basilisk-engine 0.1.15__py3-none-any.whl → 0.1.17__py3-none-any.whl

basilisk/collisions/narrow/contact_manifold.py

@@ -1,96 +1,96 @@
-import glm
-from random import randint
-from .line_intersections import line_line_intersect, line_poly_intersect
-from .graham_scan import graham_scan
-from .sutherland_hodgman import sutherland_hodgman
-from .dataclasses import ContactPoint
-from ...generic.vec3 import Vec3
-from ...generic.quat import Quat
-
-
-
-# sutherland hodgman clipping algorithm
-def get_contact_manifold(contact_plane_point:glm.vec3, contact_plane_normal:glm.vec3, points1:list[glm.vec3], points2:list[glm.vec3]) -> list[glm.vec3]:
-    """
-    computes the contact manifold for a collision between two nearby polyhedra
-    """
-    if len(points1) == 0 or len(points2) == 0: return []
-    
-    # project vertices onto the 2d plane
-    points1 = project_points(contact_plane_point, contact_plane_normal, points1)
-    points2 = project_points(contact_plane_point, contact_plane_normal, points2)
-    
-    # check if collsion was on a vertex
-    if len(points1) == 1: return points1
-    if len(points2) == 1: return points2
-    
-    # convert points to 2d for intersection algorithms
-    points1, u1, v1 = points_to_2d(contact_plane_point, contact_plane_normal, points1)
-    points2, u2, v2 = points_to_2d(contact_plane_point, contact_plane_normal, points2, u1, v1) #TODO precalc orthogonal basis for 2d conversion
-    
-    # convert arbitrary points to polygon
-    if len(points1) > 2: points1 = graham_scan(points1)
-    if len(points2) > 2: points2 = graham_scan(points2)
-    
-    # run clipping algorithms
-    manifold = []
-    is_line1, is_line2 = len(points1) == 2, len(points2) == 2
-    if is_line1 and is_line2: manifold = line_line_intersect(points1, points2)
-    else: 
-        if is_line1:   manifold = line_poly_intersect(points1, points2)
-        elif is_line2: manifold = line_poly_intersect(points2, points1)
-        else:          manifold = sutherland_hodgman(points1, points2)
-        
-    # fall back if manifold fails to develope
-    if len(manifold) == 0: return []
-    
-    # convert inertsection algorithm output to 3d
-    return points_to_3d(u1, v1, contact_plane_point, manifold)
-
-def separate_polytope(points1: list[ContactPoint], points2: list[ContactPoint], contact_plane_normal, epsilon: float=1e-5) -> tuple[list[ContactPoint], list[ContactPoint]]:
-    """
-    Determines the potential contact manifold points of each shape based on their position along the penetrating axis
-    """
-    
-    proj1 = [(glm.dot(point.vertex, contact_plane_normal), point) for point in points1]
-    proj2 = [(glm.dot(point.vertex, contact_plane_normal), point) for point in points2]
-    
-    # min1 and max2 should be past the collising points of node2 and node1 respectively
-    min1 = min(proj1, key=lambda proj: proj[0])[0]
-    max2 = max(proj2, key=lambda proj: proj[0])[0]
-    
-    proj1 = filter(lambda proj: proj[0] <= max2 + epsilon, proj1)
-    proj2 = filter(lambda proj: proj[0] + epsilon >= min1, proj2)
-    
-    return [point[1] for point in proj1], [point[1] for point in proj2]
-    
-def distance_to_plane(contact_plane_point:glm.vec3, contact_plane_normal:glm.vec3, point:glm.vec3) -> float:
-    """gets the smallest distance a point is from a plane"""
-    return glm.dot(point - contact_plane_point, contact_plane_normal) #TODO check this formula
-
-def project_points(contact_plane_point:glm.vec3, contact_plane_normal:glm.vec3, points:list[Vec3]) -> list[glm.vec3]:
-    """gets the projected positions of the given points onto the given plane"""
-    return [point - glm.dot(point - contact_plane_point, contact_plane_normal) * contact_plane_normal for point in points]
-
-def points_to_2d(contact_plane_point:glm.vec3, contact_plane_normal:glm.vec3, points:list[glm.vec3], u = None, v = None) -> tuple[list[glm.vec2], glm.vec3, glm.vec3]:
-    """converts a list of points on a plane to their 2d representation"""
-    # generate a new basis
-    k = get_noncolinear_vector(contact_plane_normal)
-    u = u if u else glm.normalize(glm.cross(contact_plane_normal, k))
-    v = v if v else glm.cross(contact_plane_normal, u)
-    
-    # convert points to new basis
-    return [glm.vec2(glm.dot(vec := point - contact_plane_point, u), glm.dot(vec, v)) for point in points], u, v
-    
-def points_to_3d(u:glm.vec3, v:glm.vec3, contact_plane_point:glm.vec3, points:list[glm.vec2]) -> list[glm.vec3]:
-    """converts a list of points on a plane to their 3d representation"""
-    return [contact_plane_point + point.x * u + point.y * v for point in points]
-    
-# vector math
-def get_noncolinear_vector(vector:glm.vec3) -> glm.vec3:
-    """generates a non colinear vector based on the given vector"""
-    test_vector = (1, 1, 1)
-    while glm.cross(test_vector, vector) == (0, 0, 0):
-        val = randint(0, 7) # 000 to 111
-        test_vector = (val & 1, val & 2, val & 4) # one random for three digits
+import glm
+from random import randint
+from .line_intersections import line_line_intersect, line_poly_intersect
+from .graham_scan import graham_scan
+from .sutherland_hodgman import sutherland_hodgman
+from .dataclasses import ContactPoint
+from ...generic.vec3 import Vec3
+from ...generic.quat import Quat
+
+
+
+# sutherland hodgman clipping algorithm
+def get_contact_manifold(contact_plane_point:glm.vec3, contact_plane_normal:glm.vec3, points1:list[glm.vec3], points2:list[glm.vec3]) -> list[glm.vec3]:
+    """
+    computes the contact manifold for a collision between two nearby polyhedra
+    """
+    if len(points1) == 0 or len(points2) == 0: return []
+    
+    # project vertices onto the 2d plane
+    points1 = project_points(contact_plane_point, contact_plane_normal, points1)
+    points2 = project_points(contact_plane_point, contact_plane_normal, points2)
+    
+    # check if collsion was on a vertex
+    if len(points1) == 1: return points1
+    if len(points2) == 1: return points2
+    
+    # convert points to 2d for intersection algorithms
+    points1, u1, v1 = points_to_2d(contact_plane_point, contact_plane_normal, points1)
+    points2, u2, v2 = points_to_2d(contact_plane_point, contact_plane_normal, points2, u1, v1) #TODO precalc orthogonal basis for 2d conversion
+    
+    # convert arbitrary points to polygon
+    if len(points1) > 2: points1 = graham_scan(points1)
+    if len(points2) > 2: points2 = graham_scan(points2)
+    
+    # run clipping algorithms
+    manifold = []
+    is_line1, is_line2 = len(points1) == 2, len(points2) == 2
+    if is_line1 and is_line2: manifold = line_line_intersect(points1, points2)
+    else: 
+        if is_line1:   manifold = line_poly_intersect(points1, points2)
+        elif is_line2: manifold = line_poly_intersect(points2, points1)
+        else:          manifold = sutherland_hodgman(points1, points2)
+        
+    # fall back if manifold fails to develope
+    if len(manifold) == 0: return []
+    
+    # convert inertsection algorithm output to 3d
+    return points_to_3d(u1, v1, contact_plane_point, manifold)
+
+def separate_polytope(points1: list[ContactPoint], points2: list[ContactPoint], contact_plane_normal, epsilon: float=1e-5) -> tuple[list[ContactPoint], list[ContactPoint]]:
+    """
+    Determines the potential contact manifold points of each shape based on their position along the penetrating axis
+    """
+    
+    proj1 = [(glm.dot(point.vertex, contact_plane_normal), point) for point in points1]
+    proj2 = [(glm.dot(point.vertex, contact_plane_normal), point) for point in points2]
+    
+    # min1 and max2 should be past the collising points of node2 and node1 respectively
+    min1 = min(proj1, key=lambda proj: proj[0])[0]
+    max2 = max(proj2, key=lambda proj: proj[0])[0]
+    
+    proj1 = filter(lambda proj: proj[0] <= max2 + epsilon, proj1)
+    proj2 = filter(lambda proj: proj[0] + epsilon >= min1, proj2)
+    
+    return [point[1] for point in proj1], [point[1] for point in proj2]
+    
+def distance_to_plane(contact_plane_point:glm.vec3, contact_plane_normal:glm.vec3, point:glm.vec3) -> float:
+    """gets the smallest distance a point is from a plane"""
+    return glm.dot(point - contact_plane_point, contact_plane_normal) #TODO check this formula
+
+def project_points(contact_plane_point:glm.vec3, contact_plane_normal:glm.vec3, points:list[Vec3]) -> list[glm.vec3]:
+    """gets the projected positions of the given points onto the given plane"""
+    return [point - glm.dot(point - contact_plane_point, contact_plane_normal) * contact_plane_normal for point in points]
+
+def points_to_2d(contact_plane_point:glm.vec3, contact_plane_normal:glm.vec3, points:list[glm.vec3], u = None, v = None) -> tuple[list[glm.vec2], glm.vec3, glm.vec3]:
+    """converts a list of points on a plane to their 2d representation"""
+    # generate a new basis
+    k = get_noncolinear_vector(contact_plane_normal)
+    u = u if u else glm.normalize(glm.cross(contact_plane_normal, k))
+    v = v if v else glm.cross(contact_plane_normal, u)
+    
+    # convert points to new basis
+    return [glm.vec2(glm.dot(vec := point - contact_plane_point, u), glm.dot(vec, v)) for point in points], u, v
+    
+def points_to_3d(u:glm.vec3, v:glm.vec3, contact_plane_point:glm.vec3, points:list[glm.vec2]) -> list[glm.vec3]:
+    """converts a list of points on a plane to their 3d representation"""
+    return [contact_plane_point + point.x * u + point.y * v for point in points]
+    
+# vector math
+def get_noncolinear_vector(vector:glm.vec3) -> glm.vec3:
+    """generates a non colinear vector based on the given vector"""
+    test_vector = (1, 1, 1)
+    while glm.cross(test_vector, vector) == (0, 0, 0):
+        val = randint(0, 7) # 000 to 111
+        test_vector = (val & 1, val & 2, val & 4) # one random for three digits
     return test_vector

basilisk/collisions/narrow/dataclasses.py

@@ -1,35 +1,35 @@
-import glm
-from dataclasses import dataclass
-
-from basilisk.generic.vec3 import Vec3
-# from ...nodes.node import Node
-
-# frozen because data does not need to be mutable
-# used in creating polytopes for GJK/EPA
-@dataclass(frozen=True)
-class SupportPoint():
-    support_point: glm.vec3
-    
-    index1: int # index of the vertex in the mesh
-    vertex1: glm.vec3 # world space location of the vertex at collision
-    
-    index2: int
-    vertex2: glm.vec3
-    
-# used for generating contact points for the contact manifold
-@dataclass(frozen=True)
-class ContactPoint():
-    index: int
-    vertex: Vec3
-    
-# contact manifold object used in the contact handler list
-@dataclass
-class ContactManifold():
-    normal: glm.vec3
-    contact_points1: dict[int : glm.vec3] # contact point index : collision position
-    contact_points2: dict[int : glm.vec3]
-    
-@dataclass
-class Collision():
-    node: ...
+import glm
+from dataclasses import dataclass
+
+from basilisk.generic.vec3 import Vec3
+# from ...nodes.node import Node
+
+# frozen because data does not need to be mutable
+# used in creating polytopes for GJK/EPA
+@dataclass(frozen=True)
+class SupportPoint():
+    support_point: glm.vec3
+    
+    index1: int # index of the vertex in the mesh
+    vertex1: glm.vec3 # world space location of the vertex at collision
+    
+    index2: int
+    vertex2: glm.vec3
+    
+# used for generating contact points for the contact manifold
+@dataclass(frozen=True)
+class ContactPoint():
+    index: int
+    vertex: Vec3
+    
+# contact manifold object used in the contact handler list
+@dataclass
+class ContactManifold():
+    normal: glm.vec3
+    contact_points1: dict[int : glm.vec3] # contact point index : collision position
+    contact_points2: dict[int : glm.vec3]
+    
+@dataclass
+class Collision():
+    node: ...
     normal: glm.vec3

basilisk/collisions/narrow/deprecated.py

@@ -1,47 +1,47 @@
-    # def sat_manifold(self, points1: list[glm.vec3], points2: list[glm.vec3], axis: glm.vec3, plane_point: glm.vec3, digit: int) -> list[glm.vec3]:
-    #     """
-    #     Returns the contact manifold from an SAT OBB OBB collision
-    #     """
-    #     def get_test_points(contact_plane_normal:glm.vec3, points:list[glm.vec3], count: int):
-    #         test_points = [(glm.dot(contact_plane_normal, p), p) for p in points]
-    #         test_points.sort(key=lambda p: p[0])
-    #         return [p[1] for p in test_points[:count]]
-        
-    #     def get_test_points_unknown(contact_plane_normal:glm.vec3, points:list[glm.vec3]):
-    #         test_points = [(glm.dot(contact_plane_normal, p), p) for p in points]
-    #         test_points.sort(key=lambda p: p[0])
-    #         if test_points[2][0] - test_points[0][0] > 1e-3: return [p[1] for p in test_points[:2]]
-    #         else:                                            return [p[1] for p in test_points[:4]]        
-        
-    #     if digit < 6: # there must be at least one face in the collision
-    #         reference, incident = (get_test_points(-axis, points1, 4), get_test_points_unknown(axis, points2)) if digit < 3 else (get_test_points(axis, points2, 4), get_test_points_unknown(-axis, points1))
-            
-    #         # project vertices onto the 2d plane
-    #         reference = project_points(plane_point, axis, reference)
-    #         incident  = project_points(plane_point, axis, incident)
-            
-    #         # convert points to 2d for intersection algorithms
-    #         reference, u1, v1 = points_to_2d(plane_point, axis, reference)
-    #         incident,  u2, v2 = points_to_2d(plane_point, axis, incident, u1, v1)
-            
-    #         # convert arbitrary points to polygon
-    #         reference = graham_scan(reference)
-    #         if len(incident) == 4:  incident =  graham_scan(incident)
-            
-    #         # run clipping algorithms
-    #         manifold = []
-    #         if len(incident) == 2: manifold = line_poly_intersect(incident, reference)
-    #         else:                  manifold = sutherland_hodgman(reference, incident)
-                
-    #         # # fall back if manifold fails to develope
-    #         assert len(manifold), 'sat did not generate points'
-            
-    #         # # convert inertsection algorithm output to 3d
-    #         return points_to_3d(u1, v1, plane_point, manifold)
-        
-    #     else: # there is an edge edge collision
-            
-    #         points1 = get_test_points(-axis, points1, 2)
-    #         points2 = get_test_points(axis, points2, 2)
-            
+    # def sat_manifold(self, points1: list[glm.vec3], points2: list[glm.vec3], axis: glm.vec3, plane_point: glm.vec3, digit: int) -> list[glm.vec3]:
+    #     """
+    #     Returns the contact manifold from an SAT OBB OBB collision
+    #     """
+    #     def get_test_points(contact_plane_normal:glm.vec3, points:list[glm.vec3], count: int):
+    #         test_points = [(glm.dot(contact_plane_normal, p), p) for p in points]
+    #         test_points.sort(key=lambda p: p[0])
+    #         return [p[1] for p in test_points[:count]]
+        
+    #     def get_test_points_unknown(contact_plane_normal:glm.vec3, points:list[glm.vec3]):
+    #         test_points = [(glm.dot(contact_plane_normal, p), p) for p in points]
+    #         test_points.sort(key=lambda p: p[0])
+    #         if test_points[2][0] - test_points[0][0] > 1e-3: return [p[1] for p in test_points[:2]]
+    #         else:                                            return [p[1] for p in test_points[:4]]        
+        
+    #     if digit < 6: # there must be at least one face in the collision
+    #         reference, incident = (get_test_points(-axis, points1, 4), get_test_points_unknown(axis, points2)) if digit < 3 else (get_test_points(axis, points2, 4), get_test_points_unknown(-axis, points1))
+            
+    #         # project vertices onto the 2d plane
+    #         reference = project_points(plane_point, axis, reference)
+    #         incident  = project_points(plane_point, axis, incident)
+            
+    #         # convert points to 2d for intersection algorithms
+    #         reference, u1, v1 = points_to_2d(plane_point, axis, reference)
+    #         incident,  u2, v2 = points_to_2d(plane_point, axis, incident, u1, v1)
+            
+    #         # convert arbitrary points to polygon
+    #         reference = graham_scan(reference)
+    #         if len(incident) == 4:  incident =  graham_scan(incident)
+            
+    #         # run clipping algorithms
+    #         manifold = []
+    #         if len(incident) == 2: manifold = line_poly_intersect(incident, reference)
+    #         else:                  manifold = sutherland_hodgman(reference, incident)
+                
+    #         # # fall back if manifold fails to develope
+    #         assert len(manifold), 'sat did not generate points'
+            
+    #         # # convert inertsection algorithm output to 3d
+    #         return points_to_3d(u1, v1, plane_point, manifold)
+        
+    #     else: # there is an edge edge collision
+            
+    #         points1 = get_test_points(-axis, points1, 2)
+    #         points2 = get_test_points(axis, points2, 2)
+            
     #         return closest_two_lines(*points1, *points2)

basilisk/collisions/narrow/epa.py

@@ -1,92 +1,92 @@
-import glm
-from .helper import get_support_point
-from .dataclasses import SupportPoint
-from...nodes.node import Node
-
-
-# TODO change these to structs when converting to C++
-face_type     = list[tuple[float, glm.vec3, glm.vec3, int, int, int]] # distance, normal, center, index 1, index 2, index 3
-polytope_type = list[SupportPoint] # polytope vertex, node1 vertex, node2 vertex
-
-def get_epa_from_gjk(node1: Node, node2: Node, polytope: polytope_type, epsilon: float=0) -> tuple[face_type, polytope_type]: # TODO determine the return type of get_epa_from_gjk and if epsilon is good value
-    """
-    Determines the peneration vector from a collision using EPA. The returned face normal is normalized but the rest are not guarunteed to be. 
-    """
-    # orient faces to point normals counter clockwise
-    faces: face_type = []
-    for indices in [(0, 1, 2), (0, 1, 3), (0, 2, 3), (1, 2, 3)]: faces = insert_face(polytope, faces, indices)
-    
-    # develope the polytope until the nearest real face has been found, within epsilon
-    while True:
-        new_point = get_support_point(node1, node2, faces[0][1])
-        if new_point in polytope or glm.length(new_point.support_point) - faces[0][0] < epsilon: return faces[0], polytope
-        faces, polytope = insert_point(polytope, faces, new_point)
-
-def insert_point(polytope: polytope_type, faces: face_type, point: glm.vec3, epsilon: float=0) -> tuple[face_type, polytope_type]:
-    """
-    Inserts a point into the polytope sorting by distance from the origin
-    """ 
-    # determine which faces are facing the new point
-    polytope.append(point)
-    support_index = len(polytope) - 1
-    visible_faces = [
-        face for face in faces
-        if glm.dot(face[1], polytope[support_index].support_point) >= epsilon and # if the normal of a face is pointing towards the added point
-           glm.dot(face[1], polytope[support_index].support_point - face[2]) >= epsilon # TODO check if this ever occurs
-    ]
-    
-    # generate new edges
-    edges = []
-    for face in visible_faces:
-        for p1, p2 in get_face_edges(face):
-            if (p2, p1) in edges: edges.remove((p2, p1)) # edges can only be shared by two faces, running opposite to each other. 
-            elif (p1, p2) in edges: # TODO remove this
-                edges.remove((p1, p2))
-                # print('not reversed')
-            else: edges.append((p1, p2))
-    
-    # remove visible faces
-    for face in sorted(visible_faces, reverse = True): faces.remove(face)
-    
-    # add new faces
-    new_face_indices = [orient_face(polytope, (edge[0], edge[1], support_index)) for edge in edges] # edge[0], edge[1] is already ccw
-    for indices in new_face_indices: faces = insert_face(polytope, faces, indices)
-    
-    return faces, polytope
-
-def insert_face(polytope: polytope_type, faces: face_type, indices: tuple[int, int, int]) -> face_type:
-    """
-    Inserts a face into the face priority queue based on the indices given in the polytope
-    """
-    center   = (polytope[indices[0]].support_point + polytope[indices[1]].support_point + polytope[indices[2]].support_point) / 3
-    normal   = glm.cross(polytope[indices[1]].support_point - polytope[indices[0]].support_point, polytope[indices[2]].support_point - polytope[indices[0]].support_point) # closest face normal will be normalized once returned to avoid square roots and division
-    if glm.dot(center, normal) < 0: 
-        normal *= -1
-        indices = (indices[2], indices[1], indices[0])
-
-    # TODO solve cases where face may contain origin
-    normal = glm.normalize(normal)
-    distance = abs(glm.dot(polytope[indices[0]].support_point, normal))
-    new_face = (distance, normal, center, *indices)
-    
-    # insert faces into priority queue based on distance from origin
-    for i, face in enumerate(faces):
-        if face[0] < distance: continue
-        faces.insert(i, new_face)
-        break
-    else: faces.append(new_face)
-    
-    return faces
-
-def orient_face(polytope: polytope_type, indices: tuple[int, int, int]) -> tuple[int, int, int]:
-    """
-    Orients the face indices to have a counter clockwise normal
-    """
-    if glm.dot(glm.cross(polytope[indices[1]].support_point, polytope[indices[2]].support_point), polytope[indices[0]].support_point) < 0: return (indices[2], indices[1], indices[0])
-    return indices
-    
-def get_face_edges(face: tuple[float, glm.vec3, glm.vec3, int, int, int]) -> list[tuple[int, int]]:
-    """
-    Permutes a tuple of three unique numbers (a, b, c) into 3 pairs (x, y), preserving order
-    """
+import glm
+from .helper import get_support_point
+from .dataclasses import SupportPoint
+from...nodes.node import Node
+
+
+# TODO change these to structs when converting to C++
+face_type     = list[tuple[float, glm.vec3, glm.vec3, int, int, int]] # distance, normal, center, index 1, index 2, index 3
+polytope_type = list[SupportPoint] # polytope vertex, node1 vertex, node2 vertex
+
+def get_epa_from_gjk(node1: Node, node2: Node, polytope: polytope_type, epsilon: float=0) -> tuple[face_type, polytope_type]: # TODO determine the return type of get_epa_from_gjk and if epsilon is good value
+    """
+    Determines the peneration vector from a collision using EPA. The returned face normal is normalized but the rest are not guarunteed to be. 
+    """
+    # orient faces to point normals counter clockwise
+    faces: face_type = []
+    for indices in [(0, 1, 2), (0, 1, 3), (0, 2, 3), (1, 2, 3)]: faces = insert_face(polytope, faces, indices)
+    
+    # develope the polytope until the nearest real face has been found, within epsilon
+    while True:
+        new_point = get_support_point(node1, node2, faces[0][1])
+        if new_point in polytope or glm.length(new_point.support_point) - faces[0][0] < epsilon: return faces[0], polytope
+        faces, polytope = insert_point(polytope, faces, new_point)
+
+def insert_point(polytope: polytope_type, faces: face_type, point: glm.vec3, epsilon: float=0) -> tuple[face_type, polytope_type]:
+    """
+    Inserts a point into the polytope sorting by distance from the origin
+    """ 
+    # determine which faces are facing the new point
+    polytope.append(point)
+    support_index = len(polytope) - 1
+    visible_faces = [
+        face for face in faces
+        if glm.dot(face[1], polytope[support_index].support_point) >= epsilon and # if the normal of a face is pointing towards the added point
+           glm.dot(face[1], polytope[support_index].support_point - face[2]) >= epsilon # TODO check if this ever occurs
+    ]
+    
+    # generate new edges
+    edges = []
+    for face in visible_faces:
+        for p1, p2 in get_face_edges(face):
+            if (p2, p1) in edges: edges.remove((p2, p1)) # edges can only be shared by two faces, running opposite to each other. 
+            elif (p1, p2) in edges: # TODO remove this
+                edges.remove((p1, p2))
+                # print('not reversed')
+            else: edges.append((p1, p2))
+    
+    # remove visible faces
+    for face in sorted(visible_faces, reverse = True): faces.remove(face)
+    
+    # add new faces
+    new_face_indices = [orient_face(polytope, (edge[0], edge[1], support_index)) for edge in edges] # edge[0], edge[1] is already ccw
+    for indices in new_face_indices: faces = insert_face(polytope, faces, indices)
+    
+    return faces, polytope
+
+def insert_face(polytope: polytope_type, faces: face_type, indices: tuple[int, int, int]) -> face_type:
+    """
+    Inserts a face into the face priority queue based on the indices given in the polytope
+    """
+    center   = (polytope[indices[0]].support_point + polytope[indices[1]].support_point + polytope[indices[2]].support_point) / 3
+    normal   = glm.cross(polytope[indices[1]].support_point - polytope[indices[0]].support_point, polytope[indices[2]].support_point - polytope[indices[0]].support_point) # closest face normal will be normalized once returned to avoid square roots and division
+    if glm.dot(center, normal) < 0: 
+        normal *= -1
+        indices = (indices[2], indices[1], indices[0])
+
+    # TODO solve cases where face may contain origin
+    normal = glm.normalize(normal)
+    distance = abs(glm.dot(polytope[indices[0]].support_point, normal))
+    new_face = (distance, normal, center, *indices)
+    
+    # insert faces into priority queue based on distance from origin
+    for i, face in enumerate(faces):
+        if face[0] < distance: continue
+        faces.insert(i, new_face)
+        break
+    else: faces.append(new_face)
+    
+    return faces
+
+def orient_face(polytope: polytope_type, indices: tuple[int, int, int]) -> tuple[int, int, int]:
+    """
+    Orients the face indices to have a counter clockwise normal
+    """
+    if glm.dot(glm.cross(polytope[indices[1]].support_point, polytope[indices[2]].support_point), polytope[indices[0]].support_point) < 0: return (indices[2], indices[1], indices[0])
+    return indices
+    
+def get_face_edges(face: tuple[float, glm.vec3, glm.vec3, int, int, int]) -> list[tuple[int, int]]:
+    """
+    Permutes a tuple of three unique numbers (a, b, c) into 3 pairs (x, y), preserving order
+    """
     return [(face[3], face[4]), (face[4], face[5]), (face[5], face[3])]