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257 lines
8.6 KiB
C++
257 lines
8.6 KiB
C++
//
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// Created by orange-cpp
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//
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#ifdef OMATH_ENABLE_PHYSX
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#include <gtest/gtest.h>
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#include <omath/collision/gjk_algorithm.hpp>
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#include <omath/collision/physx_box_collider.hpp>
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#include <omath/collision/physx_sphere_collider.hpp>
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using namespace omath::collision;
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using omath::Vector3;
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// ─── PhysXBoxCollider ────────────────────────────────────────────────────────
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TEST(PhysXBoxCollider, DefaultOriginIsZero)
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{
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PhysXBoxCollider box({1.f, 1.f, 1.f});
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EXPECT_EQ(box.get_origin(), Vector3<float>(0.f, 0.f, 0.f));
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}
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TEST(PhysXBoxCollider, SetAndGetOrigin)
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{
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PhysXBoxCollider box({1.f, 1.f, 1.f}, {3.f, 4.f, 5.f});
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EXPECT_EQ(box.get_origin(), Vector3<float>(3.f, 4.f, 5.f));
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box.set_origin({-1.f, 0.f, 2.f});
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EXPECT_EQ(box.get_origin(), Vector3<float>(-1.f, 0.f, 2.f));
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}
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TEST(PhysXBoxCollider, FurthestPointPositiveDirection)
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{
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// Box centred at origin with half-extents (2, 3, 4).
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// Direction (+x, +y, +z) → furthest corner is (+2, +3, +4).
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PhysXBoxCollider box({2.f, 3.f, 4.f});
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const auto p = box.find_abs_furthest_vertex_position({1.f, 1.f, 1.f});
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EXPECT_FLOAT_EQ(p.x, 2.f);
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EXPECT_FLOAT_EQ(p.y, 3.f);
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EXPECT_FLOAT_EQ(p.z, 4.f);
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}
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TEST(PhysXBoxCollider, FurthestPointNegativeDirection)
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{
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// Direction (-x, -y, -z) → furthest corner is (-2, -3, -4).
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PhysXBoxCollider box({2.f, 3.f, 4.f});
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const auto p = box.find_abs_furthest_vertex_position({-1.f, -1.f, -1.f});
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EXPECT_FLOAT_EQ(p.x, -2.f);
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EXPECT_FLOAT_EQ(p.y, -3.f);
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EXPECT_FLOAT_EQ(p.z, -4.f);
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}
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TEST(PhysXBoxCollider, FurthestPointMixedDirection)
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{
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// Direction (+x, -y, +z) → furthest corner is (+2, -3, +4).
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PhysXBoxCollider box({2.f, 3.f, 4.f});
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const auto p = box.find_abs_furthest_vertex_position({1.f, -1.f, 1.f});
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EXPECT_FLOAT_EQ(p.x, 2.f);
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EXPECT_FLOAT_EQ(p.y, -3.f);
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EXPECT_FLOAT_EQ(p.z, 4.f);
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}
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TEST(PhysXBoxCollider, FurthestPointWithNonZeroOrigin)
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{
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// Box at (10, 0, 0), half-extents (1, 1, 1). Direction +x → (11, 1, 1).
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PhysXBoxCollider box({1.f, 1.f, 1.f}, {10.f, 0.f, 0.f});
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const auto p = box.find_abs_furthest_vertex_position({1.f, 1.f, 1.f});
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EXPECT_FLOAT_EQ(p.x, 11.f);
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EXPECT_FLOAT_EQ(p.y, 1.f);
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EXPECT_FLOAT_EQ(p.z, 1.f);
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}
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TEST(PhysXBoxCollider, SetHalfExtentsUpdatesGeometry)
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{
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PhysXBoxCollider box({1.f, 1.f, 1.f});
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box.set_half_extents({5.f, 6.f, 7.f});
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const auto& he = box.get_geometry().halfExtents;
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EXPECT_FLOAT_EQ(he.x, 5.f);
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EXPECT_FLOAT_EQ(he.y, 6.f);
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EXPECT_FLOAT_EQ(he.z, 7.f);
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// Furthest vertex must reflect the new extents.
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const auto p = box.find_abs_furthest_vertex_position({1.f, 1.f, 1.f});
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EXPECT_FLOAT_EQ(p.x, 5.f);
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EXPECT_FLOAT_EQ(p.y, 6.f);
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EXPECT_FLOAT_EQ(p.z, 7.f);
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}
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// ─── PhysXSphereCollider ─────────────────────────────────────────────────────
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TEST(PhysXSphereCollider, DefaultOriginIsZero)
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{
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PhysXSphereCollider sphere(1.f);
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EXPECT_EQ(sphere.get_origin(), Vector3<float>(0.f, 0.f, 0.f));
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}
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TEST(PhysXSphereCollider, SetAndGetOrigin)
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{
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PhysXSphereCollider sphere(1.f, {1.f, 2.f, 3.f});
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EXPECT_EQ(sphere.get_origin(), Vector3<float>(1.f, 2.f, 3.f));
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sphere.set_origin({-5.f, 0.f, 0.f});
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EXPECT_EQ(sphere.get_origin(), Vector3<float>(-5.f, 0.f, 0.f));
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}
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TEST(PhysXSphereCollider, FurthestPointAlongPureXAxis)
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{
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// Direction (1,0,0), radius 3 → furthest point is (3, 0, 0).
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PhysXSphereCollider sphere(3.f);
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const auto p = sphere.find_abs_furthest_vertex_position({1.f, 0.f, 0.f});
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EXPECT_FLOAT_EQ(p.x, 3.f);
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EXPECT_FLOAT_EQ(p.y, 0.f);
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EXPECT_FLOAT_EQ(p.z, 0.f);
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}
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TEST(PhysXSphereCollider, FurthestPointAlongDiagonal)
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{
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// Direction (1,1,0), radius 1 → furthest point at distance 1 from origin.
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PhysXSphereCollider sphere(1.f);
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const auto p = sphere.find_abs_furthest_vertex_position({1.f, 1.f, 0.f});
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const float dist = std::sqrt(p.x * p.x + p.y * p.y + p.z * p.z);
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EXPECT_NEAR(dist, 1.f, 1e-5f);
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}
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TEST(PhysXSphereCollider, FurthestPointWithNonZeroOrigin)
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{
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// Sphere at (5, 0, 0), radius 2. Direction +x → (7, 0, 0).
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PhysXSphereCollider sphere(2.f, {5.f, 0.f, 0.f});
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const auto p = sphere.find_abs_furthest_vertex_position({1.f, 0.f, 0.f});
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EXPECT_FLOAT_EQ(p.x, 7.f);
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EXPECT_FLOAT_EQ(p.y, 0.f);
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EXPECT_FLOAT_EQ(p.z, 0.f);
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}
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TEST(PhysXSphereCollider, ZeroDirectionReturnsOrigin)
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{
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PhysXSphereCollider sphere(5.f, {1.f, 2.f, 3.f});
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const auto p = sphere.find_abs_furthest_vertex_position({0.f, 0.f, 0.f});
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EXPECT_EQ(p, sphere.get_origin());
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}
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TEST(PhysXSphereCollider, SetRadiusUpdatesGeometry)
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{
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PhysXSphereCollider sphere(1.f);
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sphere.set_radius(10.f);
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EXPECT_FLOAT_EQ(sphere.get_radius(), 10.f);
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// Furthest point along +x should now be at x = 10.
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const auto p = sphere.find_abs_furthest_vertex_position({1.f, 0.f, 0.f});
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EXPECT_FLOAT_EQ(p.x, 10.f);
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}
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// ─── GJK: Box vs Box ─────────────────────────────────────────────────────────
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using GjkBox = omath::collision::GjkAlgorithm<PhysXBoxCollider>;
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using GjkSphere = omath::collision::GjkAlgorithm<PhysXSphereCollider>;
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TEST(PhysXBoxGjk, CollidingOverlap)
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{
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// Two unit boxes: A at origin, B shifted by 0.5 — clearly overlapping.
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const PhysXBoxCollider a({1.f, 1.f, 1.f});
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const PhysXBoxCollider b({1.f, 1.f, 1.f}, {0.5f, 0.f, 0.f});
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EXPECT_TRUE(GjkBox::is_collide(a, b));
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}
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TEST(PhysXBoxGjk, NotCollidingTouching)
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{
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// Boxes exactly touching on the +X face: A[-1,1] and B[1,3] along X.
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// GJK treats boundary contact (Minkowski difference passes through origin) as non-collision.
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const PhysXBoxCollider a({1.f, 1.f, 1.f});
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const PhysXBoxCollider b({1.f, 1.f, 1.f}, {2.f, 0.f, 0.f});
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EXPECT_FALSE(GjkBox::is_collide(a, b));
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}
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TEST(PhysXBoxGjk, CollidingSlightOverlap)
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{
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// Boxes overlapping by 0.1 along X: A[-1,1] and B[0.9,2.9].
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const PhysXBoxCollider a({1.f, 1.f, 1.f});
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const PhysXBoxCollider b({1.f, 1.f, 1.f}, {1.9f, 0.f, 0.f});
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EXPECT_TRUE(GjkBox::is_collide(a, b));
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}
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TEST(PhysXBoxGjk, NotCollidingSeparated)
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{
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// Boxes separated by a gap: A[-1,1] and B[3,5] along X.
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const PhysXBoxCollider a({1.f, 1.f, 1.f});
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const PhysXBoxCollider b({1.f, 1.f, 1.f}, {4.f, 0.f, 0.f});
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EXPECT_FALSE(GjkBox::is_collide(a, b));
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}
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TEST(PhysXBoxGjk, CollidingSameOrigin)
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{
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// Same position — fully overlapping.
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const PhysXBoxCollider a({1.f, 1.f, 1.f});
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const PhysXBoxCollider b({1.f, 1.f, 1.f});
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EXPECT_TRUE(GjkBox::is_collide(a, b));
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}
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TEST(PhysXBoxGjk, NotCollidingDiagonalSeparation)
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{
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// Boxes separated along a diagonal so no axis-aligned faces overlap.
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const PhysXBoxCollider a({1.f, 1.f, 1.f});
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const PhysXBoxCollider b({1.f, 1.f, 1.f}, {3.f, 3.f, 3.f});
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EXPECT_FALSE(GjkBox::is_collide(a, b));
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}
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TEST(PhysXBoxGjk, DifferentSizesColliding)
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{
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// Large box vs small box inside it.
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const PhysXBoxCollider large({5.f, 5.f, 5.f});
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const PhysXBoxCollider small_box({1.f, 1.f, 1.f}, {2.f, 0.f, 0.f});
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EXPECT_TRUE(GjkBox::is_collide(large, small_box));
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}
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// ─── GJK: Sphere vs Sphere ───────────────────────────────────────────────────
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TEST(PhysXSphereGjk, CollidingOverlap)
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{
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// Radii 1 each, centres 1 apart — overlapping.
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const PhysXSphereCollider a(1.f);
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const PhysXSphereCollider b(1.f, {1.f, 0.f, 0.f});
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EXPECT_TRUE(GjkSphere::is_collide(a, b));
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}
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TEST(PhysXSphereGjk, CollidingSameOrigin)
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{
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const PhysXSphereCollider a(1.f);
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const PhysXSphereCollider b(1.f);
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EXPECT_TRUE(GjkSphere::is_collide(a, b));
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}
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TEST(PhysXSphereGjk, NotCollidingSeparated)
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{
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// Radii 1 each, centres 3 apart — gap of 1.
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const PhysXSphereCollider a(1.f);
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const PhysXSphereCollider b(1.f, {3.f, 0.f, 0.f});
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EXPECT_FALSE(GjkSphere::is_collide(a, b));
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}
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TEST(PhysXSphereGjk, DifferentRadiiColliding)
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{
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// r=2 and r=1, centres 2.5 apart — still overlapping.
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const PhysXSphereCollider a(2.f);
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const PhysXSphereCollider b(1.f, {2.5f, 0.f, 0.f});
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EXPECT_TRUE(GjkSphere::is_collide(a, b));
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}
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TEST(PhysXSphereGjk, DifferentRadiiNotColliding)
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{
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// r=1 and r=1, centres 5 apart — separated.
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const PhysXSphereCollider a(1.f);
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const PhysXSphereCollider b(1.f, {5.f, 0.f, 0.f});
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EXPECT_FALSE(GjkSphere::is_collide(a, b));
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}
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#endif // OMATH_ENABLE_PHYSX
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