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Fixed rounding problem in SimplexProcessor2 #116

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Fixed rounding problem in SimplexProcessor2 #116

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1351fd5
Fixed rounding problem in SimplexProcessor2
hayashi-stl Jun 26, 2020
586ea56
Added GJKLeft2
hayashi-stl Jun 29, 2020
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217 changes: 217 additions & 0 deletions .vscode/launch.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,217 @@
{
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"type": "lldb",
"request": "launch",
"name": "Debug unit tests in library 'collision'",
"cargo": {
"args": [
"test",
"--no-run",
"--lib",
"--package=collision"
],
"filter": {
"name": "collision",
"kind": "lib"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug integration test 'serde'",
"cargo": {
"args": [
"test",
"--no-run",
"--test=serde",
"--package=collision"
],
"filter": {
"name": "serde",
"kind": "test"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug integration test 'point'",
"cargo": {
"args": [
"test",
"--no-run",
"--test=point",
"--package=collision"
],
"filter": {
"name": "point",
"kind": "test"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug integration test 'bound'",
"cargo": {
"args": [
"test",
"--no-run",
"--test=bound",
"--package=collision"
],
"filter": {
"name": "bound",
"kind": "test"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug integration test 'dbvt'",
"cargo": {
"args": [
"test",
"--no-run",
"--test=dbvt",
"--package=collision"
],
"filter": {
"name": "dbvt",
"kind": "test"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug integration test 'plane'",
"cargo": {
"args": [
"test",
"--no-run",
"--test=plane",
"--package=collision"
],
"filter": {
"name": "plane",
"kind": "test"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug integration test 'frustum'",
"cargo": {
"args": [
"test",
"--no-run",
"--test=frustum",
"--package=collision"
],
"filter": {
"name": "frustum",
"kind": "test"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug integration test 'sphere'",
"cargo": {
"args": [
"test",
"--no-run",
"--test=sphere",
"--package=collision"
],
"filter": {
"name": "sphere",
"kind": "test"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug integration test 'aabb'",
"cargo": {
"args": [
"test",
"--no-run",
"--test=aabb",
"--package=collision"
],
"filter": {
"name": "aabb",
"kind": "test"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug benchmark 'dbvt'",
"cargo": {
"args": [
"test",
"--no-run",
"--bench=dbvt",
"--package=collision"
],
"filter": {
"name": "dbvt",
"kind": "bench"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug benchmark 'polyhedron'",
"cargo": {
"args": [
"test",
"--no-run",
"--bench=polyhedron",
"--package=collision"
],
"filter": {
"name": "polyhedron",
"kind": "bench"
}
},
"args": [],
"cwd": "${workspaceFolder}"
}
]
}
2 changes: 1 addition & 1 deletion Cargo.toml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
[package]

name = "collision"
version = "0.20.1"
version = "0.20.2"
authors = ["Brendan Zabarauskas <[email protected]>",
"Brian Heylin",
"Colin Sherratt",
Expand Down
7 changes: 4 additions & 3 deletions benches/dbvt.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,11 @@ extern crate collision;
extern crate rand;
extern crate test;

use cgmath::{Point2, Vector2};
use cgmath::prelude::*;
use collision::{Aabb2, Ray2};
use cgmath::{Point2, Vector2};
use collision::dbvt::*;
use collision::prelude::*;
use collision::{Aabb2, Ray2};
use rand::Rng;
use test::Bencher;

Expand Down Expand Up @@ -100,7 +100,8 @@ fn benchmark_query(b: &mut Bencher) {
})
.collect();

let mut visitors: Vec<DiscreteVisitor<Ray2<f32>, Value>> = rays.iter()
let mut visitors: Vec<DiscreteVisitor<Ray2<f32>, Value>> = rays
.iter()
.map(|ray| DiscreteVisitor::<Ray2<f32>, Value>::new(ray))
.collect();

Expand Down
10 changes: 6 additions & 4 deletions benches/polyhedron.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -6,12 +6,12 @@ extern crate genmesh;
extern crate rand;
extern crate test;

use cgmath::{Decomposed, Point3, Quaternion, Vector3};
use cgmath::prelude::*;
use cgmath::{Decomposed, Point3, Quaternion, Vector3};
use collision::prelude::*;
use collision::primitive::ConvexPolyhedron;
use genmesh::Triangulate;
use genmesh::generators::{IndexedPolygon, SharedVertex, SphereUV};
use genmesh::Triangulate;
use rand::Rng;
use test::{black_box, Bencher};

Expand Down Expand Up @@ -93,12 +93,14 @@ fn dirs(n: usize) -> Vec<Vector3<f32>> {
fn sphere(n: usize, with_faces: bool) -> ConvexPolyhedron<f32> {
let gen = SphereUV::new(n, n);

let vertices = gen.shared_vertex_iter()
let vertices = gen
.shared_vertex_iter()
.map(|v| Point3::from(v.pos))
.collect::<Vec<_>>();

if with_faces {
let faces = gen.indexed_polygon_iter()
let faces = gen
.indexed_polygon_iter()
.triangulate()
.map(|f| (f.x, f.y, f.z))
.collect::<Vec<_>>();
Expand Down
2 changes: 1 addition & 1 deletion src/algorithm/broad_phase/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -5,5 +5,5 @@ pub use self::dbvt::DbvtBroadPhase;
pub use self::sweep_prune::{SweepAndPrune, SweepAndPrune2, SweepAndPrune3, Variance};

mod brute_force;
mod sweep_prune;
mod dbvt;
mod sweep_prune;
5 changes: 3 additions & 2 deletions src/algorithm/broad_phase/sweep_prune.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -126,7 +126,8 @@ where
}

// compute sweep axis for the next iteration
let (axis, _) = self.variance
let (axis, _) = self
.variance
.compute_axis(NumCast::from(shapes.len()).unwrap());
self.sweep_axis = axis;

Expand All @@ -138,8 +139,8 @@ mod variance {
use std::marker;

use crate::Bound;
use cgmath::{BaseFloat, Point2, Point3, Vector2, Vector3};
use cgmath::prelude::*;
use cgmath::{BaseFloat, Point2, Point3, Vector2, Vector3};

/// Trait for variance calculation in sweep and prune algorithm
pub trait Variance {
Expand Down
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