phys-collision 2.0.1-beta.0

// Copyright (C) 2020-2025 phys-collision authors. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

use approx_det::assert_relative_eq;
use wasm_bindgen_test::*;

use crate::collision_tasks::tests::common::{
    convex2contact_manifold_wide_to_convex2contact_manifold, get_input_wide,
    Convex2ContactManifold, ConvexHullInput, Mvec3, TestInput,
};
use crate::collision_tasks::ShapeWideTester;
use crate::shapes::{CapsuleWide, ConvexHullWide};
use crate::traits::PairWideTest;
use crate::{Capsule, ConvexHull, ConvexHullId, ShapeContainer};

wasm_bindgen_test_configure!(run_in_browser);
type InputTypeData = TestInput<Capsule, ConvexHullInput>;
type InputType = TestInput<Capsule, ConvexHullId>;

#[test]
#[wasm_bindgen_test]
fn test_capsule_convex_hull_tester() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/capsule_convex_hull/contact1.json");

    let input0: InputTypeData =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input0.b.vertices[..]);
    let mut container = ShapeContainer::default();
    let id = container.add(convex_hull);

    let input0 = InputType {
        a: input0.a,
        b: id,
        speculative_margin: input0.speculative_margin,
        offset_b: input0.offset_b,
        orientation_a: input0.orientation_a,
        orientation_b: input0.orientation_b,
    };
    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 0.0,
            y: 1f32,
            z: 0.0,
        },
        OffsetA1: Mvec3 {
            x: 0.0,
            y: 1f32,
            z: 0.0,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: 0.0,
        },
        Depth0: -1f32,
        Depth1: 1f32,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.OffsetA0 -= output0.Normal * output0.Depth0;
    output0.OffsetA1 -= output0.Normal * output0.Depth1;
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        CapsuleWide,
        ConvexHullWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold,
        Some(&container)
    );
}

#[test]
#[wasm_bindgen_test]
fn test_capsule_convex_hull_tester2() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/capsule_convex_hull/contact2.json");

    let input0: InputTypeData =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input0.b.vertices[..]);
    let mut container = ShapeContainer::default();
    let id = container.add(convex_hull);

    let input0 = InputType {
        a: input0.a,
        b: id,
        speculative_margin: input0.speculative_margin,
        offset_b: input0.offset_b,
        orientation_a: input0.orientation_a,
        orientation_b: input0.orientation_b,
    };
    let mut output0 = Convex2ContactManifold::default();
    output0.OffsetA0 -= output0.Normal * output0.Depth0;
    output0.OffsetA1 -= output0.Normal * output0.Depth1;
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        CapsuleWide,
        ConvexHullWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold,
        Some(&container)
    );
}

#[test]
#[wasm_bindgen_test]
fn test_capsule_convex_hull_tester3() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/capsule_convex_hull/contact3.json");

    let input0: InputTypeData =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input0.b.vertices[..]);
    let mut container = ShapeContainer::default();
    let id = container.add(convex_hull);

    let input0 = InputType {
        a: input0.a,
        b: id,
        speculative_margin: input0.speculative_margin,
        offset_b: input0.offset_b,
        orientation_a: input0.orientation_a,
        orientation_b: input0.orientation_b,
    };
    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 1.0,
            y: -1.0,
            z: 0.0,
        },
        OffsetA1: Mvec3 {
            x: 1.0,
            y: 1.0,
            z: 0.0,
        },
        Normal: Mvec3 {
            x: -1.0,
            y: 0.0,
            z: 0.0,
        },
        Depth0: 0f32,
        Depth1: 0f32,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: true,
        Contact1Exists: true,
    };
    output0.OffsetA0 -= output0.Normal * output0.Depth0;
    output0.OffsetA1 -= output0.Normal * output0.Depth1;
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        CapsuleWide,
        ConvexHullWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold,
        Some(&container)
    );
}

#[test]
#[wasm_bindgen_test]
fn test_capsule_convex_hull_tester4() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/capsule_convex_hull/contact4.json");

    let input0: InputTypeData =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input0.b.vertices[..]);
    let mut container = ShapeContainer::default();
    let id = container.add(convex_hull);

    let input0 = InputType {
        a: input0.a,
        b: id,
        speculative_margin: input0.speculative_margin,
        offset_b: input0.offset_b,
        orientation_a: input0.orientation_a,
        orientation_b: input0.orientation_b,
    };
    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 1.5659,
            y: 0.565876,
            z: 0.0,
        },
        OffsetA1: Mvec3 {
            x: 0.5659009,
            y: 1.565891,
            z: 0.0,
        },
        Normal: Mvec3 {
            x: -0.7071121,
            y: -0.7071008,
            z: 0.0,
        },
        Depth0: -1.2145004,
        Depth1: 0.19970125,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.OffsetA0 -= output0.Normal * output0.Depth0;
    output0.OffsetA1 -= output0.Normal * output0.Depth1;
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        CapsuleWide,
        ConvexHullWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold,
        Some(&container)
    );
}

#[test]
#[wasm_bindgen_test]
fn test_capsule_convex_hull_tester5() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/capsule_convex_hull/contact5.json");

    let input0: InputTypeData =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input0.b.vertices[..]);
    let mut container = ShapeContainer::default();
    let id = container.add(convex_hull);

    let input0 = InputType {
        a: input0.a,
        b: id,
        speculative_margin: input0.speculative_margin,
        offset_b: input0.offset_b,
        orientation_a: input0.orientation_a,
        orientation_b: input0.orientation_b,
    };
    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 1.2758979,
            y: 0.27587843,
            z: 0.0,
        },
        OffsetA1: Mvec3 {
            x: 0.27589875,
            y: 1.2758934,
            z: 0.0,
        },
        Normal: Mvec3 {
            x: -0.7071121,
            y: -0.7071008,
            z: 0.0,
        },
        Depth0: -0.8043785,
        Depth1: 0.60982317,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.OffsetA0 -= output0.Normal * output0.Depth0;
    output0.OffsetA1 -= output0.Normal * output0.Depth1;
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        CapsuleWide,
        ConvexHullWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold,
        Some(&container)
    );
}

#[test]
#[wasm_bindgen_test]
fn test_capsule_convex_hull_tester6() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/capsule_convex_hull/contact6.json");

    let input0: InputTypeData =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input0.b.vertices[..]);
    let mut container = ShapeContainer::default();
    let id = container.add(convex_hull);

    let input0 = InputType {
        a: input0.a,
        b: id,
        speculative_margin: input0.speculative_margin,
        offset_b: input0.offset_b,
        orientation_a: input0.orientation_a,
        orientation_b: input0.orientation_b,
    };
    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: -1.2071003,
            y: 0.20712054,
            z: 0.0,
        },
        OffsetA1: Mvec3 {
            x: -0.20710129,
            y: 1.2071036,
            z: 0.0,
        },
        Normal: Mvec3 {
            x: -0.7071008,
            y: 0.7071121,
            z: 0.0,
        },
        Depth0: 2.707112,
        Depth1: 1.2928879,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: true,
        Contact1Exists: true,
    };
    output0.OffsetA0 -= output0.Normal * output0.Depth0;
    output0.OffsetA1 -= output0.Normal * output0.Depth1;
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        CapsuleWide,
        ConvexHullWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold,
        Some(&container)
    );
}

#[test]
#[wasm_bindgen_test]
fn test_capsule_convex_hull_tester7() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/capsule_convex_hull/contact7.json");

    let input0: InputTypeData =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input0.b.vertices[..]);
    let mut container = ShapeContainer::default();
    let id = container.add(convex_hull);

    let input0 = InputType {
        a: input0.a,
        b: id,
        speculative_margin: input0.speculative_margin,
        offset_b: input0.offset_b,
        orientation_a: input0.orientation_a,
        orientation_b: input0.orientation_b,
    };
    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: -0.008739829,
            y: -9.536_743E-7,
            z: 1.0,
        },
        OffsetA1: Mvec3 {
            x: 0.008739829,
            y: 9.536_743E-7,
            z: 1.0,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: 0.0,
            z: -1.0,
        },
        Depth0: -0.9999609,
        Depth1: 0.9999609,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.OffsetA0 -= output0.Normal * output0.Depth0;
    output0.OffsetA1 -= output0.Normal * output0.Depth1;
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        CapsuleWide,
        ConvexHullWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold,
        Some(&container)
    );
}

//qhull has no "shift to center" param
#[cfg(not(feature = "qhull"))]
mod shift {
    use glam::{UnitQuat, Vec3};
    use phys_geom::shape::Capsule;

    use crate::collision_tasks::tests::common::{
        build_displaced_convexhull_test, CollisionTestShape,
    };

    #[test]
    fn test_capsule_convex_shift() {
        let shape_a = Capsule::new(1., 2.);
        let convexhull_cuboid_length = Vec3::new(4., 5., 6.);
        let convexhull_displacement_vec = Vec3::new(1e0, 1e4, 1e2);
        let desired_offset_b = Vec3::new(0., 4.1, 0.);
        let rotation_a = UnitQuat::from_euler_default(-1., -2., -3.);
        let rotation_b = UnitQuat::from_euler_default(1., 2., 3.);

        build_displaced_convexhull_test(
            &CollisionTestShape::Capsule(shape_a),
            convexhull_cuboid_length,
            convexhull_displacement_vec,
            desired_offset_b,
            rotation_a,
            rotation_b,
        );
    }
}