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 super::common::get_input_wide;
use crate::collision_tasks::tests::common::{
    convex4manifold_wide2convex4contact_manifold, Convex4ContactManifold, ConvexHullInput, Mvec3,
    TestInput,
};
use crate::shapes::{Triangle, TriangleWide};
use crate::{
    ConvexHull, ConvexHullId, ConvexHullWide, PairWideTest, ShapeContainer, ShapeWideTester,
};

wasm_bindgen_test_configure!(run_in_browser);
type InputType = TestInput<Triangle, ConvexHullId>;
type InputTypeData = TestInput<Triangle, ConvexHullInput>;

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

    let reset = <ShapeWideTester as PairWideTest<TriangleWide, ConvexHullWide>>::should_reset_manifold_before_test();
    assert!(reset);

    let file_input =
        include_bytes!("resource/triangle_convex_hull/cuboid_convex_hull_collide.json");
    let input0: InputTypeData =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input0.b.vertices[..]);
    let mut container = ShapeContainer::default();
    let id = container.add(convex_hull);

    let input0 = InputType {
        a: input0.a,
        b: id,
        speculative_margin: input0.speculative_margin,
        offset_b: input0.offset_b,
        orientation_a: input0.orientation_a,
        orientation_b: input0.orientation_b,
    };

    let output0 = Convex4ContactManifold {
        Normal: Mvec3 {
            x: -0.19611612,
            y: -0.9805807,
            z: 0.0,
        },
        OffsetA0: Mvec3 {
            x: 0.5048,
            y: 0.0990,
            z: 0.7572,
        },
        OffsetA1: Mvec3 {
            x: 1.0,
            y: 0.0,
            z: 0.24599,
        },
        OffsetA2: Mvec3 {
            x: 1.0,
            y: 0.0,
            z: 1.246,
        },
        OffsetA3: Mvec3 {
            x: 0.50480,
            y: 0.0990,
            z: 0.24599,
        },
        Depth0: 0.30496058,
        Depth1: 0.20396078,
        Depth2: 0.20396078,
        Depth3: 0.30496055,
        Contact0Exists: true,
        Contact1Exists: true,
        Contact2Exists: true,
        Contact3Exists: true,
        FeatureId0: 4,
        FeatureId1: 3,
        FeatureId2: 2,
        FeatureId3: 6,
    };
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        TriangleWide,
        ConvexHullWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold,
        Some(&container)
    );
}

#[test]
#[wasm_bindgen_test]
#[cfg(feature = "serde")]
fn test_cuboid_convex_hull_on_collide_backface_cull() {
    let _ = env_logger::builder().is_test(true).try_init();
    let file_input = include_bytes!(
        "resource/triangle_convex_hull/cuboid_convex_hull_on_collide_backface_cull.json"
    );
    let input0: InputTypeData =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input0.b.vertices[..]);
    let mut container = ShapeContainer::default();
    let id = container.add(convex_hull);

    let input0 = InputType {
        a: input0.a,
        b: id,
        speculative_margin: input0.speculative_margin,
        offset_b: input0.offset_b,
        orientation_a: input0.orientation_a,
        orientation_b: input0.orientation_b,
    };

    let output0 = Convex4ContactManifold::default();
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        TriangleWide,
        ConvexHullWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold,
        Some(&container)
    );
}

#[test]
#[wasm_bindgen_test]
#[cfg(feature = "serde")]
fn test_cuboid_convex_hull_collide_2() {
    let _ = env_logger::builder().is_test(true).try_init();
    let file_input =
        include_bytes!("resource/triangle_convex_hull/cuboid_convex_hull_collide_2.json");
    let input0: InputTypeData =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input0.b.vertices[..]);
    let mut container = ShapeContainer::default();
    let id = container.add(convex_hull);

    let input0 = InputType {
        a: input0.a,
        b: id,
        speculative_margin: input0.speculative_margin,
        offset_b: input0.offset_b,
        orientation_a: input0.orientation_a,
        orientation_b: input0.orientation_b,
    };

    let output0 = Convex4ContactManifold {
        Normal: Mvec3 {
            x: -0.37068,
            y: -0.92670,
            z: 0.06178,
        },
        OffsetA0: Mvec3 {
            x: 0.8888,
            y: 0.1984,
            z: 0.8091,
        },
        OffsetA1: Mvec3 {
            x: 0.32637,
            y: 0.37482,
            z: 0.08072,
        },
        OffsetA2: Mvec3 {
            x: 0.19171,
            y: 0.44248,
            z: 0.28757,
        },
        OffsetA3: Mvec3 {
            x: 0.71620,
            y: 0.28513,
            z: 1.07431,
        },
        Depth0: 0.6085,
        Depth1: 0.2593,
        Depth2: 0.07894,
        Depth3: 0.37725,
        Contact0Exists: true,
        Contact1Exists: true,
        Contact2Exists: true,
        Contact3Exists: true,
        FeatureId0: 6,
        FeatureId1: 6,
        FeatureId2: 4,
        FeatureId3: 5,
    };
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        TriangleWide,
        ConvexHullWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold,
        Some(&container)
    );
}

#[test]
#[wasm_bindgen_test]
#[cfg(feature = "serde")]
fn test_cuboid_convex_hull_collide_tootbird() {
    let _ = env_logger::builder().is_test(true).try_init();
    let file_input =
        include_bytes!("resource/triangle_convex_hull/cuboid_convex_hull_collide_tootbird.json");
    let input0: InputTypeData =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input0.b.vertices[..]);
    let mut container = ShapeContainer::default();
    let id = container.add(convex_hull);

    let input0 = InputType {
        a: input0.a,
        b: id,
        speculative_margin: input0.speculative_margin,
        offset_b: input0.offset_b,
        orientation_a: input0.orientation_a,
        orientation_b: input0.orientation_b,
    };

    let output0 = Convex4ContactManifold {
        Normal: Mvec3 {
            x: -0.78504,
            y: -0.6180,
            z: 0.04120,
        },
        OffsetA0: Mvec3 {
            x: 0.62132,
            y: 0.25737,
            z: 0.08855,
        },
        OffsetA1: Mvec3 {
            x: 0.9999,
            y: 0.17662,
            z: 1.14944,
        },
        OffsetA2: Mvec3 {
            x: 0.9999,
            y: 0.13060,
            z: 0.45912,
        },
        OffsetA3: Mvec3 {
            x: 0.8529,
            y: 0.24412,
            z: 1.27937,
        },
        Depth0: 0.19881,
        Depth1: 0.26802,
        Depth2: 0.40247,
        Depth3: 0.13558,
        Contact0Exists: true,
        Contact1Exists: true,
        Contact2Exists: true,
        Contact3Exists: true,
        FeatureId0: 6,
        FeatureId1: 2,
        FeatureId2: 3,
        FeatureId3: 5,
    };
    let array = [input0];
    let outputs = [output0];
    let pair_count = array.len();

    TestWide!(
        TriangleWide,
        ConvexHullWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold,
        Some(&container)
    );
}

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

    let reset = <ShapeWideTester as PairWideTest<TriangleWide, ConvexHullWide>>::should_reset_manifold_before_test();
    assert!(reset);

    let file_input = include_bytes!("resource/triangle_convex_hull/inactive_lanes.json");
    let input0: InputTypeData =
        serde_json::from_slice(file_input).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input0.b.vertices[..]);
    let mut container = ShapeContainer::default();
    let id = container.add(convex_hull);

    let input0 = InputType {
        a: input0.a,
        b: id,
        speculative_margin: input0.speculative_margin,
        offset_b: input0.offset_b,
        orientation_a: input0.orientation_a,
        orientation_b: input0.orientation_b,
    };

    let output0 = Convex4ContactManifold::default();

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

    TestWide!(
        TriangleWide,
        ConvexHullWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold,
        Some(&container)
    );
}

#[test]
#[wasm_bindgen_test]
#[cfg(feature = "serde")]
fn test_invalid_lanes_2() {
    let _ = env_logger::builder().is_test(true).try_init();

    let reset = <ShapeWideTester as PairWideTest<TriangleWide, ConvexHullWide>>::should_reset_manifold_before_test();
    assert!(reset);

    let file_input_0 = include_bytes!("resource/triangle_convex_hull/inactive_lanes.json");
    let input0: InputTypeData =
        serde_json::from_slice(file_input_0).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input0.b.vertices[..]);
    let mut container = ShapeContainer::default();
    let id_0 = container.add(convex_hull);

    let input0 = InputType {
        a: input0.a,
        b: id_0,
        speculative_margin: input0.speculative_margin,
        offset_b: input0.offset_b,
        orientation_a: input0.orientation_a,
        orientation_b: input0.orientation_b,
    };

    let output0 = Convex4ContactManifold {
        Normal: Mvec3 {
            x: 0.0,
            y: -1.0,
            z: 0.0,
        },
        ..Default::default()
    };

    let file_input_1 =
        include_bytes!("resource/triangle_convex_hull/cuboid_convex_hull_collide.json");
    let input1: InputTypeData =
        serde_json::from_slice(file_input_1).expect("file should be proper JSON");
    let convex_hull = ConvexHull::new_unchecked(&input1.b.vertices[..]);
    let id_1 = container.add(convex_hull);

    let input1 = InputType {
        a: input1.a,
        b: id_1,
        speculative_margin: input1.speculative_margin,
        offset_b: input1.offset_b,
        orientation_a: input1.orientation_a,
        orientation_b: input1.orientation_b,
    };

    let output1 = Convex4ContactManifold {
        Normal: Mvec3 {
            x: -0.19611612,
            y: -0.9805807,
            z: 0.0,
        },
        OffsetA0: Mvec3 {
            x: 0.5048,
            y: 0.0990,
            z: 0.7572,
        },
        OffsetA1: Mvec3 {
            x: 1.0,
            y: 0.0,
            z: 0.24599,
        },
        OffsetA2: Mvec3 {
            x: 1.0,
            y: 0.0,
            z: 1.246,
        },
        OffsetA3: Mvec3 {
            x: 0.50480,
            y: 0.0990,
            z: 0.24599,
        },
        Depth0: 0.30496058,
        Depth1: 0.20396078,
        Depth2: 0.20396078,
        Depth3: 0.30496055,
        Contact0Exists: true,
        Contact1Exists: true,
        Contact2Exists: true,
        Contact3Exists: true,
        FeatureId0: 4,
        FeatureId1: 3,
        FeatureId2: 2,
        FeatureId3: 6,
    };

    let array = [input0, input1];
    let outputs = [output0, output1];
    let pair_count = array.len();

    TestWide!(
        TriangleWide,
        ConvexHullWide,
        array,
        pair_count,
        outputs,
        convex4manifold_wide2convex4contact_manifold,
        Some(&container)
    );
}

//qhull has no "shift to center" param
#[cfg(not(feature = "qhull"))]
mod shift {
    use glam::{UnitQuat, Vec3};

    use crate::collision_tasks::tests::common::{
        build_displaced_convexhull_test, CollisionTestShape,
    };
    use crate::Triangle;

    #[test]
    fn test_triangle_convex_shift() {
        let shape_a = Triangle::new([0., 0., 0.], [1., 1., 0.], [-2., 2., 0.]);
        let convexhull_cuboid_length = Vec3::new(3., 4., 5.);
        let convexhull_displacement_vec = Vec3::new(1e2, 1e3, 1e4);
        let desired_offset_b = Vec3::new(0., 0., 2.1);
        let rotation_a = UnitQuat::from_euler_default(-1., -2., -3.);
        let rotation_b = UnitQuat::from_euler_default(1., 2., 3.);

        build_displaced_convexhull_test(
            &CollisionTestShape::Triangle(shape_a),
            convexhull_cuboid_length,
            convexhull_displacement_vec,
            desired_offset_b,
            rotation_a,
            rotation_b,
        );
    }
}