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Orange
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Implements a new test case for the GJK algorithm to verify collision detection when colliders share the same origin. This enhances the robustness of collision detection in scenarios where objects are positioned at the same location.
67 lines
2.1 KiB
C++
67 lines
2.1 KiB
C++
//
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// Created by Vlad on 11/9/2025.
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//
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#include <gtest/gtest.h>
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#include <omath/collision/gjk_algorithm.hpp>
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TEST(UnitTestGjk, TestCollisionTrue)
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{
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const std::vector<omath::Vector3<float>> mesh = {
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{-1.f, -1.f, -1.f},
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{-1.f, -1.f, 1.f},
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{-1.f, 1.f, -1.f},
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{-1.f, 1.f, 1.f},
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{ 1.f, 1.f, 1.f}, // x = +1 vertices (put {1,1,1} first in case your support breaks ties by first-hit)
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{ 1.f, 1.f, -1.f},
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{ 1.f, -1.f, 1.f},
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{ 1.f, -1.f, -1.f}
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};
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const omath::collision::MeshCollider collider_a(mesh, {0.f, 0.f, 0.f});
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const omath::collision::MeshCollider collider_b(mesh, {0.f, 0.5f, 0.f});
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const auto result = omath::collision::GjkAlgorithm<>::is_collide(collider_a, collider_b);
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EXPECT_TRUE(result);
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}
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TEST(UnitTestGjk, TestCollisionFalse)
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{
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const std::vector<omath::Vector3<float>> mesh = {
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{-1.f, -1.f, -1.f},
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{-1.f, -1.f, 1.f},
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{-1.f, 1.f, -1.f},
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{-1.f, 1.f, 1.f},
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{ 1.f, 1.f, 1.f}, // x = +1 vertices (put {1,1,1} first in case your support breaks ties by first-hit)
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{ 1.f, 1.f, -1.f},
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{ 1.f, -1.f, 1.f},
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{ 1.f, -1.f, -1.f}
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};
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const omath::collision::MeshCollider collider_a(mesh, {0.f, 0.f, 0.f});
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const omath::collision::MeshCollider collider_b(mesh, {0.f, 2.1f, 0.f});
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const auto result = omath::collision::GjkAlgorithm<>::is_collide(collider_a, collider_b);
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EXPECT_FALSE(result);
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}
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TEST(UnitTestGjk, TestCollisionEqualOrigin)
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{
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const std::vector<omath::Vector3<float>> mesh = {
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{-1.f, -1.f, -1.f},
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{-1.f, -1.f, 1.f},
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{-1.f, 1.f, -1.f},
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{-1.f, 1.f, 1.f},
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{ 1.f, 1.f, 1.f}, // x = +1 vertices (put {1,1,1} first in case your support breaks ties by first-hit)
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{ 1.f, 1.f, -1.f},
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{ 1.f, -1.f, 1.f},
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{ 1.f, -1.f, -1.f}
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};
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const omath::collision::MeshCollider collider_a(mesh, {0.f, 0.f, 0.f});
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const omath::collision::MeshCollider collider_b(mesh, {0.f, 0.f, 0.f});
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const auto result = omath::collision::GjkAlgorithm<>::is_collide(collider_a, collider_b);
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EXPECT_TRUE(result);
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} |