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Improves EPA test coverage

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Adds a comprehensive unit test for the EPA algorithm,
validating collision detection, depth calculation, and
separation axis determination with a cube overlap scenario.

Refactors the test for clarity and robustness.
This commit is contained in:
Orange
2025-11-13 16:34:14 +03:00
parent 20aecac2ae
commit 873bdd2036
1 changed files with 63 additions and 45 deletions
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108
tests/general/unit_test_epa.cpp
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@@ -1,57 +1,75 @@
//
// 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>
#include "omath/linear_algebra/vector3.hpp"
#include "omath/collision/simplex.hpp"
#include "omath/collision/epa_algorithm.hpp" // Epa<Collider> + GjkAlgorithmWithSimplex<Collider>
#include "omath/engines/source_engine/mesh.hpp"
#include "omath/engines/source_engine/collider.hpp"
using Mesh = omath::source_engine::Mesh;
using Collider = omath::source_engine::MeshCollider;
using GJK = omath::collision::GjkAlgorithmWithSimplex<Collider>;
using EPA = omath::collision::Epa<Collider>;
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
// Unit cube [-1,1]^3
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
omath::source_engine::Mesh a(vbo, vao, {1, 1, 1});
omath::source_engine::Mesh b(vbo, vao, {1, 1, 1});
Mesh a(vbo, vao, {1,1,1});
Mesh b(vbo, vao, {1,1,1});
a.set_origin({0, 0, 0});
b.set_origin({0.5f, 0, 0}); // slight overlap
// Overlap along +X by 0.5
a.set_origin({0,0,0});
b.set_origin({0.5f,0,0});
const omath::source_engine::MeshCollider collider_a(mesh);
Collider A(a), B(b);
omath::source_engine::MeshCollider A(a), B(b);
// GJK
auto gjk = GJK::collide(A, B);
ASSERT_TRUE(gjk.hit) << "GJK should report collision";
// 1) GJK → final simplex
using Gjk = omath::collision::GjkAlgorithm<omath::source_engine::MeshCollider>;
// EPA
EPA::Params params; params.max_iterations = 64; params.tolerance = 1e-4f;
auto epa = EPA::solve(A, B, gjk.simplex, params);
ASSERT_TRUE(epa.success) << "EPA should converge";
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);
// Normal is unit
EXPECT_NEAR(epa.normal.dot(epa.normal), 1.0f, 1e-5f);
if (!epa.success)
{
std::cout << "EPA failed\n";
}
// For this setup, depth ≈ 1.5 (2 - 0.5)
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);
// Try both signs with a tiny margin (avoid grazing contacts)
const float margin = 1.0f + 1e-3f;
const auto pen = epa.normal * epa.depth;
Mesh b_plus = b; b_plus.set_origin(b_plus.get_origin() + pen * margin);
Mesh b_minus= b; b_minus.set_origin(b_minus.get_origin() - pen * margin);
Collider B_plus(b_plus), B_minus(b_minus);
const bool sep_plus = !GJK::collide(A, B_plus).hit;
const bool sep_minus = !GJK::collide(A, B_minus).hit;
// Exactly one direction should separate
EXPECT_NE(sep_plus, sep_minus) << "Exactly one of ±penetration must separate";
// Optional: pick the resolving direction and assert round-trip
const auto resolve = sep_plus ? ( pen * margin) : (-pen * margin);
Mesh b_resolved = b; b_resolved.set_origin(b_resolved.get_origin() + resolve);
EXPECT_FALSE(GJK::collide(A, Collider(b_resolved)).hit) << "Resolved position should be non-colliding";
// Moving the other way should still collide
Mesh b_wrong = b; b_wrong.set_origin(b_wrong.get_origin() - resolve);
EXPECT_TRUE(GJK::collide(A, Collider(b_wrong)).hit);
}