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_simplex_more.cpp

@@ -0,0 +1,173 @@
+#include "omath/collision/simplex.hpp"
+#include "omath/linear_algebra/vector3.hpp"
+#include <gtest/gtest.h>
+
+using omath::Vector3;
+using Simplex = omath::collision::Simplex<Vector3<float>>;
+
+TEST(SimplexExtra, HandleLine_CollinearProducesPerp)
+{
+    // a and b placed so ab points roughly same dir as ao and are collinear
+    Vector3<float> a{2.f, 0.f, 0.f};
+    Vector3<float> b{1.f, 0.f, 0.f};
+
+    Simplex s;
+    s = {a, b};
+
+    Vector3<float> dir{0.f, 0.f, 0.f};
+    const bool hit = s.handle(dir);
+
+    // Should not report collision for a line simplex
+    EXPECT_FALSE(hit);
+    // Direction must be finite and not zero
+    EXPECT_TRUE(std::isfinite(dir.x));
+    EXPECT_TRUE(std::isfinite(dir.y));
+    EXPECT_TRUE(std::isfinite(dir.z));
+    auto zero = Vector3<float>{0.f, 0.f, 0.f};
+    EXPECT_FALSE(dir == zero);
+
+    // Ensure direction is (approximately) perpendicular to ab
+    const auto ab = b - a;
+    const float dot = dir.dot(ab);
+    EXPECT_NEAR(dot, 0.0f, 1e-4f);
+}
+
+TEST(SimplexExtra, HandleLine_NonCollinearProducesValidDirection)
+{
+    Vector3<float> a{2.f, 0.f, 0.f};
+    Vector3<float> b{1.f, 1.f, 0.f};
+
+    Simplex s;
+    s = {a, b};
+
+    Vector3<float> dir{0.f, 0.f, 0.f};
+    const bool hit = s.handle(dir);
+
+    EXPECT_FALSE(hit);
+    EXPECT_TRUE(std::isfinite(dir.x));
+    EXPECT_TRUE(std::isfinite(dir.y));
+    EXPECT_TRUE(std::isfinite(dir.z));
+}
+
+TEST(SimplexExtra, HandleTriangle_FlipWinding)
+{
+    // Construct points where triangle winding will be flipped
+    Vector3<float> a{1.f, 0.f, 0.f};
+    Vector3<float> b{0.f, 1.f, 0.f};
+    Vector3<float> c{0.f, -1.f, 0.f};
+
+    Simplex s;
+    s = {a, b, c};
+
+    Vector3<float> dir{0.f, 0.f, 0.f};
+    const bool hit = s.handle(dir);
+
+    EXPECT_FALSE(hit);
+    EXPECT_TRUE(std::isfinite(dir.x));
+    EXPECT_TRUE(std::isfinite(dir.y));
+    EXPECT_TRUE(std::isfinite(dir.z));
+}
+
+TEST(SimplexExtra, HandleTetrahedron_InsideReturnsTrue)
+{
+    // Simple tetra that should contain the origin
+    Vector3<float> a{1.f, 0.f, 0.f};
+    Vector3<float> b{0.f, 1.f, 0.f};
+    Vector3<float> c{0.f, 0.f, 1.f};
+    Vector3<float> d{-0.2f, -0.2f, -0.2f};
+
+    Simplex s;
+    s = {a, b, c, d};
+
+    Vector3<float> dir{0.f, 0.f, 0.f};
+    const bool hit = s.handle(dir);
+
+    // If origin is inside, handle_tetrahedron should return true
+    EXPECT_TRUE(hit);
+}
+// Additional sanity tests (avoid reusing Simplex alias above to prevent ambiguity)
+TEST(SimplexMore, PushFrontAndAccess)
+{
+    omath::collision::Simplex<omath::Vector3<float>> s;
+    s.push_front(omath::Vector3<float>{1.f,0.f,0.f});
+    s.push_front(omath::Vector3<float>{2.f,0.f,0.f});
+    s.push_front(omath::Vector3<float>{3.f,0.f,0.f});
+
+    EXPECT_EQ(s.size(), 3u);
+    omath::Vector3<float> exp_front{3.f,0.f,0.f};
+    omath::Vector3<float> exp_back{1.f,0.f,0.f};
+    EXPECT_TRUE(s.front() == exp_front);
+    EXPECT_TRUE(s.back() == exp_back);
+    auto d = s.data();
+    EXPECT_TRUE(d[0] == exp_front);
+}
+
+TEST(SimplexMore, ClearAndEmpty)
+{
+    omath::collision::Simplex<omath::Vector3<float>> s;
+    s.push_front(omath::Vector3<float>{1.f,1.f,1.f});
+    EXPECT_FALSE(s.empty());
+    s.clear();
+    EXPECT_TRUE(s.empty());
+}
+
+TEST(SimplexMore, HandleLineCollinearProducesPerp)
+{
+    omath::collision::Simplex<omath::Vector3<float>> s;
+    s = { omath::Vector3<float>{2.f,0.f,0.f}, omath::Vector3<float>{1.f,0.f,0.f} };
+    omath::Vector3<float> dir{0.f,0.f,0.f};
+    const bool res = s.handle(dir);
+    EXPECT_FALSE(res);
+    EXPECT_GT(dir.length_sqr(), 0.0f);
+}
+
+TEST(SimplexMore, HandleTriangleFlipWinding)
+{
+    const omath::Vector3<float> a{1.f,0.f,0.f};
+    const omath::Vector3<float> b{0.f,1.f,0.f};
+    const omath::Vector3<float> c{0.f,0.f,1.f};
+    omath::collision::Simplex<omath::Vector3<float>> s;
+    s = { a, b, c };
+    omath::Vector3<float> dir{0.f,0.f,0.f};
+
+    const auto ab = b - a;
+    const auto ac = c - a;
+    const auto abc = ab.cross(ac);
+
+    const bool res = s.handle(dir);
+    EXPECT_FALSE(res);
+    const auto expected = -abc;
+    EXPECT_NEAR(dir.x, expected.x, 1e-6f);
+    EXPECT_NEAR(dir.y, expected.y, 1e-6f);
+    EXPECT_NEAR(dir.z, expected.z, 1e-6f);
+}
+
+TEST(SimplexMore, HandleTetrahedronInsideTrue)
+{
+    omath::collision::Simplex<omath::Vector3<float>> s;
+    s = { omath::Vector3<float>{1.f,0.f,0.f}, omath::Vector3<float>{0.f,1.f,0.f}, omath::Vector3<float>{0.f,0.f,1.f}, omath::Vector3<float>{-1.f,-1.f,-1.f} };
+    omath::Vector3<float> dir{0.f,0.f,0.f};
+    const bool inside = s.handle(dir);
+    EXPECT_TRUE(inside);
+}
+
+TEST(SimplexMore, HandlePointSetsDirection)
+{
+    omath::collision::Simplex<omath::Vector3<float>> s;
+    s = { omath::Vector3<float>{1.f,2.f,3.f} };
+    omath::Vector3<float> dir{0.f,0.f,0.f};
+    EXPECT_FALSE(s.handle(dir));
+    EXPECT_NEAR(dir.x, -1.f, 1e-6f);
+    EXPECT_NEAR(dir.y, -2.f, 1e-6f);
+    EXPECT_NEAR(dir.z, -3.f, 1e-6f);
+}
+
+TEST(SimplexMore, HandleLineReducesToPointWhenAoOpposite)
+{
+    omath::collision::Simplex<omath::Vector3<float>> s;
+    s = { omath::Vector3<float>{1.f,0.f,0.f}, omath::Vector3<float>{2.f,0.f,0.f} };
+    omath::Vector3<float> dir{0.f,0.f,0.f};
+    EXPECT_FALSE(s.handle(dir));
+    EXPECT_EQ(s.size(), 1u);
+    EXPECT_NEAR(dir.x, -1.f, 1e-6f);
+}