implement MinkowskiMesh::farthest_vert

src/integer.rs

@@ -415,6 +415,7 @@ impl Planar64{
 	pub const ZERO:Self=Self(0);
 	pub const ONE:Self=Self(1<<32);
 	pub const MAX:Self=Self(i64::MAX);
+	pub const MIN:Self=Self(i64::MIN);
 	#[inline]
 	pub const fn int(num:i32)->Self{
 		Self(Self::ONE.0*num as i64)

src/model_physics.rs

@@ -244,6 +244,19 @@ impl TransformedMesh<'_>{
 			normal_transform,
 		}
 	}
+	fn farthest_vert(&self,dir:Planar64Vec3)->VertId{
+		let best_dot=Planar64::MIN;
+		let best_vert;
+		for (i,vert) in self.mesh.verts.iter().enumerate(){
+			let p=self.transform.transform_point3(vert.0);
+			let d=dir.dot(p);
+			if best_dot<d{
+				best_dot=d;
+				best_vert=VertId(i);
+			}
+		}
+		best_vert
+	}
 	#[inline]
 	fn vert_directed_edges(&self,vert_id:VertId)->Cow<Vec<DirectedEdgeId>>{
 		self.mesh.vert_directed_edges(vert_id)
@@ -321,6 +334,9 @@ impl MinkowskiMesh<'_>{
 			mesh1,
 		}
 	}
+	fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
+		MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
+	}
 	fn closest_fev(&self,point:Planar64Vec3)->FEV<MinkowskiFace,MinkowskiEdge,MinkowskiVert>{
 		//put some genius code right here instead of this
 		//assume that point is outside the mesh and nonzero