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 glam_det::Vec3;
use wasm_bindgen_test::*;

use crate::collision_tasks::tests::common::{
    convex2contact_manifold_wide_to_convex2contact_manifold, get_input_wide,
    Convex2ContactManifold, Mvec3, TestInput,
};
use crate::collision_tasks::ShapeWideTester;
use crate::shapes::{CapsuleWide, CuboidWide};
use crate::traits::PairWideTest;
use crate::{Capsule, Cuboid};
wasm_bindgen_test_configure!(run_in_browser);

type InputType = TestInput<Capsule, Cuboid>;
const ADJUST_DEPTH_FACTOR: f32 = 0.5;

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

    let file_input = include_bytes!("resource/capsule_cuboid/random.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);
    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 0.01733534,
            y: -0.23973602,
            z: -0.14974365,
        },
        OffsetA1: Mvec3 {
            x: 0.3246084,
            y: -0.077735715,
            z: 0.14974365,
        },
        Normal: Mvec3 {
            x: -0.73284423,
            y: 0.68039656,
            z: 0.0,
        },
        Depth0: -0.3615569,
        Depth1: -0.13163926,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input = include_bytes!("resource/capsule_cuboid/body_close_at_cuboid_face.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 0.0,
            y: 0.50050014,
            z: -0.5000003,
        },
        OffsetA1: Mvec3 {
            x: 0.0,
            y: 0.5004999,
            z: 0.5000003,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: 0.0,
        },
        Depth0: -0.0009997487,
        Depth1: -0.0010003448,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: true,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input = include_bytes!("resource/capsule_cuboid/body_tangent_at_cuboid_face.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 0.0,
            y: 0.5000001,
            z: -0.5,
        },
        OffsetA1: Mvec3 {
            x: 0.0,
            y: 0.49999982,
            z: 0.5000006,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: -5.960468E-7,
        },
        Depth0: 2.9802322E-7,
        Depth1: -2.9802322E-7,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: true,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_body_penetrate_at_cuboid_face.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 0.0,
            y: 0.49950016,
            z: -0.5,
        },
        OffsetA1: Mvec3 {
            x: 0.0,
            y: 0.49949986,
            z: 0.5000006,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: -5.972413E-7,
        },
        Depth0: 0.0010002851,
        Depth1: 0.0009996891,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: true,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_body_close_at_cuboid_edge.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: -5.741192E-7,
            y: 0.50050056,
            z: -0.5,
        },
        OffsetA1: Mvec3 {
            x: 2.1613344E-7,
            y: 0.5005005,
            z: 0.5000011,
        },
        Normal: Mvec3 {
            x: 3.5762787E-7,
            y: -1.0000002,
            z: -1.0707419E-6,
        },
        Depth0: -0.0010000467,
        Depth1: -0.0010015965,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: true,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_body_tangent_at_cuboid_edge.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: -5.739404E-7,
            y: 0.50000054,
            z: -0.5,
        },
        OffsetA1: Mvec3 {
            x: 2.1631226E-7,
            y: 0.5000005,
            z: 0.5000011,
        },
        Normal: Mvec3 {
            x: 3.5762787E-7,
            y: -1.0000002,
            z: -1.0728835E-6,
        },
        Depth0: 2.9802322E-8,
        Depth1: -1.5497208E-6,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: true,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_body_penetrate_at_cuboid_edge.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: -5.7376155E-7,
            y: 0.49950048,
            z: -0.5,
        },
        OffsetA1: Mvec3 {
            x: 2.1649109E-7,
            y: 0.49950048,
            z: 0.5000011,
        },
        Normal: Mvec3 {
            x: 3.5762787E-7,
            y: -1.0000002,
            z: -1.0750337E-6,
        },
        Depth0: 0.0010000765,
        Depth1: 0.0009984672,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: true,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_body_close_at_cuboid_vertex.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: -2.5331974E-7,
            y: 0.84200656,
            z: -0.50000036,
        },
        OffsetA1: Mvec3 {
            x: 1.9281288E-10,
            y: 0.50025004,
            z: 0.0003660482,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: -4.4703484E-7,
        },
        Depth0: -0.68401265,
        Depth1: -0.00050008297,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_body_tangent_at_cuboid_vertex.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: -1.7808321E-7,
            y: 0.8415067,
            z: -0.50000036,
        },
        OffsetA1: Mvec3 {
            x: 4.4877584E-8,
            y: 0.49975008,
            z: 0.00036607665,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: -1.0000001,
            z: -4.172325E-7,
        },
        Depth0: -0.6830127,
        Depth1: 0.00049993396,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_body_penetrate_at_cuboid_vertex.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: -1.7812792E-7,
            y: 0.84100664,
            z: -0.50000036,
        },
        OffsetA1: Mvec3 {
            x: 4.483288E-8,
            y: 0.49925005,
            z: 0.00036607645,
        },
        Normal: Mvec3 {
            x: -8.940697E-8,
            y: -1.0000001,
            z: -4.172325E-7,
        },
        Depth0: -0.68201256,
        Depth1: 0.0015000105,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_hemisphere_close_at_cuboid_vertex.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: -1.1926517E-7,
            y: 0.5004998,
            z: -1.3417005E-7,
        },
        OffsetA1: Mvec3 {
            x: -4.848466E-8,
            y: 1.0005001,
            z: -4.4763098E-8,
        },
        Normal: Mvec3 {
            x: 1.1175871E-7,
            y: -0.99999994,
            z: 1.1920929E-7,
        },
        Depth0: -1.0009999,
        Depth1: -0.0010001063,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_hemisphere_tangent_at_cuboid_vertex.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 3.7252903E-8,
            y: 0.50000006,
            z: 1.4901161E-8,
        },
        OffsetA1: Mvec3 {
            x: 2.9802326E-8,
            y: 1.0000002,
            z: 2.9802322E-8,
        },
        Normal: Mvec3 {
            x: -4.4703484E-8,
            y: -1.0000001,
            z: -2.9802322E-8,
        },
        Depth0: -1.0000001,
        Depth1: -1.1920929E-7,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input = include_bytes!(
        "resource/capsule_cuboid/capsule_hemisphere_penetrate_at_cuboid_vertex.json"
    );

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 2.2336842E-8,
            y: 0.49950022,
            z: 1.4886261E-8,
        },
        OffsetA1: Mvec3 {
            x: 2.2336842E-8,
            y: 0.9995002,
            z: 2.9787422E-8,
        },
        Normal: Mvec3 {
            x: -2.9802322E-8,
            y: -1.0000002,
            z: -2.9802322E-8,
        },
        Depth0: -0.9990001,
        Depth1: 0.0009998977,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_hemisphere_close_at_cuboid_edge.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 2.9817226E-8,
            y: 0.5005001,
            z: 0.0,
        },
        OffsetA1: Mvec3 {
            x: 1.4916065E-8,
            y: 1.0005001,
            z: 0.0,
        },
        Normal: Mvec3 {
            x: -2.9802322E-8,
            y: -1.0,
            z: 0.0,
        },
        Depth0: -1.0010002,
        Depth1: -0.0010001659,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_hemisphere_tangent_at_cuboid_edge.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: -1.1920929E-7,
            y: 0.5,
            z: 0.0,
        },
        OffsetA1: Mvec3 {
            x: -5.9604645E-8,
            y: 1.0,
            z: 0.0,
        },
        Normal: Mvec3 {
            x: 1.1920929E-7,
            y: -1.0,
            z: 0.0,
        },
        Depth0: -1.0,
        Depth1: -5.9604645E-8,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_hemisphere_penetrate_at_cuboid_edge.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: -1.1920929E-7,
            y: 0.5,
            z: 0.0,
        },
        OffsetA1: Mvec3 {
            x: -5.9604645E-8,
            y: 1.0,
            z: 0.0,
        },
        Normal: Mvec3 {
            x: 1.1920929E-7,
            y: -1.0,
            z: 0.0,
        },
        Depth0: -1.0,
        Depth1: -5.9604645E-8,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_hemisphere_close_at_cuboid_face.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 0.0,
            y: 0.50049996,
            z: 0.0,
        },
        OffsetA1: Mvec3 {
            x: 0.0,
            y: 1.0005,
            z: 0.0,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: 0.0,
        },
        Depth0: -1.001,
        Depth1: -0.0010000467,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_hemisphere_tangent_at_cuboid_face.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 0.0,
            y: 0.5,
            z: 0.0,
        },
        OffsetA1: Mvec3 {
            x: 0.0,
            y: 1.0,
            z: 0.0,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: 0.0,
        },
        Depth0: -1.0,
        Depth1: 0.0,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}

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

    let file_input =
        include_bytes!("resource/capsule_cuboid/capsule_hemisphere_penetrate_at_cuboid_face.json");

    let mut input0: InputType =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let len: Vec3 = input0.b.length().into();
    input0.b.set_length(len * 2.0);

    let mut output0 = Convex2ContactManifold {
        OffsetA0: Mvec3 {
            x: 0.0,
            y: 0.49949998,
            z: 0.0,
        },
        OffsetA1: Mvec3 {
            x: 0.0,
            y: 0.9995,
            z: 0.0,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: 0.0,
        },
        Depth0: -0.99899995,
        Depth1: 0.0010000467,
        FeatureId0: 0,
        FeatureId1: 1,
        Contact0Exists: false,
        Contact1Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        CapsuleWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex2contact_manifold_wide_to_convex2contact_manifold
    );
}