dusk/test/physics/test_physicsshapemesh.c

/**
 * Copyright (c) 2026 Dominic Masters
 *
 * This software is released under the MIT License.
 * https://opensource.org/licenses/MIT
 */

#include "dusktest.h"
#include "util/memory.h"
#include "physics/physicstest.h"
#include "physics/physicsshapemesh.h"

// A flat 10x10 ground quad on the XZ plane at y=0, centered at the origin
// (two triangles, tightly packed vec3 vertices -- no indices).
static vec3 FLAT_GROUND_VERTICES[6] = {
  { -5.0f, 0.0f, -5.0f }, {  5.0f, 0.0f, -5.0f }, {  5.0f, 0.0f,  5.0f },
  { -5.0f, 0.0f, -5.0f }, {  5.0f, 0.0f,  5.0f }, { -5.0f, 0.0f,  5.0f },
};

static physicsshapemesh_t flatGroundMesh(void) {
  return (physicsshapemesh_t){
    .vertices = (const uint8_t *)FLAT_GROUND_VERTICES,
    .stride = sizeof(vec3),
    .triangleCount = 2
  };
}

static void test_getVertexReadsRawPositions(void **state) {
  physicsshapemesh_t mesh = flatGroundMesh();

  vec3 v0, v3;
  physicsShapeMeshGetVertex(&mesh, 0, v0);
  physicsShapeMeshGetVertex(&mesh, 3, v3);

  assert_float_equal(v0[0], -5.0f, 0.0001f);
  assert_float_equal(v0[2], -5.0f, 0.0001f);
  assert_float_equal(v3[0], -5.0f, 0.0001f);
  assert_float_equal(v3[2], -5.0f, 0.0001f);

  assert_int_equal(memoryGetAllocatedCount(), 0);
}

// Vertex layout matching a typical interleaved render vertex (uv then
// pos), to prove the stride-based reader can point straight at a render
// buffer instead of a dedicated physics copy.
typedef struct {
  float_t uv[2];
  float_t pos[3];
} testInterleavedVertex_t;

static void test_supportsInterleavedRenderVertexLayout(void **state) {
  testInterleavedVertex_t vertices[3] = {
    { .uv = { 0, 0 }, .pos = { -5.0f, 0.0f, -5.0f } },
    { .uv = { 1, 0 }, .pos = {  5.0f, 0.0f, -5.0f } },
    { .uv = { 0, 1 }, .pos = { -5.0f, 0.0f,  5.0f } },
  };
  physicsshapemesh_t mesh = {
    .vertices = (const uint8_t *)vertices[0].pos,
    .stride = sizeof(testInterleavedVertex_t),
    .triangleCount = 1
  };

  vec3 v1;
  physicsShapeMeshGetVertex(&mesh, 1, v1);
  assert_float_equal(v1[0], 5.0f, 0.0001f);
  assert_float_equal(v1[2], -5.0f, 0.0001f);

  assert_int_equal(memoryGetAllocatedCount(), 0);
}

static void test_sphereRestingOnMesh(void **state) {
  physicsshapemesh_t mesh = flatGroundMesh();
  vec3 meshPos = { 0.0f, 0.0f, 0.0f };

  // Sphere overlapping the ground by 0.2.
  vec3 sphereCenter = { 0.0f, 0.3f, 0.0f };
  vec3 normal; float_t depth;
  assert_true(physicsShapeMeshTestSphere(
    &mesh, meshPos, sphereCenter, 0.5f, normal, &depth
  ));
  assert_float_equal(depth, 0.2f, 0.0001f);
  assert_float_equal(normal[1], 1.0f, 0.0001f); // pushes sphere up

  // Far above: no overlap.
  vec3 sphereFar = { 0.0f, 10.0f, 0.0f };
  assert_false(physicsShapeMeshTestSphere(
    &mesh, meshPos, sphereFar, 0.5f, normal, &depth
  ));

  // Offsetting the mesh's own position shifts the ground with it: raising
  // both the ground and the sphere together reproduces the same overlap.
  vec3 meshPosRaised = { 0.0f, 1.0f, 0.0f };
  vec3 sphereCenterRaised = { 0.0f, 1.3f, 0.0f };
  assert_true(physicsShapeMeshTestSphere(
    &mesh, meshPosRaised, sphereCenterRaised, 0.5f, normal, &depth
  ));
  assert_float_equal(depth, 0.2f, 0.0001f);

  // But the sphere no longer overlaps the ground at its old (un-raised)
  // height, since the ground moved out from under it.
  assert_false(physicsShapeMeshTestSphere(
    &mesh, meshPosRaised, sphereCenter, 0.5f, normal, &depth
  ));

  assert_int_equal(memoryGetAllocatedCount(), 0);
}

static void test_capsuleRestingOnMesh(void **state) {
  physicsshapemesh_t mesh = flatGroundMesh();
  vec3 meshPos = { 0.0f, 0.0f, 0.0f };

  // Standing capsule (half-height 1) whose bottom cap dips 0.1 into the
  // ground: center at y = radius + halfHeight - 0.1.
  const float_t radius = 0.5f;
  const float_t halfHeight = 1.0f;
  vec3 capsuleCenter = { 0.0f, radius + halfHeight - 0.1f, 0.0f };

  vec3 normal; float_t depth;
  assert_true(physicsShapeMeshTestCapsule(
    &mesh, meshPos, capsuleCenter, radius, halfHeight, normal, &depth
  ));
  assert_float_equal(depth, 0.1f, 0.001f);
  assert_float_equal(normal[1], 1.0f, 0.0001f);

  // Lifted well clear of the ground: no overlap.
  vec3 capsuleHigh = { 0.0f, 10.0f, 0.0f };
  assert_false(physicsShapeMeshTestCapsule(
    &mesh, meshPos, capsuleHigh, radius, halfHeight, normal, &depth
  ));

  assert_int_equal(memoryGetAllocatedCount(), 0);
}

static void test_cubeIsUnsupported(void **state) {
  physicsshapemesh_t mesh = flatGroundMesh();
  vec3 meshPos = { 0.0f, 0.0f, 0.0f };

  physicsshape_t cube = {
    .type = PHYSICS_SHAPE_CUBE,
    .data.cube.halfExtents = { 0.5f, 0.5f, 0.5f }
  };
  vec3 cubePos = { 0.0f, 0.3f, 0.0f };
  vec3 normal; float_t depth;
  assert_false(physicsShapeMeshTest(
    meshPos, &mesh, cubePos, &cube, normal, &depth
  ));

  assert_int_equal(memoryGetAllocatedCount(), 0);
}

static void test_physicsShapeMeshCreateIntegratesWithDispatch(void **state) {
  physicsshapemesh_t mesh = flatGroundMesh();
  physicsshape_t landscape = physicsShapeMeshCreate(&mesh);
  assert_int_equal(landscape.type, PHYSICS_SHAPE_CUSTOM);

  physicsshape_t sphere = {
    .type = PHYSICS_SHAPE_SPHERE,
    .data.sphere.radius = 0.5f
  };
  vec3 meshPos = { 0.0f, 0.0f, 0.0f };
  vec3 sphereCenter = { 0.0f, 0.3f, 0.0f };

  // Landscape as B, matching physicsWorldStep's dynamic(A)-vs-static(B).
  vec3 normal; float_t depth;
  assert_true(physicsTestShapeVsShape(
    sphereCenter, sphere, meshPos, landscape, normal, &depth
  ));
  assert_float_equal(depth, 0.2f, 0.0001f);
  assert_float_equal(normal[1], 1.0f, 0.0001f);

  assert_int_equal(memoryGetAllocatedCount(), 0);
}

int main(int argc, char **argv) {
  const struct CMUnitTest tests[] = {
    cmocka_unit_test(test_getVertexReadsRawPositions),
    cmocka_unit_test(test_supportsInterleavedRenderVertexLayout),
    cmocka_unit_test(test_sphereRestingOnMesh),
    cmocka_unit_test(test_capsuleRestingOnMesh),
    cmocka_unit_test(test_cubeIsUnsupported),
    cmocka_unit_test(test_physicsShapeMeshCreateIntegratesWithDispatch),
  };

  return cmocka_run_group_tests(tests, NULL, NULL);
}