refactor calculation result

engine/physics/src/minimum_difference.rs

@@ -416,21 +416,23 @@ fn reduce_simplex(
 	}
 }
 
-enum Expanded{
-	Expanded,
-	Unexpanded,
-}
-
 /// Intermediate data structure containing a partially complete calculation.
 /// Sometimes you only care if the meshes are intersecting, and not about the
 /// exact point of intersection details.
-pub struct MinimumDifference{
-	expanded:Expanded,
+pub enum MinimumDifference{
+	Expanded{},
+	Unexpanded{},
 }
 impl MinimumDifference{
-	pub fn details(&self,mesh:&MinkowskiMesh,rel_pos:Planar64Vec3)->Details{
-		match self.expanded{
-			Expanded::Expanded=>{
+	fn expanded()->Option<Self>{
+		unimplemented!()
+	}
+	fn unexpanded()->Self{
+		unimplemented!()
+	}
+	pub fn topology(self,mesh:&MinkowskiMesh,rel_pos:Planar64Vec3)->Topology{
+		match self{
+			Self::Expanded{}=>{
 				// local norm = direction.unit
 				// local dist = a:Dot(norm)
 				// local hits = -dist < radiusP + radiusQ
@@ -446,9 +448,9 @@ impl MinimumDifference{
 				// 		posQ + radiusQ*norm, norm
 				// end
 				// return false
-				Details{}
+				Topology{}
 			},
-			Expanded::Unexpanded=>{
+			Self::Unexpanded{}=>{
 				// if testIntersection then
 				// 	return true
 				// end
@@ -460,11 +462,18 @@ impl MinimumDifference{
 				// 		posQ + radiusQ*norm, norm
 				// end
 				// return nil
-				Details{}
+				Topology{}
 			},
 		}
 	}
 }
+pub struct Topology{
+}
+impl Topology{
+	pub fn details(self)->Details{
+		unimplemented!()
+	}
+}
 pub struct Details{
 	// distance:Planar64,
 	// p_pos:Planar64Vec3,
@@ -492,7 +501,7 @@ pub fn minimum_difference(mesh:&MinkowskiMesh,rel_pos:Planar64Vec3)->Option<Mini
 	loop{
 		// if a and b and c and d then
 		if simplex.len()==SIMPLEX_TETRAHEDRON{
-			// return Some(MinimumDifference::unexpanded());
+			return Some(MinimumDifference::unexpanded());
 		}
 
 		// new_point_p = queryP(-direction)
@@ -520,7 +529,7 @@ pub fn minimum_difference(mesh:&MinkowskiMesh,rel_pos:Planar64Vec3)->Option<Mini
 		// 	absDet(next_point, a, b, c) < 1e-6
 		if !direction.dot(mesh.vert(simplex[0])-mesh.vert(simplex[1])).is_positive()
 		||simplex_abs_det_is_zero(mesh,&simplex){
-			// return Some(MinimumDifference::expanded());
+			return MinimumDifference::expanded();
 		}
 
 		// direction, a0, a1, b0, b1, c0, c1, d0, d1 = reduceSimplex(new_point_p, new_point_q, a0, a1, b0, b1, c0, c1)