Add simple UnitTest that tests AABB_Box collision

CMakeLists.txt

@@ -36,3 +36,30 @@ $<IF:$<CONFIG:Debug>,-Og,-fno-delete-null-pointer-checks -fno-strict-overflow -f
 -Wl,-z,relro -Wl,-z,now
 -fPIC
 )
+
+add_executable(UnitTest src/test.cpp)
+target_link_libraries(UnitTest SC_SeparatingAxisCollisionDetection)
+target_include_directories(UnitTest PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/src")
+
+target_compile_options(UnitTest PUBLIC
+$<IF:$<CONFIG:Debug>,-Og,-fno-delete-null-pointer-checks -fno-strict-overflow -fno-strict-aliasing -ftrivial-auto-var-init=zero>
+-Wall -Wformat -Wformat=2 -Wconversion -Wimplicit-fallthrough
+-U_FORTIFY_SOURCE -D_FORTIFY_SOURCE=3
+-D_GLIBCXX_ASSERTIONS
+-fstrict-flex-arrays=3
+-fstack-clash-protection -fstack-protector-strong
+-fPIE
+)
+
+target_link_options(UnitTest PUBLIC
+$<IF:$<CONFIG:Debug>,-Og,-fno-delete-null-pointer-checks -fno-strict-overflow -fno-strict-aliasing -ftrivial-auto-var-init=zero>
+-Wall -Wformat -Wformat=2 -Wconversion -Wimplicit-fallthrough
+-U_FORTIFY_SOURCE -D_FORTIFY_SOURCE=3
+-D_GLIBCXX_ASSERTIONS
+-fstrict-flex-arrays=3
+-fstack-clash-protection -fstack-protector-strong
+-Wl,-z,nodlopen -Wl,-z,noexecstack
+-Wl,-z,relro -Wl,-z,now
+-fPIE
+-pie
+)

src/test.cpp

@@ -0,0 +1,87 @@
+#include <iostream>
+
+static int checks_checked = 0;
+static int checks_passed = 0;
+
+// Macros for unit testing.
+
+#define CHECK_TRUE(x)                                                 \
+  do {                                                                \
+    ++checks_checked;                                                 \
+    if (!(x)) {                                                       \
+      std::cout << "CHECK_TRUE at line " << __LINE__ << " failed!\n"; \
+    } else {                                                          \
+      ++checks_passed;                                                \
+    }                                                                 \
+  } while (false);
+#define CHECK_FALSE(x)                                                 \
+  do {                                                                 \
+    ++checks_checked;                                                  \
+    if (x) {                                                           \
+      std::cout << "CHECK_FALSE at line " << __LINE__ << " failed!\n"; \
+    } else {                                                           \
+      ++checks_passed;                                                 \
+    }                                                                  \
+  } while (false);
+
+#include "sd_sacd.h"
+
+int main() {
+  // Test 2D AABB.
+  SC_SACD_AABB_Box a{0.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F};
+  SC_SACD_AABB_Box b{2.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F};
+
+  CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
+
+  b.x = -2.0F;
+  CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
+
+  b.x = 0.5F;
+  CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
+  b.x = -0.5F;
+  CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
+
+  b.x = 0.0F;
+  b.y = 2.0F;
+  CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
+  b.y = -2.0F;
+  CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
+
+  b.y = 0.5F;
+  CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
+  b.y = -0.5F;
+  CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
+
+  b.y = 0.0F;
+  b.z = 2.0F;
+  CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
+
+  b.z = -2.0F;
+  CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
+
+  b.z = 0.5F;
+  CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
+
+  b.z = -0.5F;
+  CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
+
+  b.z = 0.0F;
+  b.x = 0.5F;
+  b.y = 2.0F;
+  CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
+
+  b.y = -2.0F;
+  CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
+
+  b.x = -0.5F;
+  b.y = 2.0F;
+  CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
+
+  b.y = -2.0F;
+  CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
+
+  std::cout << "Checks checked: " << checks_checked << '\n'
+            << "Checks passed:  " << checks_passed << '\n';
+
+  return 0;
+}