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>

tests/general/unit_test_epa_internal.cpp

@@ -0,0 +1,46 @@
+#include "omath/collision/epa_algorithm.hpp"
+#include "omath/collision/simplex.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <gtest/gtest.h>
+
+using Vector3f = omath::Vector3<float>;
+
+// Dummy collider type that exposes VectorType and returns small offsets
+struct DummyCollider
+{
+    using VectorType = Vector3f;
+    VectorType find_abs_furthest_vertex_position(const VectorType& dir) const noexcept
+    {
+        // map direction to a small point so support_point is finite
+        return Vector3f{dir.x * 0.01f, dir.y * 0.01f, dir.z * 0.01f};
+    }
+};
+
+using EpaDummy = omath::collision::Epa<DummyCollider>;
+using Simplex = omath::collision::Simplex<Vector3f>;
+
+TEST(EpaInternal, SolveHandlesSmallPolytope)
+{
+    // Create a simplex that is nearly degenerate but valid for solve
+    Simplex s;
+    s = { Vector3f{0.01f, 0.f, 0.f}, Vector3f{0.f, 0.01f, 0.f}, Vector3f{0.f, 0.f, 0.01f}, Vector3f{-0.01f, -0.01f, -0.01f} };
+
+    DummyCollider a, b;
+    EpaDummy::Params params;
+    params.max_iterations = 16;
+    params.tolerance = 1e-6f;
+
+    auto result = EpaDummy::solve(a, b, s, params);
+
+    // Should either return a valid result or gracefully return nullopt
+    if (result)
+    {
+        EXPECT_TRUE(std::isfinite(result->depth));
+        EXPECT_TRUE(std::isfinite(result->normal.x));
+        EXPECT_GT(result->num_faces, 0);
+    }
+    else
+    {
+        SUCCEED() << "Epa::solve returned nullopt for small polytope (acceptable)";
+    }
+}