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::{
    convex1contact_manifold_wide_to_convex1contact_manifold, get_input_wide,
    Convex1ContactManifold, Mvec3, TestInput,
};
use crate::collision_tasks::ShapeWideTester;
use crate::shapes::{CuboidWide, SphereWide};
use crate::traits::PairWideTest;
use crate::{Cuboid, Sphere};

wasm_bindgen_test_configure!(run_in_browser);

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

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

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

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

    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: -2.210208,
            y: -2.4443378,
            z: 1.0203364,
        },
        normal: Mvec3 {
            x: 0.6406833,
            y: 0.7085516,
            z: -0.29576966,
        },
        depth: -0.89953375,
        feature_id: 0,
        contact_exists: false,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        SphereWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

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

    let file_input = include_bytes!("resource/sphere_cuboid/close_at_face.json");

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

    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: -2.0001726,
            y: -0.00024140495,
            z: -1.03123385E-8,
        },
        normal: Mvec3 {
            x: 1.0,
            y: 0.00012069206,
            z: 5.1557243E-9,
        },
        depth: -0.0003452301,
        feature_id: 0,
        contact_exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        SphereWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

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

    let file_input = include_bytes!("resource/sphere_cuboid/tangent_at_face.json");

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

    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: -2.0,
            y: 0.0,
            z: 0.0,
        },
        normal: Mvec3 {
            x: 1.0,
            y: 0.0,
            z: 0.0,
        },
        depth: 0.0,
        feature_id: 0,
        contact_exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        SphereWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

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

    let file_input = include_bytes!("resource/sphere_cuboid/penetrate_at_face.json");

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

    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: -1.95,
            y: 0.0,
            z: 0.0,
        },
        normal: Mvec3 {
            x: 1.0,
            y: 0.0,
            z: 0.0,
        },
        depth: 0.099999905,
        feature_id: 0,
        contact_exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        SphereWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

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

    let file_input = include_bytes!("resource/sphere_cuboid/close_at_edge.json");

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

    #[allow(clippy::approx_constant)]
    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: -0.3540517,
            y: 0.0,
            z: -0.3540517,
        },
        normal: Mvec3 {
            x: 0.7071068,
            y: 0.0,
            z: 0.7071068,
        },
        depth: -0.0014094114,
        feature_id: 0,
        contact_exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        SphereWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

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

    let file_input = include_bytes!("resource/sphere_cuboid/tangent_at_edge.json");

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

    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: -0.3535517,
            y: 0.0,
            z: -0.3535517,
        },
        normal: Mvec3 {
            x: 0.70710677,
            y: 0.0,
            z: 0.70710677,
        },
        depth: 4.7683716E-6,
        feature_id: 0,
        contact_exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        SphereWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

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

    let file_input = include_bytes!("resource/sphere_cuboid/penetrate_at_edge.json");

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

    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: -0.3485517,
            y: 0.0,
            z: -0.3485517,
        },
        normal: Mvec3 {
            x: 0.70710677,
            y: 0.0,
            z: 0.70710677,
        },
        depth: 0.014146894,
        feature_id: 0,
        contact_exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        SphereWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

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

    let file_input = include_bytes!("resource/sphere_cuboid/close_at_vertex.json");

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

    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: -9.664636E-7,
            y: -0.5008364,
            z: -9.701952E-7,
        },
        normal: Mvec3 {
            x: 1.9297004E-6,
            y: 1.0000005,
            z: 1.937151E-6,
        },
        depth: -0.0016723275,
        feature_id: 0,
        contact_exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        SphereWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

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

    let file_input = include_bytes!("resource/sphere_cuboid/tangent_at_vertex.json");

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

    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: -9.872019E-7,
            y: -0.50000024,
            z: -9.834766E-7,
        },
        normal: Mvec3 {
            x: 1.9744039E-6,
            y: 1.0000005,
            z: 1.9669533E-6,
        },
        depth: -5.9604645E-8,
        feature_id: 0,
        contact_exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        SphereWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

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

    let file_input = include_bytes!("resource/sphere_cuboid/penetrate_at_vertex.json");

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

    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: -1.0068344E-6,
            y: -0.49500024,
            z: -1.0031463E-6,
        },
        normal: Mvec3 {
            x: 2.0340085E-6,
            y: 1.0000004,
            z: 2.026558E-6,
        },
        depth: 0.009999871,
        feature_id: 0,
        contact_exists: true,
    };
    output0.adjust_offset_a_to_shape_surface(ADJUST_DEPTH_FACTOR);
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();
    TestWide!(
        SphereWide,
        CuboidWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}