radius3;
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let ray_min = p0.min (p1);
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let ray_max = p0.max (p1);
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if
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ray_max.x < tri_min.x || ray_min.x > tri_max.x ||
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ray_max.y < tri_min.y || ray_min.y > tri_max.y ||
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ray_max.z < tri_min.z || ray_min.z > tri_max.z
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{
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// AABB reject
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// tracing::trace! ("AABB reject");
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continue;
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}
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// Collision for each triangle is roughly split into:
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// Face collisions
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// Edge collisions
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// Vertex collisions
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if let Some (c) = get_candidate_face (&tri, p0, p1, radius) {
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candidate = candidate.take_if_closer (&Collision {
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t: c.t,
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p_impact: c.p_impact,
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normal: c.normal,
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i,
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c_type: CollisionType::Face,
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});
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}
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// Edge collisions
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for j in 0..3 {
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let a = tri.verts [j];
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let b = tri.verts [(j + 1) % 3];
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if let Some (c) = get_candidate_edge (a, b, p0, p1, radius) {
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candidate = candidate.take_if_closer (&Collision {
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t: c.t,
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p_impact: c.p_impact,
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normal: c.normal,
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i,
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c_type: CollisionType::Edge,
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});
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}
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}
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// Vertex collisions
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for j in 0..3 {
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let a = tri.verts [j];
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if let Some (c) = get_candidate_vert (a, p0, p1, radius) {
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candidate = candidate.take_if_closer (&Collision {
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t: c.t,
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p_impact: c.p_impact,
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normal: c.normal,
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i,
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c_type: CollisionType::Vert,
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});
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}
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}
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}
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candidate
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}
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fn get_candidate_face (tri: &Triangle, p0: Vec3, p1: Vec3, radius: f32)
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-> Option <PrimCollision>
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{
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let radius3 = Vec3::from ((
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radius,
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radius,
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radius
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));
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let v = p1 - p0;
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let normal = Vec3::cross (tri.verts [2] - tri.verts [1], tri.verts [1] - tri.verts [0]).normalize ();
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let distance_to_face0 = Vec3::dot (normal, p0 - tri.verts [0]) - radius;
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let distance_to_face1 = Vec3::dot (normal, p1 - tri.verts [0]) - radius;
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if distance_to_face0 < 0.0 || distance_to_face1 > 0.0 {
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tracing::trace! ("passed_plane {} {}", distance_to_face0, distance_to_face1);
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return None;
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}
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let denom = distance_to_face0 - distance_to_face1;
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let t_times_denom = distance_to_face0;
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// Because of previous early returns we know that 0.0 < t < 1.0
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let p_impact_times_denom = p0 * (denom - t_times_denom) + p1 * (t_times_denom);
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for j in 0..3 {
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let a = tri.verts [j];
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let b = tri.verts [(j + 1) % 3];
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let tangent = Vec3::cross (b - a, normal);
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if Vec3::dot (tangent, p_impact_times_denom - a * denom) < 0.0 {
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// tracing::trace! ("impact_inside_tri");
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return None;
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}
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}
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Some (PrimCollision {
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t: t_times_denom / denom,
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p_impact: p_impact_times_denom / denom,
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normal,
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})
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}
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fn get_candidate_edge (a: Vec3, b: Vec3, p0: Vec3, p1: Vec3, radius: f32)
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-> Option <PrimCollision>
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{
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let cylinder_axis = (b - a).normalize ();
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let third_axis = Vec3::cross (cylinder_axis, p1 - p0).normalize ();
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let perp_ray_axis = Vec3::cross (third_axis, cylinder_axis);
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let a_minus_p0 = a - p0;
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let a_ray = Vec2::from ((
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Vec3::dot (a_minus_p0, perp_ray_axis),
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Vec3::dot (a_minus_p0, third_axis)
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));
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// a_ray is now in a space where X is the ray's t,
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// Z is the cylinder axis (and irrelevant for now),
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// and Y is the cross of those.
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// I forgot the maths word for this
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let discriminant = radius * radius - a_ray.y * a_ray.y;
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if discriminant < 0.0 {
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// No possible collision
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// println! ("No possible collision");
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return None;
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}
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let denom = (p1 - p0).length ();
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let t_times_denom = a_ray.x - discriminant.sqrt ();
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let t = t_times_denom / denom;
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if t < 0.0 || t > 1.0 {
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// The cylinder is along the line,
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// but outside the line segment
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//triangles_hit.push_back (i);
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// tracing::trace! ("Cylinder is along line but outside line segment {}", t);
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return None;
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}
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let p_impact = p0 * (1.0 - t) + p1 * (t);
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let impact_along_cylinder = Vec3::dot (cylinder_axis, p_impact);
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let a_along_cylinder = Vec3::dot (cylinder_axis, a);
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if impact_along_cylinder < a_along_cylinder || impact_along_cylinder > Vec3::dot (cylinder_axis, b)
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{
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// The infinite cylinder is on the line segment,
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// but the finite cylinder is not.
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// tracing::trace! ("Finite cylinder reject");
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return None;
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}
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let edge_normal = (p_impact - (a + (impact_along_cylinder - a_along_cylinder) * cylinder_axis)).normalize ();
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//let into_triangle = Vec3::cross (cylinder_axis, normal);
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let speed_towards_edge = -Vec3::dot (p1 - p0, edge_normal);
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//let speed_into_triangle = Vec3::dot (p1 - p0, into_triangle);
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if ! (speed_towards_edge > 0.0 /*&& speed_into_triangle >= 0.0*/) {
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// tracing::trace! ("speeds are wrong");
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return None;
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}
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Some (PrimCollision {
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t,
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p_impact,
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normal: edge_normal,
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})
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}
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fn get_candidate_vert (a: Vec3, p0: Vec3, p1: Vec3, radius: f32)
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-> Option <PrimCollision>
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{
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let a_minus_p0 = a - p0;
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let ray_dir = (p1 - p0).normalize ();
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let a_ray_x = Vec3::dot (a_minus_p0, ray_dir);
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let nearest_on_ray = p0 + a_ray_x * ray_dir;
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let a_ray_y = (a - nearest_on_ray).length ();
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let discriminant = radius * radius - a_ray_y * a_ray_y;
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|
||||
if discriminant < 0.0 {
|
||||
// The sphere is not on the line
|
||||
return None;
|
||||
}
|
||||
|
||||
let t = (a_ray_x - discriminant.sqrt ()) / (p1 - p0).length ();
|
||||
|
||||
if t < 0.0 || t > 1.0 {
|
||||
// The sphere is along the line,
|
||||
// but outside the line segment
|
||||
return None;
|
||||
}
|
||||
|
||||
let p_impact = p0 * (1.0 - t) + p1 * (t);
|
||||
let vert_normal = (p_impact - a).normalize ();
|
||||
|
||||
// I skip the speed check here cause I'm pretty sure
|
||||
// the previous work makes it redundant
|
||||
|
||||
Some (PrimCollision {
|
||||
t,
|
||||
p_impact,
|
||||
normal: vert_normal,
|
||||
})
|
||||
}
|
||||
|
||||
#[cfg (test)]
|
||||
mod test {
|
||||
use super::*;
|
||||
|
|
@ -449,8 +508,8 @@ mod test {
|
|||
] {
|
||||
let a = step (¶ms, &world, radius, &body_before);
|
||||
|
||||
assert! (a.body.pos.distance_squared (e.body.pos) <= 0.00125);
|
||||
assert! (a.body.vel.distance_squared (e.body.vel) <= 0.00125);
|
||||
assert! (a.body.pos.distance_squared (e.body.pos) < 0.00125);
|
||||
assert! (a.body.vel.distance_squared (e.body.vel) < 0.00125);
|
||||
assert_eq! (a.triangles_hit, e.triangles_hit);
|
||||
assert_eq! (a.kill, e.kill);
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue