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added std::optional

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Orange
2025-11-13 21:25:45 +03:00
parent 12f888b8d4
commit 0283935918
2 changed files with 24 additions and 25 deletions
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38
tests/general/unit_test_epa.cpp
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@@ -36,22 +36,22 @@ TEST(UnitTestEpa, TestCollisionTrue)
params.max_iterations = 64;
params.tolerance = 1e-4f;
auto epa = EPA::solve(A, B, gjk.simplex, params);
ASSERT_TRUE(epa.success) << "EPA should converge";
ASSERT_TRUE(epa.has_value()) << "EPA should converge";
// Normal is unit
EXPECT_NEAR(epa.normal.dot(epa.normal), 1.0f, 1e-5f);
EXPECT_NEAR(epa->normal.dot(epa->normal), 1.0f, 1e-5f);
// For this setup, depth ≈ 1.5 (2 - 0.5)
EXPECT_NEAR(epa.depth, 1.5f, 1e-3f);
EXPECT_NEAR(epa->depth, 1.5f, 1e-3f);
// Normal axis sanity: near X axis
EXPECT_NEAR(std::abs(epa.normal.x), 1.0f, 1e-3f);
EXPECT_NEAR(epa.normal.y, 0.0f, 1e-3f);
EXPECT_NEAR(epa.normal.z, 0.0f, 1e-3f);
EXPECT_NEAR(std::abs(epa->normal.x), 1.0f, 1e-3f);
EXPECT_NEAR(epa->normal.y, 0.0f, 1e-3f);
EXPECT_NEAR(epa->normal.z, 0.0f, 1e-3f);
// Try both signs with a tiny margin (avoid grazing contacts)
const float margin = 1.0f + 1e-3f;
const auto pen = epa.normal * epa.depth;
const auto pen = epa->normal * epa->depth;
Mesh b_plus = b;
b_plus.set_origin(b_plus.get_origin() + pen * margin);
@@ -102,25 +102,25 @@ TEST(UnitTestEpa, TestCollisionTrue2)
params.max_iterations = 64;
params.tolerance = 1e-4f;
auto epa = EPA::solve(A, B, gjk.simplex, params);
ASSERT_TRUE(epa.success) << "EPA should converge";
ASSERT_TRUE(epa.has_value()) << "EPA should converge";
// Normal is unit-length
EXPECT_NEAR(epa.normal.dot(epa.normal), 1.0f, 1e-5f);
EXPECT_NEAR(epa->normal.dot(epa->normal), 1.0f, 1e-5f);
// For centers at 0 and +0.5 and half-extent 1 -> depth ≈ 1.5
EXPECT_NEAR(epa.depth, 1.5f, 1e-3f);
EXPECT_NEAR(epa->depth, 1.5f, 1e-3f);
// Axis sanity: mostly X
EXPECT_NEAR(std::abs(epa.normal.x), 1.0f, 1e-3f);
EXPECT_NEAR(epa.normal.y, 0.0f, 1e-3f);
EXPECT_NEAR(epa.normal.z, 0.0f, 1e-3f);
EXPECT_NEAR(std::abs(epa->normal.x), 1.0f, 1e-3f);
EXPECT_NEAR(epa->normal.y, 0.0f, 1e-3f);
EXPECT_NEAR(epa->normal.z, 0.0f, 1e-3f);
// Choose a deterministic sign: orient penetration from A toward B
const auto centers = b.get_origin() - a.get_origin(); // (0.5, 0, 0)
float sign = (epa.normal.dot(centers) >= 0.0f) ? +1.0f : -1.0f;
float sign = (epa->normal.dot(centers) >= 0.0f) ? +1.0f : -1.0f;
constexpr float margin = 1.0f + 1e-3f; // tiny slack to avoid grazing
const auto pen = epa.normal * epa.depth * sign;
const auto pen = epa->normal * epa->depth * sign;
// Apply once: B + pen must separate; the opposite must still collide
Mesh b_resolved = b;
@@ -132,8 +132,8 @@ TEST(UnitTestEpa, TestCollisionTrue2)
EXPECT_TRUE(GJK::is_collide(A, Collider(b_wrong))) << "Opposite direction should still intersect";
// Some book-keeping sanity
EXPECT_GT(epa.iterations, 0);
EXPECT_LT(epa.iterations, params.max_iterations);
EXPECT_GE(epa.num_faces, 4);
EXPECT_GT(epa.num_vertices, 4);
EXPECT_GT(epa->iterations, 0);
EXPECT_LT(epa->iterations, params.max_iterations);
EXPECT_GE(epa->num_faces, 4);
EXPECT_GT(epa->num_vertices, 4);
}