admin/omath
1
0
Fork 0
mirror of https://github.com/orange-cpp/omath.git synced 2026-02-12 22:53:27 +00:00
Code Issues Packages Projects Releases Wiki Activity

added epa

Browse Source
This commit is contained in:
Orange
2025-11-13 15:57:38 +03:00
parent 6d3b543648
commit 06b597f37c
3 changed files with 336 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

57
tests/general/unit_test_epa.cpp Normal file
View File

@@ -0,0 +1,57 @@
//
// Created by Vlad on 11/13/2025.
//
#include "omath/collision/gjk_algorithm.hpp"
#include "omath/engines/source_engine/collider.hpp"
#include <gtest/gtest.h>
#include <omath/collision/epa_algorithm.hpp>
#include <omath/engines/source_engine/mesh.hpp>
namespace
{
const omath::source_engine::Mesh mesh = {{{-1.f, -1.f, -1.f},
{-1.f, -1.f, 1.f},
{-1.f, 1.f, -1.f},
{-1.f, 1.f, 1.f},
{1.f, 1.f, 1.f},
{1.f, 1.f, -1.f},
{1.f, -1.f, 1.f},
{1.f, -1.f, -1.f}},
{}};
}
TEST(UnitTestEpa, TestCollisionTrue)
{
std::vector<omath::Vector3<float>> vbo = {{-1, -1, -1}, {-1, -1, 1}, {-1, 1, -1}, {-1, 1, 1},
{1, 1, 1}, {1, 1, -1}, {1, -1, 1}, {1, -1, -1}};
std::vector<omath::Vector3<std::size_t>> vao; // not needed for GJK/EPA
omath::source_engine::Mesh a(vbo, vao, {1, 1, 1});
omath::source_engine::Mesh b(vbo, vao, {1, 1, 1});
a.set_origin({0, 0, 0});
b.set_origin({0.5f, 0, 0}); // slight overlap
const omath::source_engine::MeshCollider collider_a(mesh);
omath::source_engine::MeshCollider A(a), B(b);
// 1) GJK → final simplex
using Gjk = omath::collision::GjkAlgorithm<omath::source_engine::MeshCollider>;
auto gjk = Gjk::is_collide_with_simplex_info(A, B);
if (!gjk.hit)
{
std::cout << "No collision\n";
}
using Epa = omath::collision::Epa<omath::source_engine::MeshCollider>;
// 2) EPA → normal/depth
Epa::Params params;
params.max_iterations = 64;
params.tolerance = 1e-4f;
auto epa = Epa::solve(A, B, gjk.simplex, params);
if (!epa.success)
{
std::cout << "EPA failed\n";
}
}