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_more.cpp

@@ -0,0 +1,50 @@
+#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>;
+
+// Minimal collider interface matching Epa's expectations
+struct DegenerateCollider
+{
+    using VectorType = Vector3f;
+    // returns furthest point along dir
+    VectorType find_abs_furthest_vertex_position(const VectorType& dir) const noexcept
+    {
+        // Always return points on a small circle in XY plane so some faces become degenerate
+        if (dir.x > 0.5f) return {0.01f, 0.f, 0.f};
+        if (dir.x < -0.5f) return {-0.01f, 0.f, 0.f};
+        if (dir.y > 0.5f) return {0.f, 0.01f, 0.f};
+        if (dir.y < -0.5f) return {0.f, -0.01f, 0.f};
+        return {0.f, 0.f, 0.01f};
+    }
+};
+
+using Epa = omath::collision::Epa<DegenerateCollider>;
+using Simplex = omath::collision::Simplex<Vector3f>;
+
+TEST(EpaExtra, DegenerateFaceHandled)
+{
+    // Prepare a simplex with near-collinear points to force degenerate face handling
+    Simplex s;
+    s = { Vector3f{0.01f, 0.f, 0.f}, Vector3f{0.02f, 0.f, 0.f}, Vector3f{0.03f, 0.f, 0.f}, Vector3f{0.0f, 0.0f, 0.01f} };
+
+    DegenerateCollider a, b;
+    Epa::Params params;
+    params.max_iterations = 4;
+    params.tolerance = 1e-6f;
+
+    auto result = Epa::solve(a, b, s, params);
+
+    // The algorithm should either return a valid result or gracefully exit (not crash)
+    if (result)
+    {
+        EXPECT_TRUE(std::isfinite(result->depth));
+        EXPECT_TRUE(std::isfinite(result->normal.x));
+    }
+    else
+    {
+        SUCCEED() << "EPA returned nullopt for degenerate input (acceptable)";
+    }
+}