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added gjk tests
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277
tests/general/unit_test_gjk_comprehensive.cpp
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277
tests/general/unit_test_gjk_comprehensive.cpp
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//
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// Comprehensive GJK tests.
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// Covers: all 6 axis directions, diagonal cases, boundary touching,
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// asymmetric sizes, nesting, symmetry, simplex info, far separation.
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//
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#include <gtest/gtest.h>
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#include <omath/collision/gjk_algorithm.hpp>
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#include <omath/engines/source_engine/collider.hpp>
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#include <omath/engines/source_engine/mesh.hpp>
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using Mesh = omath::source_engine::Mesh;
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using Collider = omath::source_engine::MeshCollider;
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using Gjk = omath::collision::GjkAlgorithm<Collider>;
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using Vec3 = omath::Vector3<float>;
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namespace
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{
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// Unit cube [-1, 1]^3 in local space.
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const std::vector<omath::primitives::Vertex<>> k_cube_vbo = {
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{ { -1.f, -1.f, -1.f }, {}, {} },
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{ { -1.f, -1.f, 1.f }, {}, {} },
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{ { -1.f, 1.f, -1.f }, {}, {} },
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{ { -1.f, 1.f, 1.f }, {}, {} },
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{ { 1.f, 1.f, 1.f }, {}, {} },
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{ { 1.f, 1.f, -1.f }, {}, {} },
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{ { 1.f, -1.f, 1.f }, {}, {} },
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{ { 1.f, -1.f, -1.f }, {}, {} },
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};
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const std::vector<omath::Vector3<std::uint32_t>> k_empty_ebo{};
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Collider make_cube(const Vec3& origin = {}, const Vec3& scale = { 1, 1, 1 })
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{
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Mesh m{ k_cube_vbo, k_empty_ebo, scale };
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m.set_origin(origin);
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return Collider{ m };
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}
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} // namespace
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// ---------------------------------------------------------------------------
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// Separation — expect false
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// ---------------------------------------------------------------------------
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TEST(GjkComprehensive, Separated_AlongPosX)
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{
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// A extends to x=1, B starts at x=1.1 → clear gap
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EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 2.1f, 0, 0 })));
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}
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TEST(GjkComprehensive, Separated_AlongNegX)
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{
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// B to the left of A
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EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ -2.1f, 0, 0 })));
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}
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TEST(GjkComprehensive, Separated_AlongPosY)
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{
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EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 0, 2.1f, 0 })));
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}
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TEST(GjkComprehensive, Separated_AlongNegY)
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{
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EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 0, -2.1f, 0 })));
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}
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TEST(GjkComprehensive, Separated_AlongPosZ)
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{
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EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, 2.1f })));
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}
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TEST(GjkComprehensive, Separated_AlongNegZ)
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{
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EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, -2.1f })));
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}
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TEST(GjkComprehensive, Separated_AlongDiagonal)
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{
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// All components exceed 2.0 — no overlap on any axis
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EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 2.1f, 2.1f, 2.1f })));
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}
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TEST(GjkComprehensive, Separated_LargeDistance)
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{
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EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 100.f, 0, 0 })));
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}
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TEST(GjkComprehensive, Separated_AsymmetricSizes)
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{
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// Big (scale 2, half-ext 2), small (scale 0.5, half-ext 0.5) at 2.6 → gap of 0.1
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EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }, { 2, 2, 2 }), make_cube({ 2.6f, 0, 0 }, { 0.5f, 0.5f, 0.5f })));
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}
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// ---------------------------------------------------------------------------
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// Overlap — expect true
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// ---------------------------------------------------------------------------
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TEST(GjkComprehensive, Overlapping_AlongPosX)
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{
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// B offset 1.5 → overlap depth 0.5 in X
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EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 1.5f, 0, 0 })));
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}
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TEST(GjkComprehensive, Overlapping_AlongNegX)
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{
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EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ -1.5f, 0, 0 })));
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}
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TEST(GjkComprehensive, Overlapping_AlongPosZ)
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{
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EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, 1.5f })));
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}
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TEST(GjkComprehensive, Overlapping_AlongNegZ)
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{
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EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, -1.5f })));
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}
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TEST(GjkComprehensive, Overlapping_AlongDiagonalXY)
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{
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// Minkowski sum extends ±2 on each axis; offset (1,1,0) is inside
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EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 1.f, 1.f, 0.f })));
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}
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TEST(GjkComprehensive, Overlapping_AlongDiagonalXYZ)
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{
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// All three axes overlap: (1,1,1) is inside the Minkowski sum
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EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 1.f, 1.f, 1.f })));
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}
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TEST(GjkComprehensive, FullyNested_SmallInsideBig)
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{
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// Small cube (half-ext 0.5) fully inside big cube (half-ext 2)
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EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }, { 2, 2, 2 }), make_cube({ 0, 0, 0 }, { 0.5f, 0.5f, 0.5f })));
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}
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TEST(GjkComprehensive, FullyNested_OffCenter)
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{
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// Small at (0.5, 0, 0) still fully inside big (half-ext 2)
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EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }, { 2, 2, 2 }), make_cube({ 0.5f, 0, 0 }, { 0.5f, 0.5f, 0.5f })));
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}
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TEST(GjkComprehensive, Overlapping_AsymmetricSizes)
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{
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// Big (scale 2, half-ext 2) and small (scale 0.5, half-ext 0.5) at 2.0 → overlap 0.5 in X
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EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }, { 2, 2, 2 }), make_cube({ 2.0f, 0, 0 }, { 0.5f, 0.5f, 0.5f })));
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}
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// ---------------------------------------------------------------------------
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// Boundary cases
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// ---------------------------------------------------------------------------
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TEST(GjkComprehensive, BoundaryCase_JustColliding)
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{
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// B at 1.999 — 0.001 overlap in X
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EXPECT_TRUE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 1.999f, 0, 0 })));
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}
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TEST(GjkComprehensive, BoundaryCase_JustSeparated)
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{
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// B at 2.001 — 0.001 gap in X
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EXPECT_FALSE(Gjk::is_collide(make_cube({ 0, 0, 0 }), make_cube({ 2.001f, 0, 0 })));
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}
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// ---------------------------------------------------------------------------
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// Symmetry
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// ---------------------------------------------------------------------------
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TEST(GjkComprehensive, Symmetry_WhenColliding)
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{
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const auto a = make_cube({ 0, 0, 0 });
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const auto b = make_cube({ 1.5f, 0, 0 });
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EXPECT_EQ(Gjk::is_collide(a, b), Gjk::is_collide(b, a));
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}
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TEST(GjkComprehensive, Symmetry_WhenSeparated)
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{
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const auto a = make_cube({ 0, 0, 0 });
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const auto b = make_cube({ 2.1f, 0.5f, 0 });
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EXPECT_EQ(Gjk::is_collide(a, b), Gjk::is_collide(b, a));
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}
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TEST(GjkComprehensive, Symmetry_DiagonalSeparation)
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{
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const auto a = make_cube({ 0, 0, 0 });
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const auto b = make_cube({ 1.5f, 1.5f, 1.5f });
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EXPECT_EQ(Gjk::is_collide(a, b), Gjk::is_collide(b, a));
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}
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// ---------------------------------------------------------------------------
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// Simplex info
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// ---------------------------------------------------------------------------
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TEST(GjkComprehensive, SimplexInfo_HitProducesSimplex4)
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{
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// On collision the simplex must be a full tetrahedron (4 points)
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const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(make_cube({ 0, 0, 0 }), make_cube({ 0.5f, 0, 0 }));
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EXPECT_TRUE(hit);
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EXPECT_EQ(simplex.size(), 4u);
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}
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TEST(GjkComprehensive, SimplexInfo_MissProducesLessThan4)
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{
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// On non-collision the simplex can never be a full tetrahedron
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const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(make_cube({ 0, 0, 0 }), make_cube({ 2.1f, 0, 0 }));
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EXPECT_FALSE(hit);
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EXPECT_LT(simplex.size(), 4u);
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}
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TEST(GjkComprehensive, SimplexInfo_HitAlongY)
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{
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const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(make_cube({ 0, 0, 0 }), make_cube({ 0, 1.5f, 0 }));
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EXPECT_TRUE(hit);
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EXPECT_EQ(simplex.size(), 4u);
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}
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TEST(GjkComprehensive, SimplexInfo_HitAlongZ)
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{
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const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(make_cube({ 0, 0, 0 }), make_cube({ 0, 0, 1.5f }));
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EXPECT_TRUE(hit);
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EXPECT_EQ(simplex.size(), 4u);
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}
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TEST(GjkComprehensive, SimplexInfo_MissAlongDiagonal)
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{
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const auto [hit, simplex] = Gjk::is_collide_with_simplex_info(make_cube({ 0, 0, 0 }), make_cube({ 2.1f, 2.1f, 2.1f }));
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EXPECT_FALSE(hit);
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EXPECT_LT(simplex.size(), 4u);
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}
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// ---------------------------------------------------------------------------
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// Non-trivial geometry — tetrahedron shaped colliders
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// ---------------------------------------------------------------------------
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TEST(GjkComprehensive, TetrahedronShapes_Overlapping)
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{
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// A rough tetrahedron mesh; two of them close enough to overlap
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const std::vector<omath::primitives::Vertex<>> tet_vbo = {
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{ { 0.f, 1.f, 0.f }, {}, {} },
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{ { -1.f, -1.f, 1.f }, {}, {} },
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{ { 1.f, -1.f, 1.f }, {}, {} },
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{ { 0.f, -1.f, -1.f }, {}, {} },
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};
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Mesh m_a{ tet_vbo, k_empty_ebo };
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Mesh m_b{ tet_vbo, k_empty_ebo };
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m_b.set_origin({ 0.5f, 0.f, 0.f });
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EXPECT_TRUE(Gjk::is_collide(Collider{ m_a }, Collider{ m_b }));
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}
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TEST(GjkComprehensive, TetrahedronShapes_Separated)
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{
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const std::vector<omath::primitives::Vertex<>> tet_vbo = {
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{ { 0.f, 1.f, 0.f }, {}, {} },
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{ { -1.f, -1.f, 1.f }, {}, {} },
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{ { 1.f, -1.f, 1.f }, {}, {} },
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{ { 0.f, -1.f, -1.f }, {}, {} },
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};
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Mesh m_a{ tet_vbo, k_empty_ebo };
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Mesh m_b{ tet_vbo, k_empty_ebo };
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m_b.set_origin({ 3.f, 0.f, 0.f });
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EXPECT_FALSE(Gjk::is_collide(Collider{ m_a }, Collider{ m_b }));
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}
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// ---------------------------------------------------------------------------
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// Determinism
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// ---------------------------------------------------------------------------
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TEST(GjkComprehensive, Deterministic_SameResultOnRepeatedCalls)
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{
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const auto a = make_cube({ 0, 0, 0 });
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const auto b = make_cube({ 1.2f, 0.3f, 0.1f });
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const bool first = Gjk::is_collide(a, b);
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for (int i = 0; i < 10; ++i)
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EXPECT_EQ(Gjk::is_collide(a, b), first);
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}
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