acdream/tests/AcDream.Core.Tests/Physics/SphereIntersectsSphereConformanceTests.cs

using System;
using System.Numerics;
using AcDream.Core.Physics;
using Xunit;

namespace AcDream.Core.Tests.Physics;

/// <summary>
/// Conformance tests for <see cref="CollisionPrimitives.SweptSphereHitsSphere"/>.
///
/// <para>
/// All anchor cases are geometrically verifiable independently of the
/// implementation — they are derived from first-principles geometry, not
/// from the method under test, to avoid a circular test.
/// </para>
///
/// <para>
/// Retail oracle: <c>CSphere::intersects_sphere @ 0x00537A80</c> (named-retail
/// decomp) + <c>ACE.Server/Physics/Sphere.cs::FindTimeOfCollision</c> (C# port).
/// </para>
/// </summary>
public class SphereIntersectsSphereConformanceTests
{
    // -----------------------------------------------------------------------
    // Geometry anchors — verified by hand before the implementation existed
    // -----------------------------------------------------------------------

    /// <summary>
    /// Two unit spheres (r=1 each) 5 units apart on the X axis.
    /// Mover at origin, target at (5, 0, 0).
    /// Sweep: move 5 units in +X.
    /// Combined radius = 2.
    /// Expected first contact at x = 3 from start = t = 3/5 = 0.6.
    /// </summary>
    [Fact]
    public void HeadOn_HitsAtExpectedTime()
    {
        bool hit = CollisionPrimitives.SweptSphereHitsSphere(
            moverCenter:  Vector3.Zero,
            moverRadius:  1f,
            sweepDelta:   new Vector3(5f, 0f, 0f),
            targetCenter: new Vector3(5f, 0f, 0f),
            targetRadius: 1f,
            out float t);

        Assert.True(hit, "Head-on sweep should hit");
        // t = 3/5 = 0.6 — surface contact when mover centre is at x=3,
        // target centre at x=5, gap = 2 = combined radius. Within ±1e-4.
        Assert.True(MathF.Abs(t - 0.6f) < 1e-4f,
            $"Expected t≈0.6, got {t:G6}");
    }

    /// <summary>
    /// Two unit spheres. Mover sweeps purely in +Y, target is offset 3 units
    /// in +X. The sweep never reaches within combined radius (2) of the target.
    /// </summary>
    [Fact]
    public void PerpendicularSweep_TooFar_Misses()
    {
        // Mover at origin, target at (3, 0, 0). Sweep in +Y by 10 units.
        // Closest approach = 3 units (> combined radius 2).
        bool hit = CollisionPrimitives.SweptSphereHitsSphere(
            moverCenter:  Vector3.Zero,
            moverRadius:  1f,
            sweepDelta:   new Vector3(0f, 10f, 0f),
            targetCenter: new Vector3(3f, 0f, 0f),
            targetRadius: 1f,
            out float _);

        Assert.False(hit, "Perpendicular sweep at distance 3 > combinedR 2 should miss");
    }

    /// <summary>
    /// A sweep that grazes the target sphere (closest approach = exactly
    /// combined radius). Geometrically this is a tangent hit and should
    /// return true with t in (0, 1].
    /// Mover at origin, sweep in +Y by 6. Target at (2, 3, 0).
    /// Combined radius = 2 (r1=r2=1). Closest approach = 2 (tangent).
    /// </summary>
    [Fact]
    public void TangentSweep_Hits()
    {
        // Mover sweeps from (0,0,0) to (0,6,0).
        // Target at (2, 3, 0).  At t=0.5 mover centre is at (0,3,0).
        // Distance at closest = 2, exactly combinedR → tangent touch.
        bool hit = CollisionPrimitives.SweptSphereHitsSphere(
            moverCenter:  Vector3.Zero,
            moverRadius:  1f,
            sweepDelta:   new Vector3(0f, 6f, 0f),
            targetCenter: new Vector3(2f, 3f, 0f),
            targetRadius: 1f,
            out float t);

        Assert.True(hit, "Tangent sweep (distance = combinedR) should register as a hit");
        Assert.True(t > 0f && t <= 1f, $"t={t:G6} should be in (0,1]");
    }

    /// <summary>
    /// Sweep that completely passes by: target is beside the path, offset
    /// 2.1 units (> combined radius 2). Should miss.
    /// </summary>
    [Fact]
    public void OffAxisSweep_JustOutside_Misses()
    {
        bool hit = CollisionPrimitives.SweptSphereHitsSphere(
            moverCenter:  Vector3.Zero,
            moverRadius:  1f,
            sweepDelta:   new Vector3(0f, 6f, 0f),
            targetCenter: new Vector3(2.1f, 3f, 0f),
            targetRadius: 1f,
            out float _);

        Assert.False(hit, "Lateral offset 2.1 > combinedR 2 — should miss");
    }

    /// <summary>
    /// Sweep away from the target — degenerate "wrong direction".
    /// Mover at (0,0,0) sweeps in −X while target is at (5,0,0).
    /// The sweep is directly away; no forward contact.
    /// </summary>
    [Fact]
    public void SweepAwayFromTarget_Misses()
    {
        bool hit = CollisionPrimitives.SweptSphereHitsSphere(
            moverCenter:  Vector3.Zero,
            moverRadius:  1f,
            sweepDelta:   new Vector3(-5f, 0f, 0f),
            targetCenter: new Vector3(5f, 0f, 0f),
            targetRadius: 1f,
            out float _);

        Assert.False(hit, "Sweep directly away from target should not hit");
    }

    /// <summary>
    /// Sweep within the step but the target is too far for the step to reach.
    /// Target is 10 units away, sweep is only 3 units — t would be >1.
    /// </summary>
    [Fact]
    public void TargetBeyondStep_Misses()
    {
        // combinedR = 2; target centre 10 away; contact at t = (10-2)/3 ≈ 2.67 > 1.
        bool hit = CollisionPrimitives.SweptSphereHitsSphere(
            moverCenter:  Vector3.Zero,
            moverRadius:  1f,
            sweepDelta:   new Vector3(3f, 0f, 0f),
            targetCenter: new Vector3(10f, 0f, 0f),
            targetRadius: 1f,
            out float _);

        Assert.False(hit, "Target 10 away with only a 3-unit sweep should miss (t>1)");
    }

    /// <summary>
    /// Zero-length sweep is degenerate — should not hit regardless of position.
    /// </summary>
    [Fact]
    public void DegenerateSweep_Misses()
    {
        bool hit = CollisionPrimitives.SweptSphereHitsSphere(
            moverCenter:  Vector3.Zero,
            moverRadius:  1f,
            sweepDelta:   Vector3.Zero,
            targetCenter: new Vector3(0.5f, 0f, 0f),
            targetRadius: 0.1f,
            out float _);

        Assert.False(hit, "Zero-length sweep should return false (degenerate)");
    }

    /// <summary>
    /// Already-overlapping spheres: gap &lt; 0 — the static overlap case.
    /// Retail returns -1 (no forward collision time) for already-overlapping
    /// spheres; <see cref="CollisionPrimitives.SweptSphereHitsSphere"/> returns
    /// false (caller handles static overlap separately).
    /// </summary>
    [Fact]
    public void AlreadyOverlapping_ReturnsFalse()
    {
        // Centres 0.5 apart, combined radius 2 — deeply overlapping.
        bool hit = CollisionPrimitives.SweptSphereHitsSphere(
            moverCenter:  Vector3.Zero,
            moverRadius:  1f,
            sweepDelta:   new Vector3(1f, 0f, 0f),
            targetCenter: new Vector3(0.5f, 0f, 0f),
            targetRadius: 1f,
            out float _);

        Assert.False(hit,
            "Already-overlapping spheres: retail FindTimeOfCollision returns -1 (no forward t); SweptSphereHitsSphere should return false");
    }

    // -----------------------------------------------------------------------
    // 3-D geometry — sphere primitive must use full 3-D distance
    // -----------------------------------------------------------------------

    /// <summary>
    /// Pure Z-axis sweep: verifies the primitive uses 3-D distance (not XY-only).
    /// A purely vertical sweep toward a sphere directly below should hit.
    /// </summary>
    [Fact]
    public void VerticalSweep_HitsTargetBelow()
    {
        // Mover at (0,0,5), sweeps down -Z by 5 to (0,0,0).
        // Target at (0,0,0) with radius 1. Combined radius = 2.
        // First contact when mover centre Z = 2 → t = (5-2)/5 = 0.6.
        bool hit = CollisionPrimitives.SweptSphereHitsSphere(
            moverCenter:  new Vector3(0f, 0f, 5f),
            moverRadius:  1f,
            sweepDelta:   new Vector3(0f, 0f, -5f),
            targetCenter: Vector3.Zero,
            targetRadius: 1f,
            out float t);

        Assert.True(hit, "Vertical sweep toward sphere below should hit");
        Assert.True(MathF.Abs(t - 0.6f) < 1e-4f, $"Expected t≈0.6, got {t:G6}");
    }
}