add failing test

engine/physics/src/minimum_difference.rs

@@ -3,6 +3,8 @@ use strafesnet_common::integer::vec3::Vector3;
 use strafesnet_common::integer::{Fixed,Planar64,Planar64Vec3};
 
 use crate::model::{DirectedEdge,FEV,MeshQuery};
+// TODO: remove mesh invert
+use crate::model::{MinkowskiMesh,MinkowskiVert};
 
 // This algorithm is based on Lua code
 // written by Trey Reynolds in 2021
@@ -502,10 +504,10 @@ impl<Vert> Simplex2_4<Vert>{
 	}
 }
 
-pub fn contains_point<M:MeshQuery>(mesh:&M,point:Planar64Vec3)->bool{
+pub fn contains_point(mesh:&MinkowskiMesh<'_>,point:Planar64Vec3)->bool{
 	const ENABLE_FAST_FAIL:bool=true;
 	// TODO: remove mesh negation
-	minimum_difference::<ENABLE_FAST_FAIL,_,M>(&-mesh,point,
+	minimum_difference::<ENABLE_FAST_FAIL,_,_>(&-mesh,point,
 		// on_exact
 		|is_intersecting,_simplex|{
 			is_intersecting
@@ -672,7 +674,7 @@ fn crawl_to_closest_ev<M:MeshQuery>(mesh:&M,simplex:Simplex<2,M::Vert>,point:Pla
 }
 
 /// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
-fn crawl_to_closest_fev<M:MeshQuery>(mesh:&M,simplex:Simplex<3,M::Vert>,point:Planar64Vec3)->FEV::<M>{
+fn crawl_to_closest_fev<'a>(mesh:&MinkowskiMesh<'a>,simplex:Simplex<3,MinkowskiVert>,point:Planar64Vec3)->FEV::<MinkowskiMesh<'a>>{
 	// naively start at the closest vertex
 	// the closest vertex is not necessarily the one with the fewest boundary hops
 	// but it doesn't matter, we will get there regardless.
@@ -719,10 +721,10 @@ fn crawl_to_closest_fev<M:MeshQuery>(mesh:&M,simplex:Simplex<3,M::Vert>,point:Pl
 	}
 }
 
-pub fn closest_fev_not_inside<M:MeshQuery>(mesh:&M,point:Planar64Vec3)->Option<FEV<M>>{
+pub fn closest_fev_not_inside<'a>(mesh:&MinkowskiMesh<'a>,point:Planar64Vec3)->Option<FEV<MinkowskiMesh<'a>>>{
 	const ENABLE_FAST_FAIL:bool=false;
 	// TODO: remove mesh negation
-	minimum_difference::<ENABLE_FAST_FAIL,_,M>(&-mesh,point,
+	minimum_difference::<ENABLE_FAST_FAIL,_,_>(&-mesh,point,
 		// on_exact
 		|is_intersecting,simplex|{
 			if is_intersecting{
@@ -841,4 +843,33 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery>(
 	}
 }
 
-// TODO: unit tests
+#[cfg(test)]
+mod test{
+	use super::*;
+    use crate::model::{PhysicsMesh,PhysicsMeshView};
+
+    fn mesh_contains_point(mesh:PhysicsMeshView<'_>,point:Planar64Vec3)->bool{
+		const ENABLE_FAST_FAIL:bool=true;
+		// TODO: remove mesh negation
+		minimum_difference::<ENABLE_FAST_FAIL,_,_>(&mesh,point,
+			// on_exact
+			|is_intersecting,_simplex|{
+				is_intersecting
+			},
+			// on_escape
+			|_simplex|{
+				// intersection is guaranteed at this point
+				true
+			},
+			// fast_fail value
+			||false
+		)
+	}
+
+	#[test]
+	fn test_cube_points(){
+		let mesh=PhysicsMesh::unit_cube();
+		let mesh_view=mesh.complete_mesh_view();
+		assert!(mesh_contains_point(mesh_view,vec3::NEG_Z));
+	}
+}