change inequality inclusivity

engine/physics/src/minimum_difference.rs

@@ -191,7 +191,7 @@ fn reduce2<M:MeshQuery<Position=Planar64Vec3>>(
 	let p_u=p.dot(u);
 
 	// if p_u >= 0 then
-	if !p_u.is_negative(){
+	if p_u.is_positive(){
 		// local direction = u:Cross(p):Cross(u)
 		let direction=u.cross(p).cross(u);
 
@@ -263,7 +263,7 @@ fn reduce3<M:MeshQuery<Position=Planar64Vec3>>(
 	let uv_pv=uv.dot(pv);
 
 	// if uv_up >= 0 and uv_pv >= 0 then
-	if !uv_up.is_negative()&&!uv_pv.is_negative(){
+	if uv_up.is_positive()&&uv_pv.is_positive(){
 		// local uvp = uv:Dot(p)
 		let uvp=uv.dot(p);
 
@@ -303,7 +303,7 @@ fn reduce3<M:MeshQuery<Position=Planar64Vec3>>(
 	let p_u=p.dot(u);
 
 	// if p_u >= 0 then
-	if !p_u.is_negative(){
+	if p_u.is_positive(){
 		// local direction = up:Cross(u)
 		let direction=up.cross(u);
 		// if direction.magnitude == 0 then
@@ -384,9 +384,9 @@ fn reduce4<M:MeshQuery<Position=Planar64Vec3>>(
 	let uv_p=uv.dot(p);
 
 	// if pvw/uvw >= 0 and upw/uvw >= 0 and uvp/uvw >= 0 then
-	if !pv_w.div_sign(uv_w).is_negative()
-	 &&!up_w.div_sign(uv_w).is_negative()
-	 &&!uv_p.div_sign(uv_w).is_negative(){
+	if pv_w.div_sign(uv_w).is_positive()
+	 &&up_w.div_sign(uv_w).is_positive()
+	 &&uv_p.div_sign(uv_w).is_positive(){
 		// origin is contained, this is a positive detection
 		// local direction = Vector3.new(0, 0, 0)
 		// return direction, a0, a1, b0, b1, c0, c1, d0, d1
@@ -439,7 +439,7 @@ fn reduce4<M:MeshQuery<Position=Planar64Vec3>>(
 	let uv_pv=uv.dot(pv);
 
 	// if uv_up >= 0 and uv_pv >= 0 then
-	if !uv_up.is_negative()&&!uv_pv.is_negative(){
+	if uv_up.is_positive()&&uv_pv.is_positive(){
 		// local direction = uvw < 0 and uv or -uv
 		// return direction, a0, a1, b0, b1, c0, c1
 		let dir=if uv_w.is_negative(){
@@ -475,7 +475,7 @@ fn reduce4<M:MeshQuery<Position=Planar64Vec3>>(
 	let p_u=p.dot(u);
 
 	// if p_u >= 0 then
-	if !p_u.is_negative(){
+	if p_u.is_positive(){
 		// local direction = up:Cross(u)
 		let direction=up.cross(u);
 		// if direction.magnitude == 0 then
@@ -760,11 +760,11 @@ fn crawl_to_closest_fev<'a>(mesh:&MinkowskiMesh<'a>,simplex:Simplex<3,MinkowskiV
 }
 
 pub fn closest_fev_not_inside<'a>(mesh:&MinkowskiMesh<'a>,point:Planar64Vec3)->Option<FEV<MinkowskiMesh<'a>>>{
-	println!("=== LUA ===");
-	let (hits,_details)=crate::minimum_difference_lua::minimum_difference_details(mesh,point).unwrap();
-	println!("=== RUST ===");
+	// println!("=== LUA ===");
+	// let (hits,_details)=crate::minimum_difference_lua::minimum_difference_details(mesh,point).unwrap();
+	// println!("=== RUST ===");
 	let closest_fev_not_inside=closest_fev_not_inside_inner(mesh,point);
-	assert_eq!(hits,closest_fev_not_inside.is_none(),"algorithms disagree");
+	// assert_eq!(hits,closest_fev_not_inside.is_none(),"algorithms disagree");
 	closest_fev_not_inside
 }
 
@@ -893,7 +893,7 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery<Position=Planar6
 		let d1=direction.dot(next_pos-last_pos);
 		let cond2=simplex_big.det_is_zero(mesh);
 		println!("d1={d1:?} cond2={cond2}");
-		if !d1.is_positive()||cond2{
+		if d1.is_negative()||cond2{
 			println!("on_exact");
 			// Found enough information to compute the exact closest point.
 			// local norm = direction.unit

engine/physics/src/minkowski.rs

@@ -109,6 +109,7 @@ impl MinkowskiMesh<'_>{
 			Bound::Unbounded=>trajectory.position,
 		};
 		let fev=crate::minimum_difference::closest_fev_not_inside(self,start_position)?;
+		println!("fev={fev:?}");
 		//continue forwards along the body parabola
 		fev.crawl(self,trajectory,range.start_bound(),range.end_bound()).hit()
 	}