luanti/src/unittest/test_collision.cpp

// Luanti
// SPDX-License-Identifier: LGPL-2.1-or-later
// Copyright (C) 2013 celeron55, Perttu Ahola <celeron55@gmail.com>

#include "test.h"
#include "catch.h"
#include "collision.h"
#include "dummymap.h"
#include "environment.h"
#include "irrlicht_changes/printing.h"
#include "irrlichttypes.h"


const float EPSILON = 0.001f;

class TestCollision : public TestBase {
public:
	TestCollision() { TestManager::registerTestModule(this); }
	const char *getName() { return "TestCollision"; }

	void runTests(IGameDef *gamedef);

	void testCollisionMoveSimple(IGameDef *gamedef);
};

static TestCollision g_test_instance;

void TestCollision::runTests(IGameDef *gamedef)
{
	TEST(testCollisionMoveSimple, gamedef);
}

namespace {
	class TestEnvironment : public Environment {
		DummyMap map;
	public:
		TestEnvironment(IGameDef *gamedef)
			: Environment(gamedef), map(gamedef, {-1, -1, -1}, {1, 1, 1})
		{
			map.fill({-1, -1, -1}, {1, 1, 1}, MapNode(CONTENT_AIR));
		}

		void step(f32 dtime) override {}

		Map &getMap() override { return map; }

		void getSelectedActiveObjects(const core::line3d<f32> &shootline_on_map,
			std::vector<PointedThing> &objects,
			const std::optional<Pointabilities> &pointabilities) override {}
	};
}

#define UASSERTEQ_F(actual, expected) do { \
		f32 a = (actual); \
		f32 e = (expected); \
		UTEST(fabsf(a - e) <= 0.0001f, "actual: %.5f expected: %.5f", a, e) \
	} while (0)

#define UASSERTEQ_V3F(actual, expected) do { \
		v3f va = (actual); \
		v3f ve = (expected); \
		UASSERTEQ_F(va.X, ve.X); UASSERTEQ_F(va.Y, ve.Y); UASSERTEQ_F(va.Z, ve.Z); \
	} while (0)

#define fpos(x,y,z) (BS * v3f(x, y, z))


////////////////////////////////////////////////////////////////////////////////
TEST_CASE("Test axis aligned collision with unit cube.", "[collision]")
{
	f32 bx = GENERATE(-3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f);
	f32 by = GENERATE(-3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f);
	f32 bz = GENERATE(-3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f);

	INFO("Testing with static cube at (" << bx << ", " << by << ", " << bz << ").");

	aabb3f s{bx, by, bz, bx+1.0f, by+1.0f, bz+1.0f};

	// The following set of tests is for boxes translated in the -X direction
	// from the static cube, possibly with additional offsets.
	SECTION("When the box moves towards the target on the X axis, "
			"then they should collide on the X axis.")
	{
		aabb3f m{bx-2.0f, by, bz, bx-1.0f, by+1.0f, bz+1.0f};
		f32 dtime = 1.0f;
		CHECK(0 == axisAlignedCollision(s, m, v3f{1.0f, 0.0f, 0.0f}, &dtime));
		CHECK(std::fabs(dtime - 1.0f) < EPSILON);
	}

	SECTION("When the box moves away from the target on the X axis, "
			"then they should never collide.")
	{
		aabb3f m{bx-2.0f, by, bz, bx-1.0f, by+1.0f, bz+1.0f};
		f32 dtime = 1.0f;
		CHECK(-1 == axisAlignedCollision(s, m, v3f{-1.0f, 0.0f, 0.0f}, &dtime));
	}


	SECTION("Given the box and the target do not overlap on the X or Y axes, "
			"when the box moves away on the X axis, "
			"then they should never collide.")
	{
		aabb3f m{bx-2.0f, by+1.5f, bz, bx-1.0f, by+2.5f, bz+1.0f};
		f32 dtime = 1.0f;
		CHECK(-1 == axisAlignedCollision(s, m, v3f{1.0f, 0.0f, 0.0f}, &dtime));
	}

	SECTION("Given the box and the target do not overlap on the X or Y axes, "
			"when the box moves at the right speeds on the X and Y axes, "
			"then they should collide on the X axis.")
	{
		aabb3f m{bx-2.0f, by-1.5f, bz, bx-1.5f, by+0.5f, bz+1.0f};
		f32 dtime = 3.0f;
		CHECK(0 == axisAlignedCollision(s, m, v3f{0.5f, 0.1f, 0}, &dtime));
		CHECK(std::fabs(dtime - 3.0f) < EPSILON);
	}

	// The following set of tests is for boxes translated in the +X direction
	// from the static cube, possibly with additional offsets. They are not
	// all mirror images of the tests for the -X direction.

	SECTION("When the box moves towards the target on the X axis, "
			"then they should collide on the X axis.")
	{
		aabb3f m{bx+2.0f, by, bz, bx+3.0f, by+1.0f, bz+1.0f};
		f32 dtime = 1.0f;
		CHECK(0 == axisAlignedCollision(s, m, v3f{-1.0f, 0.0f, 0.0f}, &dtime));
		CHECK(std::fabs(dtime - 1.0f) < EPSILON);
	}

	SECTION("When the box moves away from the target on the X axis, "
			"then they should never collide.")
	{
		aabb3f m{bx+2.0f, by, bz, bx+3.0f, by+1.0f, bz+1.0f};
		f32 dtime = 1.0f;
		CHECK(-1 == axisAlignedCollision(s, m, v3f{1.0f, 0.0f, 0.0f}, &dtime));
	}

	SECTION("Given the box and the target do not overlap on the X or Z axes, "
			"when the box moves away on the X axis, "
			"then they should never collide.")
	{
		aabb3f m{bx+2.0f, by, bz+1.5f, bx+3.0f, by+1.0f, bz+3.5f};
		f32 dtime = 1.0f;
		CHECK(-1 == axisAlignedCollision(s, m, v3f{-1.0f, 0.0f, 0.0f}, &dtime));
	}

	SECTION("Given the box and the target do not overlap on the X or Y axes, "
			"when the box moves at the right speeds on the X and Y axes, "
			"then they should collide on the Y axis.")
	{
		// This test is interesting because the Y-faces are the first to collide.
		aabb3f m{bx+2.0f, by-1.5f, bz, bx+2.5f, by-0.5f, bz+1.0f};
		f32 dtime = 2.51f;
		// y velocity is 0.200000003 precisely
		CHECK(1 == axisAlignedCollision(s, m, v3f{-0.5f, 0.2f, 0}, &dtime));
		CHECK(std::fabs(dtime - 2.5f) < EPSILON);
	}

	SECTION("Given the box and the target do not overlap on the X or Y axes, "
			"when the box moves at the right speeds on the X and Y axes, "
			"then they should collide on the X axis.")
	{
		aabb3f m{bx+2.0f, by-1.5f, bz, bx+2.5f, by-0.5f, bz+1.0f};
		f32 dtime = 2.1f;
		// y velocity is 0.300000012 precisely
		CHECK(0 == axisAlignedCollision(s, m, v3f{-0.5f, 0.3f, 0}, &dtime));
		CHECK(std::fabs(dtime - 2.0f) < EPSILON);
	}
}

TEST_CASE("Test axis aligned collision with 2x2x2 cube.", "[collision]")
{
	f32 bx = GENERATE(-3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f);
	f32 by = GENERATE(-3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f);
	f32 bz = GENERATE(-3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f);

	INFO("Testing with static cube at (" << bx << ", " << by << ", " << bz << ").");

	aabb3f s{bx, by, bz, bx+2.0f, by+2.0f, bz+2.0f};

	// The following set of tests checks small floating point offsets
	// colliding at the corner of two boxes, to ensure the function under
	// test can detect which axis collided first.

	SECTION("Collides on X axis near (+X,+Y,+Z) corner.")
	{
		aabb3f m{bx+2.3f, by+2.29f, bz+2.29f, bx+4.2f, by+4.2f, bz+4.2f};
		v3f v{-1.0f/3.0f, -1.0f/3.0f, -1.0/3.0f};
		f32 dtime = 1.0f;
		CHECK(0 == axisAlignedCollision(s, m, v, &dtime));
		CHECK(std::fabs(dtime - 0.9f) < EPSILON);
	}

	SECTION("Collides on Y axis near (+X,+Y,+Z) corner.")
	{
		aabb3f m{bx+2.29f, by+2.3f, bz+2.29f, bx+4.2f, by+4.2f, bz+4.2f};
		v3f v{-1.0f/3.0f, -1.0f/3.0f, -1.0/3.0f};
		f32 dtime = 1.0f;
		CHECK(1 == axisAlignedCollision(s, m, v, &dtime));
		CHECK(std::fabs(dtime - 0.9f) < EPSILON);
	}

	SECTION("Collides on Z axis near (+X,+Y,+Z) corner.")
	{
		aabb3f m{bx+2.29f, by+2.29f, bz+2.3f, bx+4.2f, by+4.2f, bz+4.2f};
		v3f v{-1.0f/3.0f, -1.0f/3.0f, -1.0/3.0f};
		f32 dtime = 1.0f;
		CHECK(2 == axisAlignedCollision(s, m, v, &dtime));
		CHECK(std::fabs(dtime - 0.9f) < EPSILON);
	}

	SECTION("Collides on X axis near (-X,-Y,-Z) corner.")
	{
		aabb3f m{bx-4.2f, by-4.2f, bz-4.2f, bx-2.3f, by-2.29f, bz-2.29f};
		v3f v{1.0f/7.0f, 1.0f/7.0f, 1.0/7.0f};
		f32 dtime = 17.0f;
		CHECK(0 == axisAlignedCollision(s, m, v, &dtime));
		CHECK(std::fabs(dtime - 16.1f) < EPSILON);
	}

	SECTION("Collides on Y axis near (-X,-Y,-Z) corner.")
	{
		aabb3f m{bx-4.2f, by-4.2f, bz-4.2f, bx-2.29f, by-2.3f, bz-2.29f};
		v3f v{1.0f/7.0f, 1.0f/7.0f, 1.0/7.0f};
		f32 dtime = 17.0f;
		CHECK(1 == axisAlignedCollision(s, m, v, &dtime));
		CHECK(std::fabs(dtime - 16.1f) < EPSILON);
	}

	SECTION("Collides on Z axis near (-X,-Y,-Z) corner.")
	{
		aabb3f m{bx-4.2f, by-4.2f, bz-4.2f, bx-2.29f, by-2.29f, bz-2.3f};
		v3f v{1.0f/7.0f, 1.0f/7.0f, 1.0/7.0f};
		f32 dtime = 17.0f;
		CHECK(2 == axisAlignedCollision(s, m, v, &dtime));
		CHECK(std::fabs(dtime - 16.1f) < EPSILON);
	}
}


void TestCollision::testCollisionMoveSimple(IGameDef *gamedef)
{
	auto env = std::make_unique<TestEnvironment>(gamedef);
	g_collision_problems_encountered = false;

	for (s16 x = 0; x < MAP_BLOCKSIZE; x++)
	for (s16 z = 0; z < MAP_BLOCKSIZE; z++)
		env->getMap().setNode({x, 0, z}, MapNode(t_CONTENT_STONE));

	v3f pos, speed, accel;
	const aabb3f box(fpos(-0.1f, 0, -0.1f), fpos(0.1f, 1.4f, 0.1f));
	collisionMoveResult res;

	/* simple movement with accel */
	pos   = fpos(4, 1, 4);
	speed = fpos(0, 0, 0);
	accel = fpos(0, 1, 0);
	res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 1.0f,
		&pos, &speed, accel);

	UASSERT(!res.touching_ground && !res.collides && !res.standing_on_object);
	UASSERT(res.collisions.empty());
	UASSERTEQ_V3F(pos, fpos(4, 1.5f, 4));
	UASSERTEQ_V3F(speed, fpos(0, 1, 0));

	/* standing on ground */
	pos   = fpos(0, 0.5f, 0);
	speed = fpos(0, 0, 0);
	accel = fpos(0, -9.81f, 0);
	res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 0.05f,
		&pos, &speed, accel);

	UASSERT(res.collides);
	UASSERT(res.touching_ground);
	UASSERT(!res.standing_on_object);
	UASSERTEQ_V3F(pos, fpos(0, 0.5f, 0));
	UASSERTEQ_V3F(speed, fpos(0, 0, 0));
	UASSERT(res.collisions.size() == 1);
	{
		auto &ci = res.collisions.front();
		UASSERTEQ(int, ci.type, COLLISION_NODE);
		UASSERTEQ(int, ci.axis, COLLISION_AXIS_Y);
		UASSERTEQ(v3s16, ci.node_p, v3s16(0, 0, 0));
	}

	/* glitched into ground */
	pos   = fpos(0, 0.499f, 0);
	speed = fpos(0, 0, 0);
	accel = fpos(0, -9.81f, 0);
	res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 0.05f,
		&pos, &speed, accel);

	UASSERTEQ_V3F(pos, fpos(0, 0.5f, 0)); // moved back out
	UASSERTEQ_V3F(speed, fpos(0, 0, 0));
	UASSERT(res.collides);
	UASSERT(res.touching_ground);
	UASSERT(!res.standing_on_object);
	UASSERT(res.collisions.size() == 1);
	{
		auto &ci = res.collisions.front();
		UASSERTEQ(int, ci.type, COLLISION_NODE);
		UASSERTEQ(int, ci.axis, COLLISION_AXIS_Y);
		UASSERTEQ(v3s16, ci.node_p, v3s16(0, 0, 0));
	}

	/* falling on ground */
	pos   = fpos(0, 1.2345f, 0);
	speed = fpos(0, -3.f, 0);
	accel = fpos(0, -9.81f, 0);
	res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 0.5f,
		&pos, &speed, accel);

	UASSERT(res.collides);
	UASSERT(res.touching_ground);
	UASSERT(!res.standing_on_object);
	// Current collision code uses linear collision, which incorrectly yields a collision at 0.741 here
	// but usually this resolves itself in the next dtime, fortunately.
	// Parabolic collision should correctly find this in one step.
	// UASSERTEQ_V3F(pos, fpos(0, 0.5f, 0));
	UASSERTEQ_V3F(speed, fpos(0, 0, 0));
	UASSERT(res.collisions.size() == 1);
	{
		auto &ci = res.collisions.front();
		UASSERTEQ(int, ci.type, COLLISION_NODE);
		UASSERTEQ(int, ci.axis, COLLISION_AXIS_Y);
		UASSERTEQ(v3s16, ci.node_p, v3s16(0, 0, 0));
	}

	/* jumping on ground */
	pos   = fpos(0, 0.5f, 0);
	speed = fpos(0, 2.0f, 0);
	accel = fpos(0, -9.81f, 0);
	res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 0.2f,
		&pos, &speed, accel);
	UASSERT(!res.collides && !res.touching_ground && !res.standing_on_object);

	res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 0.5f,
		&pos, &speed, accel);

	UASSERT(res.collides);
	UASSERT(res.touching_ground);
	UASSERT(!res.standing_on_object);
	// Current collision code uses linear collision, which incorrectly yields a collision at 0.672 here
	// but usually this resolves itself in the next dtime, fortunately.
	// Parabolic collision should correctly find this in one step.
	// UASSERTEQ_V3F(pos, fpos(0, 0.5f, 0));
	UASSERTEQ_V3F(speed, fpos(0, 0, 0));
	UASSERT(res.collisions.size() == 1);
	{
		auto &ci = res.collisions.front();
		UASSERTEQ(int, ci.type, COLLISION_NODE);
		UASSERTEQ(int, ci.axis, COLLISION_AXIS_Y);
		UASSERTEQ(v3s16, ci.node_p, v3s16(0, 0, 0));
	}

	/* moving over ground, no gravity */
	pos   = fpos(0, 0.5f, 0);
	speed = fpos(-1.6f, 0, -1.7f);
	accel = fpos(0, 0.0f, 0);
	res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 1.0f,
		&pos, &speed, accel);

	UASSERT(!res.collides);
	// UASSERT(res.touching_ground); // no gravity, so not guaranteed
	UASSERT(!res.standing_on_object);
	UASSERTEQ_V3F(pos, fpos(-1.6f, 0.5f, -1.7f));
	UASSERTEQ_V3F(speed, fpos(-1.6f, 0, -1.7f));
	UASSERT(res.collisions.empty());

	/* moving over ground, with gravity */
	pos   = fpos(5.5f, 0.5f, 5.5f);
	speed = fpos(-1.0f, 0.0f, -0.1f);
	accel = fpos(0, -9.81f, 0);
	res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 1.0f,
		&pos, &speed, accel);

	UASSERT(res.collides);
	UASSERT(res.touching_ground);
	UASSERT(!res.standing_on_object);
	UASSERTEQ_V3F(pos, fpos(4.5f, 0.5f, 5.4f));
	UASSERTEQ_V3F(speed, fpos(-1.0f, 0, -0.1f));
	UASSERT(res.collisions.size() == 1);
	{ // first collision on y axis zeros speed and acceleration.
		auto &ci = res.collisions.front();
		UASSERTEQ(int, ci.type, COLLISION_NODE);
		UASSERTEQ(int, ci.axis, COLLISION_AXIS_Y);
		UASSERTEQ(v3s16, ci.node_p, v3s16(5, 0, 5));
	}

	/* not moving never collides */
	pos   = fpos(0, -100, 0);
	speed = fpos(0, 0, 0);
	accel = fpos(0, 0, 0);
	res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 1/60.0f,
		&pos, &speed, accel);
	UASSERT(!res.collides);

	/* collision in ignore */
	pos   = fpos(0, -100, 0);
	speed = fpos(5, 0, 0);
	accel = fpos(0, 0, 0);
	res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 1/60.0f,
		&pos, &speed, accel);
	UASSERTEQ_V3F(speed, fpos(0, 0, 0));
	UASSERT(!res.collides); // FIXME this is actually inconsistent
	UASSERT(res.collisions.empty());

	// TODO things to test:
	// standing_on_object, multiple collisions, bouncy, stepheight

	// No warnings should have been raised during our test.
	UASSERT(!g_collision_problems_encountered);
}