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.

#[cfg(test)]
#[cfg(feature = "serde")]
mod tests {
    use std::f32::consts::*;

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

    use crate::collision_tasks::tests::common::{
        convex4manifold_wide2convex4contact_manifold, get_input_wide, Convex4ContactManifold,
        Mvec3, TestInput,
    };
    use crate::collision_tasks::ShapeWideTester;
    use crate::shapes::{CuboidWide, InfinitePlaneWide};
    use crate::traits::PairWideTest;
    use crate::{Cuboid, InfinitePlane};

    type InputType = TestInput<Cuboid, InfinitePlane>;

    wasm_bindgen_test_configure!(run_in_browser);

    //     4+------+0
    //     /|     /|
    //    / |    / |
    //   / 6+---/--+2
    // 5+------+1 /    y   z
    //  | /    | /     |  /
    //  |/     |/      |/
    // 7+------+3      *---x
    #[test]
    #[cfg(feature = "serde")]
    #[wasm_bindgen_test]
    // contacts: 2 7 3 6
    fn test_cuboid_infinite_plane_000_4contacts_no_rotation() {
        let _ = env_logger::builder().is_test(true).try_init();

        let file_input =
            include_bytes!("resource/cuboid_infinite_plane/000_4contacts_no_rotation.json");

        let input0: InputType =
            serde_json::from_slice(file_input).expect("file should be proper JSON");

        let output0 = Convex4ContactManifold {
            OffsetA0: Mvec3 {
                x: 0.5,
                y: -0.5,
                z: 0.5,
            },
            OffsetA1: Mvec3 {
                x: -0.5,
                y: -0.5,
                z: -0.5,
            },
            OffsetA2: Mvec3 {
                x: 0.5,
                y: -0.5,
                z: -0.5,
            },
            OffsetA3: Mvec3 {
                x: -0.5,
                y: -0.5,
                z: 0.5,
            },
            Normal: Mvec3 {
                x: 0.0,
                y: 1.0,
                z: 0.0,
            },
            Depth0: 0.5,
            Depth1: 0.5,
            Depth2: 0.5,
            Depth3: 0.5,
            FeatureId0: 0,
            FeatureId1: 1,
            FeatureId2: 2,
            FeatureId3: 3,
            Contact0Exists: true,
            Contact1Exists: true,
            Contact2Exists: true,
            Contact3Exists: true,
        };

        let array = [input0];
        let outputs = [output0];
        let pair_count = array.len();

        TestWide!(
            CuboidWide,
            InfinitePlaneWide,
            array,
            pair_count,
            outputs,
            convex4manifold_wide2convex4contact_manifold
        );
    }

    #[test]
    #[cfg(feature = "serde")]
    #[wasm_bindgen_test]
    // contacts: 2 6
    fn test_cuboid_infinite_plane_001_2contacts_rotate_x_45() {
        let _ = env_logger::builder().is_test(true).try_init();

        let file_input =
            include_bytes!("resource/cuboid_infinite_plane/001_2contacts_rotate_x_45.json");

        let input0: InputType =
            serde_json::from_slice(file_input).expect("file should be proper JSON");

        let output0 = Convex4ContactManifold {
            OffsetA0: Mvec3 {
                x: 0.5,
                y: -FRAC_1_SQRT_2,
                z: 0.0,
            },
            OffsetA1: Mvec3 {
                x: -0.5,
                y: -FRAC_1_SQRT_2,
                z: -0.0,
            },
            OffsetA2: Mvec3 {
                x: 0.0,
                y: 0.0,
                z: -0.0,
            },
            OffsetA3: Mvec3 {
                x: -0.0,
                y: 0.0,
                z: 0.0,
            },
            Normal: Mvec3 {
                x: 0.0,
                y: 1.0,
                z: 0.0,
            },
            Depth0: 0.207106,
            Depth1: 0.207106,
            Depth2: 0.0,
            Depth3: 0.0,
            FeatureId0: 0,
            FeatureId1: 1,
            FeatureId2: 2,
            FeatureId3: 3,
            Contact0Exists: true,
            Contact1Exists: true,
            Contact2Exists: false,
            Contact3Exists: false,
        };

        let array = [input0];
        let outputs = [output0];
        let pair_count = array.len();

        TestWide!(
            CuboidWide,
            InfinitePlaneWide,
            array,
            pair_count,
            outputs,
            convex4manifold_wide2convex4contact_manifold
        );
    }

    #[test]
    #[cfg(feature = "serde")]
    #[wasm_bindgen_test]
    // contacts: 2 7 3 6
    fn test_cuboid_infinite_plane_002_4contacts_fully_penetrate_no_rotation() {
        let _ = env_logger::builder().is_test(true).try_init();

        let file_input = include_bytes!(
            "resource/cuboid_infinite_plane/002_4contacts_fully_penetrate_no_rotation.json"
        );

        let input0: InputType =
            serde_json::from_slice(file_input).expect("file should be proper JSON");

        let output0 = Convex4ContactManifold {
            OffsetA0: Mvec3 {
                x: 0.5,
                y: -0.5,
                z: 0.5,
            },
            OffsetA1: Mvec3 {
                x: -0.5,
                y: -0.5,
                z: -0.5,
            },
            OffsetA2: Mvec3 {
                x: 0.5,
                y: -0.5,
                z: -0.5,
            },
            OffsetA3: Mvec3 {
                x: -0.5,
                y: -0.5,
                z: 0.5,
            },
            Normal: Mvec3 {
                x: 0.0,
                y: 1.0,
                z: 0.0,
            },
            Depth0: 5.5,
            Depth1: 5.5,
            Depth2: 5.5,
            Depth3: 5.5,
            FeatureId0: 0,
            FeatureId1: 1,
            FeatureId2: 2,
            FeatureId3: 3,
            Contact0Exists: true,
            Contact1Exists: true,
            Contact2Exists: true,
            Contact3Exists: true,
        };

        let array = [input0];
        let outputs = [output0];
        let pair_count = array.len();

        TestWide!(
            CuboidWide,
            InfinitePlaneWide,
            array,
            pair_count,
            outputs,
            convex4manifold_wide2convex4contact_manifold
        );
    }

    #[test]
    #[cfg(feature = "serde")]
    #[wasm_bindgen_test]
    #[allow(clippy::approx_constant)]
    // contacts: 2 7 0 6
    fn test_cuboid_infinite_plane_003_4contacts_fully_penetrate_rotate_x_45() {
        let _ = env_logger::builder().is_test(true).try_init();

        let file_input = include_bytes!(
            "resource/cuboid_infinite_plane/003_4contacts_fully_penetrate_rotate_x_45.json"
        );

        let input0: InputType =
            serde_json::from_slice(file_input).expect("file should be proper JSON");

        let output0 = Convex4ContactManifold {
            OffsetA0: Mvec3 {
                x: 0.5,
                y: -0.707106,
                z: 0.0,
            },
            OffsetA1: Mvec3 {
                x: -0.5,
                y: 0.0,
                z: -0.707106,
            },
            OffsetA2: Mvec3 {
                x: 0.5,
                y: 0.0,
                z: 0.707106,
            },
            OffsetA3: Mvec3 {
                x: -0.5,
                y: -0.707106,
                z: 0.0,
            },
            Normal: Mvec3 {
                x: 0.0,
                y: 1.0,
                z: 0.0,
            },
            Depth0: 10.707106,
            Depth1: 10.0,
            Depth2: 10.0,
            Depth3: 10.707106,
            FeatureId0: 0,
            FeatureId1: 1,
            FeatureId2: 2,
            FeatureId3: 3,
            Contact0Exists: true,
            Contact1Exists: true,
            Contact2Exists: true,
            Contact3Exists: true,
        };

        let array = [input0];
        let outputs = [output0];
        let pair_count = array.len();

        TestWide!(
            CuboidWide,
            InfinitePlaneWide,
            array,
            pair_count,
            outputs,
            convex4manifold_wide2convex4contact_manifold
        );
    }

    #[test]
    #[cfg(feature = "serde")]
    #[wasm_bindgen_test]
    // contact: 6
    fn test_cuboid_infinite_plane_004_1contacts_rotate_x_45_z_45() {
        let _ = env_logger::builder().is_test(true).try_init();

        let file_input =
            include_bytes!("resource/cuboid_infinite_plane/004_1contacts_rotate_x_45_z_45.json");

        let input0: InputType =
            serde_json::from_slice(file_input).expect("file should be proper JSON");

        let output0 = Convex4ContactManifold {
            OffsetA0: Mvec3 {
                x: 0.0,
                y: -0.8535535,
                z: -0.1464,
            },
            OffsetA1: Mvec3 {
                x: -0.0,
                y: -0.0,
                z: 0.0,
            },
            OffsetA2: Mvec3 {
                x: 0.0,
                y: 0.0,
                z: 0.0,
            },
            OffsetA3: Mvec3 {
                x: -0.0,
                y: -0.0,
                z: 0.0,
            },
            Normal: Mvec3 {
                x: 0.0,
                y: 1.0,
                z: 0.0,
            },
            Depth0: 0.053553,
            Depth1: 0.0,
            Depth2: 0.0,
            Depth3: 0.0,
            FeatureId0: 0,
            FeatureId1: 1,
            FeatureId2: 2,
            FeatureId3: 3,
            Contact0Exists: true,
            Contact1Exists: false,
            Contact2Exists: false,
            Contact3Exists: false,
        };

        let array = [input0];
        let outputs = [output0];
        let pair_count = array.len();

        TestWide!(
            CuboidWide,
            InfinitePlaneWide,
            array,
            pair_count,
            outputs,
            convex4manifold_wide2convex4contact_manifold
        );
    }

    #[test]
    #[cfg(feature = "serde")]
    #[wasm_bindgen_test]
    fn test_cuboid_infinite_plane_005_nocollide() {
        let _ = env_logger::builder().is_test(true).try_init();

        let file_input = include_bytes!("resource/cuboid_infinite_plane/005_nocollide.json");

        let input0: InputType =
            serde_json::from_slice(file_input).expect("file should be proper JSON");

        let output0 = Convex4ContactManifold {
            OffsetA0: Mvec3 {
                x: 0.0,
                y: -0.0,
                z: -0.0,
            },
            OffsetA1: Mvec3 {
                x: -0.0,
                y: -0.0,
                z: 0.0,
            },
            OffsetA2: Mvec3 {
                x: 0.0,
                y: 0.0,
                z: 0.0,
            },
            OffsetA3: Mvec3 {
                x: -0.0,
                y: -0.0,
                z: 0.0,
            },
            Normal: Mvec3 {
                x: 1.0,
                y: 0.0,
                z: 0.0,
            },
            Depth0: 0.0,
            Depth1: 0.0,
            Depth2: 0.0,
            Depth3: 0.0,
            FeatureId0: 0,
            FeatureId1: 1,
            FeatureId2: 2,
            FeatureId3: 3,
            Contact0Exists: false,
            Contact1Exists: false,
            Contact2Exists: false,
            Contact3Exists: false,
        };

        let array = [input0];
        let outputs = [output0];
        let pair_count = array.len();

        TestWide!(
            CuboidWide,
            InfinitePlaneWide,
            array,
            pair_count,
            outputs,
            convex4manifold_wide2convex4contact_manifold
        );
    }

    #[test]
    #[allow(clippy::approx_constant)]
    #[cfg(feature = "serde")]
    #[wasm_bindgen_test]
    // contacts: 6, 2, 7
    fn test_cuboid_infinite_plane_006_3contacts_rotate_x_45_z_45() {
        let _ = env_logger::builder().is_test(true).try_init();

        let file_input =
            include_bytes!("resource/cuboid_infinite_plane/006_3contacts_rotate_x_45_z_45.json");

        let input0: InputType =
            serde_json::from_slice(file_input).expect("file should be proper JSON");

        let output0 = Convex4ContactManifold {
            OffsetA0: Mvec3 {
                x: 0.0,
                y: -0.8535535,
                z: -0.146446,
            },
            OffsetA1: Mvec3 {
                x: 0.707106,
                y: -0.353553,
                z: 0.353553,
            },
            OffsetA2: Mvec3 {
                x: -0.707106,
                y: -0.353553,
                z: 0.353553,
            },
            OffsetA3: Mvec3 {
                x: -0.0,
                y: -0.0,
                z: 0.0,
            },
            Normal: Mvec3 {
                x: 0.0,
                y: 1.0,
                z: 0.0,
            },
            Depth0: 0.603553,
            Depth1: 0.103553,
            Depth2: 0.103553,
            Depth3: 0.0,
            FeatureId0: 0,
            FeatureId1: 1,
            FeatureId2: 2,
            FeatureId3: 3,
            Contact0Exists: true,
            Contact1Exists: true,
            Contact2Exists: true,
            Contact3Exists: false,
        };

        let array = [input0];
        let outputs = [output0];
        let pair_count = array.len();

        TestWide!(
            CuboidWide,
            InfinitePlaneWide,
            array,
            pair_count,
            outputs,
            convex4manifold_wide2convex4contact_manifold
        );
    }

    #[test]
    #[cfg(feature = "serde")]
    #[wasm_bindgen_test]
    // contacts: 6 3 2 7
    fn test_cuboid_infinite_plane_007_4contacts_fully_penetrate_2_rotate_x_30_z_30() {
        let _ = env_logger::builder().is_test(true).try_init();

        let file_input = include_bytes!(
            "resource/cuboid_infinite_plane/007_4contacts_fully_penetrate_2_rotate_x_30_z_30.json"
        );

        let input0: InputType =
            serde_json::from_slice(file_input).expect("file should be proper JSON");

        let output0 = Convex4ContactManifold {
            OffsetA0: Mvec3 {
                x: -0.18301274,
                y: -0.84150636,
                z: 0.09150636,
            },
            OffsetA1: Mvec3 {
                x: 0.6830127,
                y: 0.09150633,
                z: -0.5245191,
            },
            OffsetA2: Mvec3 {
                x: 0.6830127,
                y: -0.40849367,
                z: 0.34150636,
            },
            OffsetA3: Mvec3 {
                x: -0.18301272,
                y: -0.34150636,
                z: -0.7745191,
            },
            Normal: Mvec3 {
                x: 0.0,
                y: 1.0,
                z: 0.0,
            },
            Depth0: 10.841506,
            Depth1: 9.908494,
            Depth2: 10.408494,
            Depth3: 10.341506,
            FeatureId0: 0,
            FeatureId1: 1,
            FeatureId2: 2,
            FeatureId3: 3,
            Contact0Exists: true,
            Contact1Exists: true,
            Contact2Exists: true,
            Contact3Exists: true,
        };

        let array = [input0];
        let outputs = [output0];
        let pair_count = array.len();

        TestWide!(
            CuboidWide,
            InfinitePlaneWide,
            array,
            pair_count,
            outputs,
            convex4manifold_wide2convex4contact_manifold
        );
    }

    #[test]
    #[cfg(feature = "serde")]
    #[wasm_bindgen_test]
    // contacts: 6 5 7 4
    fn test_cuboid_infinite_plane_008_4contacts_fully_penetrate_3_rotate_z_60() {
        let _ = env_logger::builder().is_test(true).try_init();

        let file_input = include_bytes!(
            "resource/cuboid_infinite_plane/008_4contacts_fully_penetrate_3_rotate_z_60.json"
        );

        let input0: InputType =
            serde_json::from_slice(file_input).expect("file should be proper JSON");

        let output0 = Convex4ContactManifold {
            OffsetA0: Mvec3 {
                x: 0.1830127,
                y: -0.6830127,
                z: 0.5,
            },
            OffsetA1: Mvec3 {
                x: -0.6830127,
                y: -0.1830127,
                z: -0.5,
            },
            OffsetA2: Mvec3 {
                x: 0.1830127,
                y: -0.6830127,
                z: -0.5,
            },
            OffsetA3: Mvec3 {
                x: -0.6830127,
                y: -0.183013,
                z: 0.5,
            },
            Normal: Mvec3 {
                x: 0.0,
                y: 1.0,
                z: 0.0,
            },
            Depth0: 10.683013,
            Depth1: 10.183013,
            Depth2: 10.683013,
            Depth3: 10.183013,
            FeatureId0: 0,
            FeatureId1: 1,
            FeatureId2: 2,
            FeatureId3: 3,
            Contact0Exists: true,
            Contact1Exists: true,
            Contact2Exists: true,
            Contact3Exists: true,
        };

        let array = [input0];
        let outputs = [output0];
        let pair_count = array.len();

        TestWide!(
            CuboidWide,
            InfinitePlaneWide,
            array,
            pair_count,
            outputs,
            convex4manifold_wide2convex4contact_manifold
        );
    }
}