848e715c6c
Full engine port in libs/box3d: math, geometry, GJK/TOI, hull builder, dynamic tree, manifolds, constraint graph, solver (serial, scalar SIMD path), all 8 joint types, sensors, mover, world API. 147 ported C unit tests green in debug and release. See libs/box3d/README.md for the upstream revision and sync notes, PORTING.md for conventions. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
114 lines
3.1 KiB
Rust
114 lines
3.1 KiB
Rust
// Port of box3d/test/test_distance.c
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use makepad_box3d::distance::{shape_cast, shape_distance, time_of_impact};
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use makepad_box3d::math_functions::*;
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use makepad_box3d::types::{
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DistanceInput, ShapeCastPairInput, ShapeProxy, SimplexCache, Sweep, TOIInput, TOIState,
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};
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use makepad_box3d::{ensure, ensure_small};
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#[test]
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fn segment_distance_test() {
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let p1 = vec3(-1.0, -1.0, 0.0);
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let q1 = vec3(-1.0, 1.0, 0.0);
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let p2 = vec3(2.0, 0.0, 0.0);
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let q2 = vec3(1.0, 0.0, 0.0);
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let result = segment_distance(p1, q1, p2, q2);
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ensure_small!(result.fraction1 - 0.5, f32::EPSILON);
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ensure_small!(result.fraction2 - 1.0, f32::EPSILON);
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ensure_small!(result.point1.x + 1.0, f32::EPSILON);
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ensure_small!(result.point1.y, f32::EPSILON);
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ensure_small!(result.point1.z, f32::EPSILON);
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ensure_small!(result.point2.x - 1.0, f32::EPSILON);
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ensure_small!(result.point2.y, f32::EPSILON);
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ensure_small!(result.point2.z, f32::EPSILON);
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}
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#[test]
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fn shape_distance_test() {
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let vas = [
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vec3(-1.0, -1.0, 0.0),
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vec3(1.0, -1.0, 0.0),
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vec3(1.0, 1.0, 0.0),
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vec3(-1.0, 1.0, 0.0),
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];
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let vbs = [vec3(2.0, -1.0, 0.0), vec3(2.0, 1.0, 0.0)];
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let input = DistanceInput {
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proxy_a: ShapeProxy { points: &vas, radius: 0.0 },
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proxy_b: ShapeProxy { points: &vbs, radius: 0.0 },
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transform: Transform::IDENTITY,
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use_radii: false,
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};
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let mut cache = SimplexCache::default();
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let output = shape_distance(&input, &mut cache, None);
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ensure_small!(output.distance - 1.0, f32::EPSILON);
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}
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#[test]
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fn shape_cast_test() {
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let vas = [
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vec3(-1.0, -1.0, 0.0),
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vec3(1.0, -1.0, 0.0),
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vec3(1.0, 1.0, 0.0),
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vec3(-1.0, 1.0, 0.0),
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];
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let vbs = [vec3(2.0, -1.0, 0.0), vec3(2.0, 1.0, 0.0)];
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let input = ShapeCastPairInput {
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proxy_a: ShapeProxy { points: &vas, radius: 0.0 },
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proxy_b: ShapeProxy { points: &vbs, radius: 0.0 },
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transform: Transform::IDENTITY,
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translation_b: vec3(-2.0, 0.0, 0.0),
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max_fraction: 1.0,
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can_encroach: false,
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};
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let output = shape_cast(&input);
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ensure!(output.hit);
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ensure_small!(output.fraction - 0.5, 0.005);
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}
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#[test]
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fn time_of_impact_test() {
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let vas = [
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vec3(-1.0, -1.0, 0.0),
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vec3(1.0, -1.0, 0.0),
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vec3(1.0, 1.0, 0.0),
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vec3(-1.0, 1.0, 0.0),
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];
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let vbs = [vec3(2.0, -1.0, 0.0), vec3(2.0, 1.0, 0.0)];
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let input = TOIInput {
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proxy_a: ShapeProxy { points: &vas, radius: 0.0 },
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proxy_b: ShapeProxy { points: &vbs, radius: 0.0 },
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sweep_a: Sweep {
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local_center: Vec3::ZERO,
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c1: Vec3::ZERO,
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c2: Vec3::ZERO,
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q1: Quat::IDENTITY,
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q2: Quat::IDENTITY,
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},
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sweep_b: Sweep {
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local_center: Vec3::ZERO,
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c1: Vec3::ZERO,
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c2: vec3(-2.0, 0.0, 0.0),
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q1: Quat::IDENTITY,
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q2: Quat::IDENTITY,
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},
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max_fraction: 1.0,
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};
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let output = time_of_impact(&input);
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ensure!(output.state == TOIState::Hit);
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ensure_small!(output.fraction - 0.5, 0.005);
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}
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