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::{CylinderWide, SphereWide};
use crate::traits::PairWideTest;
use crate::{Cylinder, Sphere};
wasm_bindgen_test_configure!(run_in_browser);
type InputType = TestInput<Sphere, Cylinder>;
const ADJUST_DEPTH_FACTOR: f32 = 1.0;

#[test]
#[wasm_bindgen_test]
fn test_sphere_cylinder_000_tester_same_center() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/sphere_cylinder/000_same_center.json");

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

    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: 0.0,
            y: 0.0,
            z: 0.0,
        },
        normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: 0.0,
        },
        depth: 1.0,
        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,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_sphere_cylinder_001_cylinder_inside_sphere() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/sphere_cylinder/001_cylinder_inside_sphere.json");

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

    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: 0.029_289_3_f32,
            y: 0.0,
            z: 0.029_289_3_f32,
        },
        normal: Mvec3 {
            x: -std::f32::consts::FRAC_1_SQRT_2,
            y: 0.0,
            z: -std::f32::consts::FRAC_1_SQRT_2,
        },
        depth: 0.458_578_6_f32,
        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,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_sphere_cylinder_002_sphere_inside_cylinder() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/sphere_cylinder/002_sphere_inside_cylinder.json");

    let input0: InputType = serde_json::from_slice(file_input).expect("file should be proper JSON");
    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: 0.0,
            y: 0.0,
            z: 0.0,
        },
        normal: Mvec3 {
            x: -std::f32::consts::FRAC_1_SQRT_2,
            y: 0.0,
            z: -std::f32::consts::FRAC_1_SQRT_2,
        },
        depth: 1.1858578,
        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,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_sphere_cylinder_003_nocollide() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/sphere_cylinder/003_nocollide.json");

    let input0: InputType = serde_json::from_slice(file_input).expect("file should be proper JSON");
    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: 9.646_446_f32,
            y: 9.5,
            z: 9.646_446_f32,
        },
        normal: Mvec3 {
            x: -0.580_271_8_f32,
            y: -0.571_462_4_f32,
            z: -0.580_271_8_f32,
        },
        depth: -16.124_014_f32,
        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,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_sphere_cylinder_004_sphere_tangent_at_cylinder_side() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input =
        include_bytes!("resource/sphere_cylinder/004_sphere_tangent_at_cylinder_side.json");

    let input0: InputType = serde_json::from_slice(file_input).expect("file should be proper JSON");
    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: 0.500_000_f32,
            y: 0.0,
            z: 0.0,
        },
        normal: Mvec3 {
            x: -1.0,
            y: 0.0,
            z: 0.0,
        },
        depth: -5.960_464_5e-8,
        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,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_sphere_cylinder_005_sphere_tangent_at_cylinder_cap() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input =
        include_bytes!("resource/sphere_cylinder/005_sphere_tangent_at_cylinder_cap.json");

    let input0: InputType = serde_json::from_slice(file_input).expect("file should be proper JSON");
    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: 0.0,
            y: 0.5,
            z: 0.0,
        },
        normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            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,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_sphere_cylinder_006_sphere_tangent_at_cylinder_cap_circle() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input =
        include_bytes!("resource/sphere_cylinder/006_sphere_tangent_at_cylinder_cap_circle.json");

    let input0: InputType = serde_json::from_slice(file_input).expect("file should be proper JSON");
    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: 0.0,
            y: 0.5,
            z: 0.0,
        },
        normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            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,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_sphere_cylinder_007_penetrate_at_cylinder_cap() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/sphere_cylinder/007_penetrate_at_cylinder_cap.json");

    let input0: InputType = serde_json::from_slice(file_input).expect("file should be proper JSON");
    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: 0.0,
            y: 0.3,
            z: 0.0,
        },
        normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: 0.0,
        },
        depth: 0.199_999_9_f32,
        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,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_sphere_cylinder_008_penetrate_at_cylinder_side() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/sphere_cylinder/008_penetrate_at_cylinder_side.json");
    let input0: InputType = serde_json::from_slice(file_input).expect("file should be proper JSON");
    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: 0.204_281_4_f32,
            y: 0.0,
            z: -0.022_697_9_f32,
        },
        normal: Mvec3 {
            x: -0.993_883_7_f32,
            y: 0.0,
            z: 0.110_431_5_f32,
        },
        depth: 0.294_461_5_f32,
        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,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_sphere_cylinder_009_penetrate_at_cylinder_cap_circle() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input =
        include_bytes!("resource/sphere_cylinder/009_penetrate_at_cylinder_cap_circle.json");
    let input0: InputType = serde_json::from_slice(file_input).expect("file should be proper JSON");
    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: 0.0,
            y: 0.0,
            z: 0.0,
        },
        normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: 0.0,
        },
        depth: 0.6,
        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,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}

#[test]
#[wasm_bindgen_test]
fn test_sphere_cylinder_010_random_collide() {
    let _ = env_logger::builder().is_test(true).try_init();

    let file_input = include_bytes!("resource/sphere_cylinder/010_random_collide.json");
    let input0: InputType = serde_json::from_slice(file_input).expect("file should be proper JSON");
    let mut output0 = Convex1ContactManifold {
        offset_a: Mvec3 {
            x: 0.0,
            y: 0.0,
            z: 0.0,
        },
        normal: Mvec3 {
            x: -0.574_976_2_f32,
            y: 0.793_070_6_f32,
            z: 0.201_100_1_f32,
        },
        depth: 0.743_085_3_f32,
        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,
        CylinderWide,
        array,
        pair_count,
        outputs,
        convex1contact_manifold_wide_to_convex1contact_manifold
    );
}