#include <gtest/gtest.h>
#include "vde/collision/gjk.h"

using namespace vde::collision;

static SupportFunc make_sphere(const Point3D& center, double radius) {
    return [=](const Vector3D& dir) { return center + dir.normalized() * radius; };
}

TEST(GJKTest, SeparatedSpheres) {
    auto a = make_sphere({0,0,0}, 1.0);
    auto b = make_sphere({5,0,0}, 1.0);
    EXPECT_FALSE(gjk_intersect(a, b));
}

TEST(GJKTest, OverlappingSpheres) {
    auto a = make_sphere({0,0,0}, 1.0);
    auto b = make_sphere({1,0,0}, 1.0);
    EXPECT_TRUE(gjk_intersect(a, b));
}