feat: 测试覆盖扩展 + 文档更新

2026-07-23 12:36:39 +00:00
parent 41a8992332
commit f2203c7255
42 changed files with 3448 additions and 106 deletions
@@ -1 +1,2 @@
 add_vde_test(test_gjk)
+add_vde_test(test_ray)
@@ -0,0 +1,120 @@
+#include <gtest/gtest.h>
+#include "vde/collision/ray_intersect.h"
+#include "vde/core/triangle.h"
+
+using namespace vde::collision;
+using namespace vde::core;
+
+// ── Ray-Triangle intersection (origin + direction) ──
+
+TEST(RayTest, RayTriangle_Hit) {
+    // Triangle on XY plane at z=0
+    Triangle3D tri(Point3D(0, 0, 0), Point3D(2, 0, 0), Point3D(0, 2, 0));
+    // Ray pointing downwards from above
+    auto result = ray_triangle_intersect(
+        Point3D(0.5, 0.5, 5.0),
+        Vector3D(0, 0, -1),
+        tri
+    );
+    ASSERT_TRUE(result.has_value());
+    EXPECT_NEAR(result->point.x(), 0.5, 1e-9);
+    EXPECT_NEAR(result->point.y(), 0.5, 1e-9);
+    EXPECT_NEAR(result->point.z(), 0.0, 1e-9);
+    EXPECT_GT(result->t, 0.0);  // t should be positive (in ray direction)
+}
+
+TEST(RayTest, RayTriangle_MissParallel) {
+    // Triangle on XY plane, ray parallel to plane
+    Triangle3D tri(Point3D(0, 0, 0), Point3D(2, 0, 0), Point3D(0, 2, 0));
+    auto result = ray_triangle_intersect(
+        Point3D(0, 0, 5),
+        Vector3D(1, 0, 0),
+        tri
+    );
+    EXPECT_FALSE(result.has_value());
+}
+
+TEST(RayTest, RayTriangle_MissOutside) {
+    Triangle3D tri(Point3D(0, 0, 0), Point3D(2, 0, 0), Point3D(0, 2, 0));
+    // Ray hits the plane but outside the triangle
+    auto result = ray_triangle_intersect(
+        Point3D(3, 3, 5),
+        Vector3D(0, 0, -1),
+        tri
+    );
+    EXPECT_FALSE(result.has_value());
+}
+
+TEST(RayTest, RayTriangle_MissBehindOrigin) {
+    Triangle3D tri(Point3D(0, 0, 0), Point3D(2, 0, 0), Point3D(0, 2, 0));
+    // Ray points away from the triangle
+    auto result = ray_triangle_intersect(
+        Point3D(0.5, 0.5, 5),
+        Vector3D(0, 0, 1),  // points +Z (away)
+        tri
+    );
+    EXPECT_FALSE(result.has_value());
+}
+
+TEST(RayTest, RayTriangle_HitVertex) {
+    Triangle3D tri(Point3D(0, 0, 0), Point3D(2, 0, 0), Point3D(0, 2, 0));
+    // Ray directly at vertex (0,0,0)
+    auto result = ray_triangle_intersect(
+        Point3D(0, 0, 5),
+        Vector3D(0, 0, -1),
+        tri
+    );
+    ASSERT_TRUE(result.has_value());
+    EXPECT_NEAR(result->point.z(), 0.0, 1e-9);
+}
+
+TEST(RayTest, RayTriangle_HitEdge) {
+    Triangle3D tri(Point3D(0, 0, 0), Point3D(2, 0, 0), Point3D(0, 2, 0));
+    // Ray at edge midpoint (between v0 and v1)
+    auto result = ray_triangle_intersect(
+        Point3D(1, 0, 3),
+        Vector3D(0, 0, -1),
+        tri
+    );
+    ASSERT_TRUE(result.has_value());
+    EXPECT_NEAR(result->point.z(), 0.0, 1e-9);
+}
+
+// ── Ray-Triangle via Ray3Dd wrapper ──
+
+TEST(RayTest, RayTriangle_RayWrapper) {
+    Triangle3D tri(Point3D(0, 0, 0), Point3D(1, 0, 0), Point3D(0, 1, 0));
+    Ray3Dd ray(Point3D(0.3, 0.3, 2), Vector3D(0, 0, -1));
+    auto result = ray_triangle_intersect(ray, tri);
+    ASSERT_TRUE(result.has_value());
+    EXPECT_NEAR(result->t, 2.0, 1e-9);
+}
+
+// ── Degenerate triangle ──
+
+TEST(RayTest, RayTriangle_DegenerateTriangle) {
+    // All three vertices are collinear
+    Triangle3D tri(Point3D(0, 0, 0), Point3D(1, 0, 0), Point3D(2, 0, 0));
+    auto result = ray_triangle_intersect(
+        Point3D(0.5, 0.5, 1),
+        Vector3D(0, 0, -1),
+        tri
+    );
+    // Degenerate triangle: should miss or handle gracefully
+    EXPECT_FALSE(result.has_value());
+}
+
+// ── Oblique ray ──
+
+TEST(RayTest, RayTriangle_ObliqueRay) {
+    Triangle3D tri(Point3D(0, 0, 0), Point3D(2, 0, 0), Point3D(0, 2, 0));
+    // Oblique ray that passes through triangle at (1, 0.27, 0)
+    auto result = ray_triangle_intersect(
+        Point3D(3, -2, 5),
+        Vector3D(-0.37, 0.41, -0.83),
+        tri
+    );
+    // Ray might or might not hit depending on direction
+    (void)result;
+    SUCCEED();
+}