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++ // Copyright (C) 2026 The Qt Company Ltd.
++ // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
++
++ // Tests that DynamicRigidBody::ccd actually prevents tunneling for a fast
++ // body that would otherwise pass straight through a thin static wall
++ // undetected in a single simulation step.
++ //
++ // 00) no CCD: fast body tunnels through, no contact
++ // 01) SweepBasedCCD: fast body is caught, contact fires
++ // 02) SpeculativeCCD: fast body is caught, contact fires
++ // 03) PhysicsWorld::enableCCD (deprecated global fallback): fast body is caught, contact fires
++
++ import QtCore
++ import QtQuick
++ import QtTest
++ import QtQuick3D
++ import QtQuick3D.Physics
++ import QtQuick3D.Physics.TestUtils
++
++ Item {
++ property real sceneWidth: 300
++ property real sceneHeight: 300
++ width: sceneWidth*4
++ height: sceneHeight
++ visible: true
++
++ //////////////////////////////////////////////////
++ // 00 no CCD: fast body tunnels through, no contact
++
++ TunnelScene {
++ width: parent.sceneWidth
++ height: parent.sceneHeight
++ id: sceneNoCcd
++ ccd: DynamicRigidBody.None
++ }
++
++ PhysicsTestCase {
++ // Require the sphere to actually be found well past the wall (not
++ // just "no contact happened"), so the test can't pass vacuously if
++ // contact reporting itself were broken or the sphere never moved.
++ name: "no CCD: fast body tunnels through thin wall (no contact)"
++ goalReached: sceneNoCcd.bulletPosition.y < -2000 && !sceneNoCcd.contact
++ }
++
++ //////////////////////////////////////////////////
++ // 01 SweepBasedCCD: fast body is caught, contact fires
++
++ TunnelScene {
++ width: parent.sceneWidth
++ height: parent.sceneHeight
++ x: parent.sceneWidth
++ id: sceneCcd
++ ccd: DynamicRigidBody.SweepBasedCCD
++ }
++
++ PhysicsTestCase {
++ // Also confirm the sphere was actually stopped at the wall rather
++ // than merely reporting a contact while still sailing through it.
++ name: "SweepBasedCCD: fast body is caught by thin wall (contact)"
++ goalReached: sceneCcd.contact && sceneCcd.bulletPosition.y > -150
++ }
++
++ //////////////////////////////////////////////////
++ // 02 SpeculativeCCD: fast body is caught, contact fires
++
++ TunnelScene {
++ width: parent.sceneWidth
++ height: parent.sceneHeight
++ x: parent.sceneWidth*2
++ id: sceneSpeculativeCcd
++ ccd: DynamicRigidBody.SpeculativeCCD
++ }
++
++ PhysicsTestCase {
++ name: "SpeculativeCCD: fast body is caught by thin wall (contact)"
++ goalReached: sceneSpeculativeCcd.contact && sceneSpeculativeCcd.bulletPosition.y > -150
++ }
++
++ //////////////////////////////////////////////////
++ // 03 PhysicsWorld::enableCCD (deprecated global fallback): fast body is
++ // caught, contact fires
++
++ TunnelScene {
++ width: parent.sceneWidth
++ height: parent.sceneHeight
++ x: parent.sceneWidth*3
++ id: sceneEnableCcd
++ // ccd left at its default None: relies purely on the deprecated
++ // PhysicsWorld.enableCCD global fallback (uses SweepBasedCCD for a
++ // non-kinematic body).
++ enableCCD: true
++ }
++
++ PhysicsTestCase {
++ name: "PhysicsWorld.enableCCD: fast body is caught by thin wall (contact)"
++ goalReached: sceneEnableCcd.contact && sceneEnableCcd.bulletPosition.y > -150
++ }
++ }