admin/omath
1
0
Fork 0
mirror of https://github.com/orange-cpp/omath.git synced 2026-02-14 07:23:26 +00:00
Code Issues Packages Projects Releases Wiki Activity

fixed formating

Browse Source
This commit is contained in:
Orange
2025-11-13 16:56:48 +03:00
parent fa91f21e39
commit ee458a24f7
1 changed files with 22 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
tests/general/unit_test_epa.cpp
View File

@@ -14,10 +14,8 @@ using EPA = omath::collision::Epa<Collider>;
TEST(UnitTestEpa, TestCollisionTrue) TEST(UnitTestEpa, TestCollisionTrue)
{ {
// Unit cube [-1,1]^3 // Unit cube [-1,1]^3
std::vector<omath::Vector3<float>> vbo = { std::vector<omath::Vector3<float>> vbo = {{-1, -1, -1}, {-1, -1, 1}, {-1, 1, -1}, {-1, 1, 1},
{-1,-1,-1}, {-1,-1, 1}, {-1, 1,-1}, {-1, 1, 1}, {1, 1, 1}, {1, 1, -1}, {1, -1, 1}, {1, -1, -1}};
{ 1, 1, 1}, { 1, 1,-1}, { 1,-1, 1}, { 1,-1,-1}
};
std::vector<omath::Vector3<std::size_t>> vao; // not needed std::vector<omath::Vector3<std::size_t>> vao; // not needed
Mesh a(vbo, vao, {1, 1, 1}); Mesh a(vbo, vao, {1, 1, 1});
@@ -34,7 +32,9 @@ TEST(UnitTestEpa, TestCollisionTrue)
ASSERT_TRUE(gjk.hit) << "GJK should report collision"; ASSERT_TRUE(gjk.hit) << "GJK should report collision";
// EPA // EPA
EPA::Params params; params.max_iterations = 64; params.tolerance = 1e-4f; EPA::Params params;
params.max_iterations = 64;
params.tolerance = 1e-4f;
auto epa = EPA::solve(A, B, gjk.simplex, params); auto epa = EPA::solve(A, B, gjk.simplex, params);
ASSERT_TRUE(epa.success) << "EPA should converge"; ASSERT_TRUE(epa.success) << "EPA should converge";
@@ -53,8 +53,10 @@ TEST(UnitTestEpa, TestCollisionTrue)
const float margin = 1.0f + 1e-3f; const float margin = 1.0f + 1e-3f;
const auto pen = epa.normal * epa.depth; const auto pen = epa.normal * epa.depth;
Mesh b_plus = b; b_plus.set_origin(b_plus.get_origin() + pen * margin); Mesh b_plus = b;
Mesh b_minus= b; b_minus.set_origin(b_minus.get_origin() - pen * margin); b_plus.set_origin(b_plus.get_origin() + pen * margin);
Mesh b_minus = b;
b_minus.set_origin(b_minus.get_origin() - pen * margin);
Collider B_plus(b_plus), B_minus(b_minus); Collider B_plus(b_plus), B_minus(b_minus);
@@ -67,10 +69,12 @@ TEST(UnitTestEpa, TestCollisionTrue)
// Optional: pick the resolving direction and assert round-trip // Optional: pick the resolving direction and assert round-trip
const auto resolve = sep_plus ? (pen * margin) : (-pen * margin); const auto resolve = sep_plus ? (pen * margin) : (-pen * margin);
Mesh b_resolved = b; b_resolved.set_origin(b_resolved.get_origin() + resolve); Mesh b_resolved = b;
b_resolved.set_origin(b_resolved.get_origin() + resolve);
EXPECT_FALSE(GJK::is_collide(A, Collider(b_resolved))) << "Resolved position should be non-colliding"; EXPECT_FALSE(GJK::is_collide(A, Collider(b_resolved))) << "Resolved position should be non-colliding";
// Moving the other way should still collide // Moving the other way should still collide
Mesh b_wrong = b; b_wrong.set_origin(b_wrong.get_origin() - resolve); Mesh b_wrong = b;
b_wrong.set_origin(b_wrong.get_origin() - resolve);
EXPECT_TRUE(GJK::is_collide(A, Collider(b_wrong))); EXPECT_TRUE(GJK::is_collide(A, Collider(b_wrong)));
} }