Fixes d_abc and d_bc computation in project_local_point_and_get_location

crates/parry2d/tests/lib.rs

@@ -4,3 +4,4 @@ extern crate nalgebra as na;
 extern crate parry2d;
 
 mod geometry;
+mod query;

crates/parry2d/tests/query/mod.rs

@@ -0,0 +1 @@
+mod point_triangle;

crates/parry2d/tests/query/point_triangle.rs

@@ -0,0 +1,20 @@
+use parry2d::{math::Point, query::PointQuery, shape::Triangle};
+
+#[test]
+fn project_local_point_point_on_ab() {
+    let verts = [
+        Point::new(2.0, 1.0),
+        Point::new(0.0, 1.0),
+        Point::new(1.0, 0.0),
+    ];
+    let tri1 = Triangle::new(verts[0], verts[1], verts[2]);
+    let tri2 = Triangle::new(verts[2], verts[0], verts[1]);
+
+    let query_pt = Point::new(1.4, 1.0);
+
+    let proj1 = tri1.project_local_point(&query_pt, false); // Used to fail on 0.14 and earlier
+    let proj2 = tri2.project_local_point(&query_pt, false);
+
+    assert_eq!(proj1.point, proj2.point);
+    assert_eq!(proj1.point, query_pt);
+}

src/query/point/point_triangle.rs

@@ -252,8 +252,8 @@ impl PointQueryWithLocation for Triangle {
 
             let bc = c - b;
             let d_ab = ap.norm_squared() - (ab.norm_squared() * v * v);
-            let d_ac = ap.norm_squared() - (ac.norm_squared() * u * u);
-            let d_bc = bp.norm_squared() - (bc.norm_squared() * w * w);
+            let d_ac = ap.norm_squared() - (ac.norm_squared() * w * w);
+            let d_bc = bp.norm_squared() - (bc.norm_squared() * u * u);
 
             let proj;
             let loc;