Added TestCase for which CheckSweptTriangleCellCollision does not terminate.

components/NavigationComponent.cs

@@ -278,7 +278,7 @@ public class NavigationComponent : Spatial
     }
 
     
-    bool CheckSweptTriangleCellCollision(Vector3 startWorld, Vector3 endWorld, float radius)
+    public bool CheckSweptTriangleCellCollision(Vector3 startWorld, Vector3 endWorld, float radius)
     {
         Vector2 startPlane = new Vector2(startWorld.x, startWorld.z);
         Vector2 endPlane = new Vector2(endWorld.x, endWorld.z);

tests/NavigationComponentTests.cs

@@ -0,0 +1,43 @@
+using Godot;
+using GoDotTest;
+using System.Diagnostics;
+using System.Linq;
+using Xunit;
+
+public class NavigationComponentTests : TestClass
+{
+    private Node _testScene = null;
+    private TileWorld _tileWorld;
+    private NavigationComponent _navigationComponent;
+    private KinematicBody _kinematicBody;
+
+    private PackedScene _tileWorldScene = GD.Load<PackedScene>("res://scenes/TileWorld.tscn");
+
+    public NavigationComponentTests(Node testScene) : base(testScene)
+    {
+        _testScene = testScene;
+    }
+
+    [Setup]
+    public void Setup()
+    {
+        _tileWorld = (TileWorld)_tileWorldScene.Instance();
+        _tileWorld.HexGrid = new HexGrid();
+        _testScene.AddChild(_tileWorld);
+        _kinematicBody = new KinematicBody();
+        _navigationComponent = new NavigationComponent();
+        _navigationComponent.TileWorld = _tileWorld;
+    }
+
+    [Test]
+    public void SimpleTest()
+    {
+        _tileWorld.HexGrid.AddObstacle(HexCell.FromOffsetCoords(new Vector2 (-4, 7)));
+        
+        Vector3 startPoint = new Vector3(-2.25f, 1.2f, -4.76314f);
+        Vector3 endPoint = new Vector3(-2.533157f, 1.2f, -5.872417f);
+        
+        bool isBlocked = _navigationComponent.CheckSweptTriangleCellCollision(startPoint, endPoint, 0.27f);
+    }
+
+}