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Calculates penetration vector for EPA algorithm

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Adds `penetration_vector` to the `epa_result` struct to represent the direction and magnitude of penetration.

This allows for more accurate collision response calculations and simplifies access to penetration information.

Updates both the early-exit and iterative EPA calculations within `epa_algorithm.hpp` to compute and store the penetration vector, factoring in the relative origin of the colliding meshes.
This commit is contained in:
Orange
2025-11-13 21:19:09 +03:00
parent a5b24f90dc
commit 12f888b8d4
2 changed files with 16 additions and 0 deletions
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11
include/omath/collision/epa_algorithm.hpp
View File

@@ -31,6 +31,7 @@ namespace omath::collision
{
bool success{false};
Vertex normal{}; // outward normal (from B to A)
Vertex penetration_vector;
float depth{0.0f};
int iterations{0};
int num_vertices{0};
@@ -96,6 +97,11 @@ namespace omath::collision
out.iterations = it + 1;
out.num_vertices = static_cast<int>(vertexes.size());
out.num_faces = static_cast<int>(faces.size());
const auto centers = b.get_origin() - a.get_origin();
const auto sign = out.normal.dot(centers) >= 0 ? 1 : -1;
out.penetration_vector = out.normal * out.depth * sign;
return out;
}
@@ -154,6 +160,11 @@ namespace omath::collision
out.depth = best.d;
out.num_vertices = static_cast<int>(vertexes.size());
out.num_faces = static_cast<int>(faces.size());
const auto centers = b.get_origin() - a.get_origin();
const auto sign = out.normal.dot(centers) >= 0 ? 1 : -1;
out.penetration_vector = out.normal * out.depth * sign;
}
return out;
}

5
include/omath/collision/mesh_collider.hpp
View File

@@ -31,6 +31,11 @@ namespace omath::collision
return m_mesh.vertex_to_world_space(find_furthest_vertex(direction));
}
[[nodiscard]]
const VertexType& get_origin() const
{
return m_mesh.get_origin();
}
private:
MeshType m_mesh;
};