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Refactors collision detection with GJK and EPA

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This commit refactors the collision detection pipeline to utilize a more standard GJK algorithm and simplifies the EPA implementation.

Removes the custom `GjkAlgorithmWithSimplex` in favor of the standalone `GjkAlgorithm`. This streamlines the collision detection process and enhances code clarity.

Updates unit tests to align with the new GJK implementation, ensuring continued functionality and correctness.
This commit is contained in:
Orange
2025-11-13 16:39:26 +03:00
parent 873bdd2036
commit fa91f21e39
2 changed files with 11 additions and 57 deletions
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21
tests/general/unit_test_epa.cpp
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@@ -1,13 +1,14 @@
#include <gtest/gtest.h>
#include "omath/linear_algebra/vector3.hpp"
#include "omath/collision/epa_algorithm.hpp" // Epa<Collider> + GjkAlgorithmWithSimplex<Collider>
#include "omath/collision/gjk_algorithm.hpp"
#include "omath/collision/simplex.hpp"
#include "omath/collision/epa_algorithm.hpp" // Epa<Collider> + GjkAlgorithmWithSimplex<Collider>
#include "omath/engines/source_engine/mesh.hpp"
#include "omath/engines/source_engine/collider.hpp"
#include "omath/engines/source_engine/mesh.hpp"
#include "omath/linear_algebra/vector3.hpp"
#include <gtest/gtest.h>
using Mesh = omath::source_engine::Mesh;
using Collider = omath::source_engine::MeshCollider;
using GJK = omath::collision::GjkAlgorithmWithSimplex<Collider>;
using GJK = omath::collision::GjkAlgorithm<Collider>;
using EPA = omath::collision::Epa<Collider>;
TEST(UnitTestEpa, TestCollisionTrue)
@@ -29,7 +30,7 @@ TEST(UnitTestEpa, TestCollisionTrue)
Collider A(a), B(b);
// GJK
auto gjk = GJK::collide(A, B);
auto gjk = GJK::is_collide_with_simplex_info(A, B);
ASSERT_TRUE(gjk.hit) << "GJK should report collision";
// EPA
@@ -57,8 +58,8 @@ TEST(UnitTestEpa, TestCollisionTrue)
Collider B_plus(b_plus), B_minus(b_minus);
const bool sep_plus = !GJK::collide(A, B_plus).hit;
const bool sep_minus = !GJK::collide(A, B_minus).hit;
const bool sep_plus = !GJK::is_collide_with_simplex_info(A, B_plus).hit;
const bool sep_minus = !GJK::is_collide_with_simplex_info(A, B_minus).hit;
// Exactly one direction should separate
EXPECT_NE(sep_plus, sep_minus) << "Exactly one of ±penetration must separate";
@@ -67,9 +68,9 @@ TEST(UnitTestEpa, TestCollisionTrue)
const auto resolve = sep_plus ? ( pen * margin) : (-pen * margin);
Mesh b_resolved = b; b_resolved.set_origin(b_resolved.get_origin() + resolve);
EXPECT_FALSE(GJK::collide(A, Collider(b_resolved)).hit) << "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
Mesh b_wrong = b; b_wrong.set_origin(b_wrong.get_origin() - resolve);
EXPECT_TRUE(GJK::collide(A, Collider(b_wrong)).hit);
EXPECT_TRUE(GJK::is_collide(A, Collider(b_wrong)));
}