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added collider interface

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Orange
2025-12-06 13:34:34 +03:00
parent e97be8c142
commit e05eba42c3
9 changed files with 118 additions and 43 deletions
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8
tests/general/unit_test_epa.cpp
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@@ -61,7 +61,7 @@ TEST(UnitTestEpa, TestCollisionTrue)
// Try both signs with a tiny margin (avoid grazing contacts)
const float margin = 1.0f + 1e-3f;
const auto pen = epa->normal * epa->depth;
const auto pen = epa->penetration_vector;
Mesh b_plus = b;
b_plus.set_origin(b_plus.get_origin() + pen * margin);
@@ -133,12 +133,8 @@ TEST(UnitTestEpa, TestCollisionTrue2)
EXPECT_NEAR(epa->normal.y, 0.0f, 1e-3f);
EXPECT_NEAR(epa->normal.z, 0.0f, 1e-3f);
// Choose a deterministic sign: orient penetration from A toward B
const auto centers = b.get_origin() - a.get_origin(); // (0.5, 0, 0)
float sign = (epa->normal.dot(centers) >= 0.0f) ? +1.0f : -1.0f;
constexpr float margin = 1.0f + 1e-3f; // tiny slack to avoid grazing
const auto pen = epa->normal * epa->depth * sign;
const auto pen = epa->normal * epa->depth;
// Apply once: B + pen must separate; the opposite must still collide
Mesh b_resolved = b;