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::{
    convex4manifold_wide2convex4contact_manifold, get_input_wide, Convex4ContactManifold, Mvec3,
    TestInput,
};
use crate::collision_tasks::ShapeWideTester;
use crate::shapes::CylinderWide;
use crate::traits::PairWideTest;
use crate::Cylinder;
wasm_bindgen_test_configure!(run_in_browser);
type InputType = TestInput<Cylinder, Cylinder>;
const ADJUST_DEPTH_FACTOR: f32 = 1.0;

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_001_cylinder_a_in_cylinder_b() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/cylinder_cylinder/001_cylinder_a_in_cylinder_b.json");

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

    let output0 = Convex4ContactManifold {
        OffsetA0: Mvec3 {
            x: 0.07071093,
            y: -0.5000001,
            z: 0.07071093,
        },
        OffsetA1: Mvec3 {
            x: 0.07071093,
            y: 0.49999988,
            z: 0.07071093,
        },
        OffsetA2: Mvec3 {
            x: 0.070710935,
            y: -0.099999994,
            z: 0.070710935,
        },
        OffsetA3: Mvec3 {
            x: 0.070710935,
            y: -0.099999994,
            z: 0.070710935,
        },
        Normal: Mvec3 {
            x: -0.70710677,
            y: 2.3507727e-7,
            z: -0.70710677,
        },
        Depth0: 0.45857906,
        Depth1: 0.45857906,
        Depth2: -0.041421,
        Depth3: -0.041421,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: true,
        Contact2Exists: false,
        Contact3Exists: false,
    };
    // output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_002_cylinder_b_in_cylinder_a() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/cylinder_cylinder/002_cylinder_b_in_cylinder_a.json");

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

    let output0 = Convex4ContactManifold {
        OffsetA0: Mvec3 {
            x: 0.3535536,
            y: -0.59999996,
            z: 0.3535536,
        },
        OffsetA1: Mvec3 {
            x: 0.3535536,
            y: 0.40000007,
            z: 0.3535536,
        },
        OffsetA2: Mvec3 {
            x: 0.35355356,
            y: -0.09999996,
            z: 0.35355356,
        },
        OffsetA3: Mvec3 {
            x: 0.35355356,
            y: -0.09999996,
            z: 0.35355356,
        },
        Normal: Mvec3 {
            x: -0.70710677,
            y: -1.1753862e-7,
            z: -0.70710677,
        },
        Depth0: 0.4585789,
        Depth1: 0.4585789,
        Depth2: 0.3585789,
        Depth3: 0.3585789,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: true,
        Contact2Exists: false,
        Contact3Exists: false,
    };
    // output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_003_cylinder_a_cap_in_cylinder_b_side() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input =
        include_bytes!("resource/cylinder_cylinder/003_cylinder_a_cap_in_cylinder_b_side.json");

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

    let mut output0 = Convex4ContactManifold {
        OffsetA0: Mvec3 {
            x: -0.23401044,
            y: 0.45443374,
            z: -0.17763674,
        },
        OffsetA1: Mvec3 {
            x: 0.46288264,
            y: 0.78515255,
            z: 0.3514805,
        },
        OffsetA2: Mvec3 {
            x: -7.4505806e-8,
            y: 1.1000001,
            z: 0.0,
        },
        OffsetA3: Mvec3 {
            x: -7.4505806e-8,
            y: 1.1000001,
            z: 0.0,
        },
        Normal: Mvec3 {
            x: 0.28147334,
            y: -0.93541443,
            z: 0.21394578,
        },
        Depth0: 0.5832349,
        Depth1: 0.22968166,
        Depth2: -0.10690454,
        Depth3: -0.10690454,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: true,
        Contact2Exists: false,
        Contact3Exists: false,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold,
        None,
        epsilon = 1e-3f32
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_004_cylinder_a_cap_part_in_cylinder_b_side() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/004_cylinder_a_cap_part_in_cylinder_b_side.json"
    );

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

    let output0 = Convex4ContactManifold {
        OffsetA0: Mvec3 {
            x: -0.46060154,
            y: 0.90158015,
            z: -0.19768102,
        },
        OffsetA1: Mvec3 {
            x: -0.46060154,
            y: 0.90158015,
            z: -0.19768102,
        },
        OffsetA2: Mvec3 {
            x: -0.5046433,
            y: 1.289778,
            z: -0.07133457,
        },
        OffsetA3: Mvec3 {
            x: -0.5046433,
            y: 1.289778,
            z: -0.07133457,
        },
        Normal: Mvec3 {
            x: 0.7103995,
            y: -0.6587957,
            z: 0.2476312,
        },
        Depth0: 0.53231347,
        Depth1: 0.53231347,
        Depth2: 0.2880678,
        Depth3: 0.2880678,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: false,
        Contact2Exists: false,
        Contact3Exists: false,
    };
    // output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_006_cylinder_a_cap_full_in_cylinder_b_cap_diff_radius() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/006_cylinder_a_cap_full_in_cylinder_b_cap_diff_radius.json"
    );

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

    let mut output0 = Convex4ContactManifold {
        OffsetA0: Mvec3 {
            x: 0.3,
            y: 0.20000005,
            z: 0.0,
        },
        OffsetA1: Mvec3 {
            x: -0.3,
            y: 0.20000005,
            z: 0.0,
        },
        OffsetA2: Mvec3 {
            x: 0.0,
            y: 0.20000005,
            z: 0.3,
        },
        OffsetA3: Mvec3 {
            x: 0.0,
            y: 0.20000005,
            z: -0.3,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: 0.0,
        },
        Depth0: 0.79999995,
        Depth1: 0.79999995,
        Depth2: 0.79999995,
        Depth3: 0.79999995,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: true,
        Contact2Exists: true,
        Contact3Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_007_cylinder_a_side_cross_cylinder_b_side_parallel() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/007_cylinder_a_side_cross_cylinder_b_side_parallel.json"
    );

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

    let mut output0 = Convex4ContactManifold {
        OffsetA0: Mvec3 {
            x: -0.023606807,
            y: -1.0,
            z: -0.047213614,
        },
        OffsetA1: Mvec3 {
            x: -0.023606807,
            y: 1.0,
            z: -0.047213614,
        },
        OffsetA2: Mvec3 {
            x: 0.2,
            y: 0.0,
            z: 0.4,
        },
        OffsetA3: Mvec3 {
            x: 0.2,
            y: 0.0,
            z: 0.4,
        },
        Normal: Mvec3 {
            x: -0.44721356,
            y: 0.0,
            z: -0.8944271,
        },
        Depth0: 0.5527864,
        Depth1: 0.5527864,
        Depth2: 0.052786335,
        Depth3: 0.052786335,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: true,
        Contact2Exists: false,
        Contact3Exists: false,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_008_cylinder_a_side_cross_cylinder_b_side_rotation() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/008_cylinder_a_side_cross_cylinder_b_side_rotation.json"
    );

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

    let mut output0 = Convex4ContactManifold {
        OffsetA0: Mvec3 {
            x: -0.3373449,
            y: -0.04493175,
            z: -0.16579545,
        },
        OffsetA1: Mvec3 {
            x: -0.3373449,
            y: -0.04493175,
            z: -0.16579545,
        },
        OffsetA2: Mvec3 {
            x: 0.03999999,
            y: 0.009999998,
            z: 0.2,
        },
        OffsetA3: Mvec3 {
            x: 0.03999999,
            y: 0.009999998,
            z: 0.2,
        },
        Normal: Mvec3 {
            x: -0.89746773,
            y: -1.7136335e-7,
            z: -0.44108033,
        },
        Depth0: 0.8758856,
        Depth1: 0.8758856,
        Depth2: 0.37588564,
        Depth3: 0.37588564,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: false,
        Contact2Exists: false,
        Contact3Exists: false,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_009_cylinder_a_side_cross_cylinder_b_side_perpendicular() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/009_cylinder_a_side_cross_cylinder_b_side_perpendicular.json"
    );

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

    let mut output0 = Convex4ContactManifold {
        OffsetA0: Mvec3 {
            x: 3.4049153e-6,
            y: 0.009997733,
            z: -0.3,
        },
        OffsetA1: Mvec3 {
            x: 3.4049153e-6,
            y: 0.009997733,
            z: -0.3,
        },
        OffsetA2: Mvec3 {
            x: 0.04,
            y: 0.01,
            z: 0.2,
        },
        OffsetA3: Mvec3 {
            x: 0.04,
            y: 0.01,
            z: 0.2,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: 0.0,
            z: -1.0,
        },
        Depth0: 0.8,
        Depth1: 0.8,
        Depth2: 0.3,
        Depth3: 0.3,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: false,
        Contact2Exists: false,
        Contact3Exists: false,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_010_cylinder_a_cap_cross_cylinder_b_cap() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input =
        include_bytes!("resource/cylinder_cylinder/010_cylinder_a_cap_cross_cylinder_b_cap.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: 1.0,
            z: 0.14023471,
        },
        OffsetA1: Mvec3 {
            x: 0.0,
            y: 1.0,
            z: -0.5,
        },
        OffsetA2: Mvec3 {
            x: -0.47422338,
            y: 1.0,
            z: -0.1213938,
        },
        OffsetA3: Mvec3 {
            x: 0.47422338,
            y: 1.0,
            z: -0.1213938,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: 0.0,
        },
        Depth0: 0.2874384,
        Depth1: -0.2497822,
        Depth2: 0.06790607,
        Depth3: 0.06790607,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: false,
        Contact2Exists: true,
        Contact3Exists: true,
    };
    // output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_011_cylinder_a_cross_cylinder_b_both_side_and_cap() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/011_cylinder_a_cross_cylinder_b_both_side_and_cap.json"
    );

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

    let mut output0 = Convex4ContactManifold {
        OffsetA0: Mvec3 {
            x: -0.4,
            y: -0.1499264,
            z: 1.37239695e-5,
        },
        OffsetA1: Mvec3 {
            x: -0.4,
            y: -0.1499264,
            z: 1.37239695e-5,
        },
        OffsetA2: Mvec3 {
            x: 0.1,
            y: -0.10000001,
            z: 0.050000004,
        },
        OffsetA3: Mvec3 {
            x: 0.1,
            y: -0.10000001,
            z: 0.050000004,
        },
        Normal: Mvec3 {
            x: -1.0,
            y: 1.19147444e-7,
            z: -1.1899542e-7,
        },
        Depth0: 0.9000001,
        Depth1: 0.9000001,
        Depth2: 0.40000013,
        Depth3: 0.40000013,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: false,
        Contact2Exists: false,
        Contact3Exists: false,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold,
        None,
        epsilon = 1e-3f32
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_012_cylinder_a_cap_and_side_part_in_cylinder_b_side() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/012_cylinder_a_cap_and_side_part_in_cylinder_b_side.json"
    );

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

    let output0 = Convex4ContactManifold {
        OffsetA0: Mvec3 {
            x: -0.15965775,
            y: -0.18314391,
            z: -0.47382605,
        },
        OffsetA1: Mvec3 {
            x: -0.15965766,
            y: 0.67507315,
            z: -0.473826,
        },
        OffsetA2: Mvec3 {
            x: -0.14834705,
            y: -0.24999997,
            z: -0.47763208,
        },
        OffsetA3: Mvec3 {
            x: -0.14834705,
            y: -0.24999997,
            z: -0.47763208,
        },
        Normal: Mvec3 {
            x: 0.3189314,
            y: 5.9604645e-8,
            z: 0.947778,
        },
        Depth0: 0.8285941,
        Depth1: 0.34039643,
        Depth2: -0.2873753,
        Depth3: -0.2873753,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: true,
        Contact2Exists: false,
        Contact3Exists: false,
    };
    // output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_013_cylinder_a_cap_and_side_part_in_cylinder_b_cap() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/013_cylinder_a_cap_and_side_part_in_cylinder_b_cap.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: -0.3913837,
            z: -0.5000001,
        },
        OffsetA1: Mvec3 {
            x: 0.0,
            y: 0.9999999,
            z: -0.50000024,
        },
        OffsetA2: Mvec3 {
            x: 0.0,
            y: 0.6727941,
            z: -0.5000001,
        },
        OffsetA3: Mvec3 {
            x: 0.0,
            y: 0.6727941,
            z: -0.5000001,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: -0.34202003,
            z: 0.93969274,
        },
        Depth0: 0.3488654,
        Depth1: 0.82474667,
        Depth2: 0.21283567,
        Depth3: 0.21283567,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: true,
        Contact2Exists: false,
        Contact3Exists: false,
    };
    // output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_014_cylinder_a_side_tangent_with_cylinder_b_side_parallel() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/014_cylinder_a_side_tangent_with_cylinder_b_side_parallel.json"
    );

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

    let mut output0 = Convex4ContactManifold::default();

    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_015_cylinder_a_side_tangent_with_cylinder_b_side_one_point() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/015_cylinder_a_side_tangent_with_cylinder_b_side_one_point.json"
    );

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

    let mut output0 = Convex4ContactManifold::default();
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_016_cylinder_a_side_tangent_with_cylinder_b_cap_parallel() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/016_cylinder_a_side_tangent_with_cylinder_b_cap_parallel.json"
    );

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

    let mut output0 = Convex4ContactManifold::default();
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold,
        None,
        epsilon = 1e-3f32
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_017_cylinder_a_side_tangent_with_cylinder_b_cap_circle() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/017_cylinder_a_side_tangent_with_cylinder_b_cap_circle.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: 1.0,
            z: -0.5,
        },
        OffsetA1: Mvec3 {
            x: 0.0,
            y: 1.0,
            z: -0.5,
        },
        OffsetA2: Mvec3 {
            x: 0.0,
            y: 1.0,
            z: -0.5,
        },
        OffsetA3: Mvec3 {
            x: 0.0,
            y: 1.0,
            z: -0.5,
        },
        Normal: Mvec3 {
            x: 0.0,
            y: 0.0,
            z: 1.0,
        },
        Depth0: 0.0,
        Depth1: 0.0,
        Depth2: -0.5,
        Depth3: -0.5,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: false,
        Contact2Exists: false,
        Contact3Exists: false,
    };
    // output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_018_cylinder_a_circle_tangent_with_cylinder_b_circle() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/018_cylinder_a_circle_tangent_with_cylinder_b_circle.json"
    );

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

    let output0 = Convex4ContactManifold {
        OffsetA0: Mvec3 {
            x: 0.00016194589,
            y: 0.9998382,
            z: -0.5000001,
        },
        OffsetA1: Mvec3 {
            x: 0.00016194589,
            y: 0.9998382,
            z: -0.5000001,
        },
        OffsetA2: Mvec3 {
            x: 0.9998382,
            y: 0.9998382,
            z: -0.49967623,
        },
        OffsetA3: Mvec3 {
            x: 0.9998382,
            y: 0.9998382,
            z: -0.49967623,
        },
        Normal: Mvec3 {
            x: -0.00032396993,
            y: -0.00032395025,
            z: 1.0,
        },
        Depth0: 1.1920928e-7,
        Depth1: 1.1920928e-7,
        Depth2: -0.5003238,
        Depth3: -0.5003238,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: false,
        Contact2Exists: false,
        Contact3Exists: false,
    };
    // output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}
#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_020_cylinder_a_cap_tangent_with_cylinder_b_cap_part() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/020_cylinder_a_cap_tangent_with_cylinder_b_cap_part.json"
    );

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

    let mut output0 = Convex4ContactManifold {
        OffsetA0: Mvec3 {
            x: -0.12360678,
            y: 1.0,
            z: 0.24721356,
        },
        OffsetA1: Mvec3 {
            x: 0.2236068,
            y: 1.0,
            z: -0.4472136,
        },
        OffsetA2: Mvec3 {
            x: -0.38588986,
            y: 1.0,
            z: -0.31794494,
        },
        OffsetA3: Mvec3 {
            x: 0.48588988,
            y: 1.0,
            z: 0.11794494,
        },
        Normal: Mvec3 {
            x: -1.2800001e-7,
            y: -1.0,
            z: 2.5600002e-7,
        },
        Depth0: 0.0,
        Depth1: 0.0,
        Depth2: 0.0,
        Depth3: 0.0,
        FeatureId0: 0,
        FeatureId1: 1,
        FeatureId2: 2,
        FeatureId3: 3,
        Contact0Exists: true,
        Contact1Exists: true,
        Contact2Exists: true,
        Contact3Exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_021_cylinder_a_cap_close_to_cylinder_b_cap_parallel() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/021_cylinder_a_cap_close_to_cylinder_b_cap_parallel.json"
    );

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

    let mut output0 = Convex4ContactManifold::default();
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_022_cylinder_a_cap_close_to_cylinder_b_cap_perpendicular() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/022_cylinder_a_cap_close_to_cylinder_b_cap_perpendicular.json"
    );

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

    let mut output0 = Convex4ContactManifold::default();
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_023_cylinder_a_cap_close_to_cylinder_b_side_parallel() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/023_cylinder_a_cap_close_to_cylinder_b_side_parallel.json"
    );

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

    let mut output0 = Convex4ContactManifold::default();
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_024_cylinder_a_cap_close_to_cylinder_b_side_with_rotation() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/024_cylinder_a_cap_close_to_cylinder_b_side_with_rotation.json"
    );

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

    let mut output0 = Convex4ContactManifold::default();
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_025_cylinder_a_side_close_to_cylinder_b_side_parallel() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!(
        "resource/cylinder_cylinder/025_cylinder_a_side_close_to_cylinder_b_side_parallel.json"
    );

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

    let mut output0 = Convex4ContactManifold::default();
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_cylinder_cylinder_026_cylinder_a_far_away_to_cylinder_b() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input =
        include_bytes!("resource/cylinder_cylinder/026_cylinder_a_far_away_to_cylinder_b.json");

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

    let mut output0 = Convex4ContactManifold::default();
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

    TestWide!(
        CylinderWide,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold
    );
}

#[cfg(all(test, feature = "serde"))]
mod cylinder_cylinder_bepu_nan_test {
    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::CylinderWide;
    use crate::traits::PairWideTest;
    use crate::Cylinder;
    wasm_bindgen_test_configure!(run_in_browser);
    type InputType = TestInput<Cylinder, Cylinder>;
    const ADJUST_DEPTH_FACTOR: f32 = 1.0;

    #[test]
    #[ignore = "todo: issue #1259"]
    fn test_cylinder_cylinder_000_duplicate() {
        let _ = env_logger::builder().is_test(true).try_init();

        // in this test, project a to b cause a vector length 0, while nan.max(0) is 0 in
        // glam-xxx so the result is different from bepu, will fix it in issue #1259
        let file_input = include_bytes!("resource/cylinder_cylinder/000_duplicate.json");

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

        let mut output0 = Convex4ContactManifold {
            OffsetA0: Mvec3 {
                x: 0.5,
                y: 1.0,
                z: 0.0,
            },
            OffsetA1: Mvec3 {
                x: -0.5,
                y: 1.0,
                z: 0.0,
            },
            OffsetA2: Mvec3 {
                x: f32::NAN,
                y: f32::NAN,
                z: f32::NAN,
            },
            OffsetA3: Mvec3 {
                x: f32::NAN,
                y: f32::NAN,
                z: f32::NAN,
            },
            Normal: Mvec3 {
                x: 0.0,
                y: 1.0,
                z: 0.0,
            },
            Depth0: 2.0,
            Depth1: 2.0,
            Depth2: f32::NAN,
            Depth3: f32::NAN,
            FeatureId0: 0,
            FeatureId1: 1,
            FeatureId2: 2,
            FeatureId3: 3,
            Contact0Exists: true,
            Contact1Exists: true,
            Contact2Exists: false,
            Contact3Exists: false,
        };
        output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

        TestWide!(
            CylinderWide,
            CylinderWide,
            array,
            pair_count,
            outputs,
            convex4manifold_wide2convex4contact_manifold
        );
    }

    #[test]
    #[ignore = "todo: issue #1259"]
    fn test_cylinder_cylinder_005_cylinder_a_cap_full_in_cylinder_b_cap_same_radius() {
        let _ = env_logger::builder().is_test(true).try_init();

        let file_input = include_bytes!(
            "resource/cylinder_cylinder/005_cylinder_a_cap_full_in_cylinder_b_cap_same_radius.json"
        );

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

        let mut output0 = Convex4ContactManifold {
            OffsetA0: Mvec3 {
                x: 0.5,
                y: 0.20000005,
                z: 0.0,
            },
            OffsetA1: Mvec3 {
                x: -0.5,
                y: 0.20000005,
                z: 0.0,
            },
            OffsetA2: Mvec3 {
                x: f32::NAN,
                y: f32::NAN,
                z: f32::NAN,
            },
            OffsetA3: Mvec3 {
                x: f32::NAN,
                y: f32::NAN,
                z: f32::NAN,
            },
            Normal: Mvec3 {
                x: 0.0,
                y: -1.0,
                z: 0.0,
            },
            Depth0: 0.79999995,
            Depth1: 0.79999995,
            Depth2: f32::NAN,
            Depth3: f32::NAN,
            FeatureId0: 0,
            FeatureId1: 1,
            FeatureId2: 2,
            FeatureId3: 3,
            Contact0Exists: true,
            Contact1Exists: true,
            Contact2Exists: false,
            Contact3Exists: false,
        };
        output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

        TestWide!(
            CylinderWide,
            CylinderWide,
            array,
            pair_count,
            outputs,
            convex4manifold_wide2convex4contact_manifold
        );
    }

    #[test]
    #[ignore = "todo: issue #1259"]
    fn test_cylinder_cylinder_019_cylinder_a_cap_tangent_with_cylinder_b_cap_full() {
        let _ = env_logger::builder().is_test(true).try_init();

        let file_input = include_bytes!(
            "resource/cylinder_cylinder/019_cylinder_a_cap_tangent_with_cylinder_b_cap_full.json"
        );

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

        let mut output0 = Convex4ContactManifold {
            OffsetA0: Mvec3 {
                x: 0.5,
                y: 1.0,
                z: 0.0,
            },
            OffsetA1: Mvec3 {
                x: -0.5,
                y: 1.0,
                z: 0.0,
            },
            OffsetA2: Mvec3 {
                x: f32::NAN,
                y: f32::NAN,
                z: f32::NAN,
            },
            OffsetA3: Mvec3 {
                x: f32::NAN,
                y: f32::NAN,
                z: f32::NAN,
            },
            Normal: Mvec3 {
                x: 0.0,
                y: -1.0,
                z: 0.0,
            },
            Depth0: 0.0,
            Depth1: 0.0,
            Depth2: f32::NAN,
            Depth3: f32::NAN,
            FeatureId0: 0,
            FeatureId1: 1,
            FeatureId2: 2,
            FeatureId3: 3,
            Contact0Exists: true,
            Contact1Exists: true,
            Contact2Exists: false,
            Contact3Exists: false,
        };
        output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);

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

        TestWide!(
            CylinderWide,
            CylinderWide,
            array,
            pair_count,
            outputs,
            convex4manifold_wide2convex4contact_manifold
        );
    }
}