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improved code style

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This commit is contained in:
Orange
2025-12-28 02:29:19 +03:00
parent 00fcdc86bc
commit ffcf448a07
6 changed files with 112 additions and 119 deletions
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22
tests/general/unit_test_epa.cpp
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@@ -9,7 +9,7 @@
using Mesh = omath::source_engine::Mesh;
using Collider = omath::source_engine::MeshCollider;
using GJK = omath::collision::GjkAlgorithm<Collider>;
using Gjk = omath::collision::GjkAlgorithm<Collider>;
using EPA = omath::collision::Epa<Collider>;
TEST(UnitTestEpa, TestCollisionTrue)
@@ -37,15 +37,15 @@ TEST(UnitTestEpa, TestCollisionTrue)
Collider A(a), B(b);
// GJK
auto gjk = GJK::is_collide_with_simplex_info(A, B);
ASSERT_TRUE(gjk.hit) << "GJK should report collision";
auto [hit, simplex] = Gjk::is_collide_with_simplex_info(A, B);
ASSERT_TRUE(hit) << "GJK should report collision";
// EPA
EPA::Params params;
auto pool = std::make_shared<std::pmr::monotonic_buffer_resource>(1024);
params.max_iterations = 64;
params.tolerance = 1e-4f;
auto epa = EPA::solve(A, B, gjk.simplex, params, *pool);
auto epa = EPA::solve(A, B, simplex, params, *pool);
ASSERT_TRUE(epa.has_value()) << "EPA should converge";
// Normal is unit
@@ -70,8 +70,8 @@ TEST(UnitTestEpa, TestCollisionTrue)
Collider B_plus(b_plus), B_minus(b_minus);
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;
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";
@@ -81,12 +81,12 @@ TEST(UnitTestEpa, TestCollisionTrue)
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
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)));
}
TEST(UnitTestEpa, TestCollisionTrue2)
{
@@ -112,7 +112,7 @@ TEST(UnitTestEpa, TestCollisionTrue2)
Collider A(a), B(b);
// --- GJK must detect collision and provide simplex ---
auto gjk = GJK::is_collide_with_simplex_info(A, B);
auto gjk = Gjk::is_collide_with_simplex_info(A, B);
ASSERT_TRUE(gjk.hit) << "GJK should report collision for overlapping cubes";
// --- EPA penetration ---
EPA::Params params;
@@ -139,11 +139,11 @@ TEST(UnitTestEpa, TestCollisionTrue2)
// Apply once: B + pen must separate; the opposite must still collide
Mesh b_resolved = b;
b_resolved.set_origin(b_resolved.get_origin() + pen * margin);
EXPECT_FALSE(GJK::is_collide(A, Collider(b_resolved))) << "Applying penetration should separate";
EXPECT_FALSE(Gjk::is_collide(A, Collider(b_resolved))) << "Applying penetration should separate";
Mesh b_wrong = b;
b_wrong.set_origin(b_wrong.get_origin() - pen * margin);
EXPECT_TRUE(GJK::is_collide(A, Collider(b_wrong))) << "Opposite direction should still intersect";
EXPECT_TRUE(Gjk::is_collide(A, Collider(b_wrong))) << "Opposite direction should still intersect";
// Some book-keeping sanity
EXPECT_GT(epa->iterations, 0);