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fixed naming

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Orange
2025-12-06 14:49:30 +03:00
parent 3831bc0999
commit 27c1d147c5
2 changed files with 13 additions and 12 deletions
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11
include/omath/collision/epa_algorithm.hpp
View File

@@ -6,10 +6,10 @@
#include <cstdint> #include <cstdint>
#include <limits> #include <limits>
#include <memory> #include <memory>
#include <memory_resource>
#include <queue> #include <queue>
#include <utility> #include <utility>
#include <vector> #include <vector>
#include <memory_resource>
namespace omath::collision namespace omath::collision
{ {
@@ -23,11 +23,11 @@ namespace omath::collision
{ a / s } -> std::same_as<V>; { a / s } -> std::same_as<V>;
}; };
template<class ColliderType> template<class ColliderInterfaceType>
class Epa final class Epa final
{ {
public: public:
using VectorType = ColliderType::VectorType; using VectorType = ColliderInterfaceType::VectorType;
static_assert(EpaVector<VectorType>, "VertexType must satisfy EpaVector concept"); static_assert(EpaVector<VectorType>, "VertexType must satisfy EpaVector concept");
struct Result final struct Result final
@@ -48,7 +48,7 @@ namespace omath::collision
// Precondition: simplex.size()==4 and contains the origin. // Precondition: simplex.size()==4 and contains the origin.
[[nodiscard]] [[nodiscard]]
static std::optional<Result> solve(const ColliderType& a, const ColliderType& b, static std::optional<Result> solve(const ColliderInterfaceType& a, const ColliderInterfaceType& b,
const Simplex<VectorType>& simplex, const Params params = {}, const Simplex<VectorType>& simplex, const Params params = {},
std::shared_ptr<std::pmr::memory_resource> mem_resource = { std::shared_ptr<std::pmr::memory_resource> mem_resource = {
std::shared_ptr<void>{}, std::pmr::get_default_resource()}) std::shared_ptr<void>{}, std::pmr::get_default_resource()})
@@ -245,7 +245,8 @@ namespace omath::collision
} }
[[nodiscard]] [[nodiscard]]
static VectorType support_point(const ColliderType& a, const ColliderType& b, const VectorType& dir) static VectorType support_point(const ColliderInterfaceType& a, const ColliderInterfaceType& b,
const VectorType& dir)
{ {
return a.find_abs_furthest_vertex_position(dir) - b.find_abs_furthest_vertex_position(-dir); return a.find_abs_furthest_vertex_position(dir) - b.find_abs_furthest_vertex_position(-dir);
} }

14
include/omath/collision/gjk_algorithm.hpp
View File

@@ -14,29 +14,29 @@ namespace omath::collision
Simplex<VertexType> simplex; // valid only if hit == true and size==4 Simplex<VertexType> simplex; // valid only if hit == true and size==4
}; };
template<class ColliderType> template<class ColliderInterfaceType>
class GjkAlgorithm final class GjkAlgorithm final
{ {
using VectorType = ColliderType::VectorType; using VectorType = ColliderInterfaceType::VectorType;
public: public:
[[nodiscard]] [[nodiscard]]
static VectorType find_support_vertex(const ColliderType& collider_a, const ColliderType& collider_b, static VectorType find_support_vertex(const ColliderInterfaceType& collider_a,
const VectorType& direction) const ColliderInterfaceType& collider_b, const VectorType& direction)
{ {
return collider_a.find_abs_furthest_vertex_position(direction) return collider_a.find_abs_furthest_vertex_position(direction)
- collider_b.find_abs_furthest_vertex_position(-direction); - collider_b.find_abs_furthest_vertex_position(-direction);
} }
[[nodiscard]] [[nodiscard]]
static bool is_collide(const ColliderType& collider_a, const ColliderType& collider_b) static bool is_collide(const ColliderInterfaceType& collider_a, const ColliderInterfaceType& collider_b)
{ {
return is_collide_with_simplex_info(collider_a, collider_b).hit; return is_collide_with_simplex_info(collider_a, collider_b).hit;
} }
[[nodiscard]] [[nodiscard]]
static GjkHitInfo<VectorType> is_collide_with_simplex_info(const ColliderType& collider_a, static GjkHitInfo<VectorType> is_collide_with_simplex_info(const ColliderInterfaceType& collider_a,
const ColliderType& collider_b) const ColliderInterfaceType& collider_b)
{ {
auto support = find_support_vertex(collider_a, collider_b, VectorType{1, 0, 0}); auto support = find_support_vertex(collider_a, collider_b, VectorType{1, 0, 0});