Temp (#123)

* Coverage * added fixes * removed spacing * removed junk * removed print * removed coverage * removed useless stuff * fix --------- Co-authored-by: Saikari <lin@sz.cn.eu.org>
2026-02-13 07:03:25 +00:00 · 2025-12-23 02:47:12 +03:00
parent a03620c18f
commit 897484bea1
39 changed files with 2482 additions and 145 deletions
--- a/tests/general/unit_test_collision_extra.cpp
+++ b/tests/general/unit_test_collision_extra.cpp
@@ -0,0 +1,89 @@
+// Extra collision tests: Simplex, MeshCollider, EPA
+#include <gtest/gtest.h>
+#include <omath/collision/simplex.hpp>
+#include <omath/collision/mesh_collider.hpp>
+#include <omath/collision/epa_algorithm.hpp>
+#include <omath/engines/source_engine/collider.hpp>
+
+using namespace omath;
+using namespace omath::collision;
+
+TEST(CollisionExtra, SimplexLineHandle)
+{
+    Simplex<Vector3<float>> s;
+    s = { Vector3<float>{1.f,0.f,0.f}, Vector3<float>{2.f,0.f,0.f} };
+    Vector3<float> dir{0,0,0};
+    EXPECT_FALSE(s.handle(dir));
+    // direction should not be zero
+    EXPECT_GT(dir.length_sqr(), 0.0f);
+}
+
+TEST(CollisionExtra, SimplexTriangleHandle)
+{
+    Simplex<Vector3<float>> s;
+    s = { Vector3<float>{1.f,0.f,0.f}, Vector3<float>{0.f,1.f,0.f}, Vector3<float>{0.f,0.f,1.f} };
+    Vector3<float> dir{0,0,0};
+    EXPECT_FALSE(s.handle(dir));
+    EXPECT_GT(dir.length_sqr(), 0.0f);
+}
+
+TEST(CollisionExtra, SimplexTetrahedronInside)
+{
+    Simplex<Vector3<float>> s;
+    // tetra that surrounds origin roughly
+    s = { Vector3<float>{1.f,0.f,0.f}, Vector3<float>{0.f,1.f,0.f}, Vector3<float>{0.f,0.f,1.f}, Vector3<float>{-1.f,-1.f,-1.f} };
+    Vector3<float> dir{0,0,0};
+    // if origin inside, handle returns true
+    const bool inside = s.handle(dir);
+    EXPECT_TRUE(inside);
+}
+
+TEST(CollisionExtra, MeshColliderOriginAndFurthest)
+{
+    omath::source_engine::Mesh mesh = {
+        std::vector<omath::primitives::Vertex<>>{
+            { { 1.f,  1.f,  1.f }, {}, {} },
+            { {-1.f, -1.f, -1.f }, {}, {} }
+        },
+        {}
+    };
+    mesh.set_origin({0, 2, 0});
+    omath::source_engine::MeshCollider collider(mesh);
+
+    EXPECT_EQ(collider.get_origin(), omath::Vector3<float>(0,2,0));
+    collider.set_origin({1,2,3});
+    EXPECT_EQ(collider.get_origin(), omath::Vector3<float>(1,2,3));
+
+    const auto v = collider.find_abs_furthest_vertex_position({1.f,0.f,0.f});
+    // the original vertex at (1,1,1) translated by origin (1,2,3) becomes (2,3,4)
+    EXPECT_EQ(v, omath::Vector3<float>(2.f,3.f,4.f));
+}
+
+TEST(CollisionExtra, EPAConvergesOnSimpleCase)
+{
+    // Build two simple colliders using simple meshes that overlap
+    omath::source_engine::Mesh meshA = {
+        std::vector<omath::primitives::Vertex<>>{{ {0.f,0.f,0.f}, {}, {} }, { {1.f,0.f,0.f}, {}, {} } },
+        {}
+    };
+    omath::source_engine::Mesh meshB = meshA;
+    meshB.set_origin({0.5f, 0.f, 0.f}); // translate to overlap
+
+    omath::source_engine::MeshCollider A(meshA);
+    omath::source_engine::MeshCollider B(meshB);
+
+    // Create a simplex that approximately contains the origin in Minkowski space
+    Simplex<omath::Vector3<float>> simplex;
+    simplex = { omath::Vector3<float>{0.5f,0.f,0.f}, omath::Vector3<float>{-0.5f,0.f,0.f}, omath::Vector3<float>{0.f,0.5f,0.f}, omath::Vector3<float>{0.f,-0.5f,0.f} };
+
+    auto pool = std::pmr::monotonic_buffer_resource(1024);
+    auto res = Epa<omath::source_engine::MeshCollider>::solve(A, B, simplex, {}, pool);
+    // EPA may or may not converge depending on numerics; ensure it returns optionally
+    // but if it does, fields should be finite
+    if (res.has_value())
+    {
+        auto r = *res;
+        EXPECT_TRUE(std::isfinite(r.depth));
+        EXPECT_GT(r.normal.length_sqr(), 0.0f);
+    }
+}