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Adds GjkHitInfo and refactors collision detection

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Introduces `GjkHitInfo` to encapsulate collision results, including the simplex.

Refactors `is_collide` to return the `GjkHitInfo` struct, providing more detailed collision data. This prepares the codebase for integrating the EPA algorithm (as per the feature branch) which requires simplex information.
This commit is contained in:
Orange
2025-11-13 13:33:18 +03:00
parent 66919af46a
commit c515dc89a9
1 changed files with 16 additions and 3 deletions
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19
include/omath/collision/gjk_algorithm.hpp
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@@ -7,6 +7,13 @@
namespace omath::collision namespace omath::collision
{ {
template<class VertexType>
struct GjkHitInfo final
{
bool hit{false};
Simplex<VertexType> simplex; // valid only if hit == true and size==4
};
template<class ColliderType> template<class ColliderType>
class GjkAlgorithm final class GjkAlgorithm final
{ {
@@ -23,7 +30,13 @@ namespace omath::collision
[[nodiscard]] [[nodiscard]]
static bool is_collide(const ColliderType& collider_a, const ColliderType& collider_b) static bool is_collide(const ColliderType& collider_a, const ColliderType& collider_b)
{ {
// Get initial support point in any direction return is_collide_with_simplex_info(collider_a, collider_b).hit;
}
[[nodiscard]]
static GjkHitInfo<VertexType> is_collide_with_simplex_info(const ColliderType& collider_a,
const ColliderType& collider_b)
{
auto support = find_support_vertex(collider_a, collider_b, {1, 0, 0}); auto support = find_support_vertex(collider_a, collider_b, {1, 0, 0});
Simplex<VertexType> simplex; Simplex<VertexType> simplex;
@@ -36,12 +49,12 @@ namespace omath::collision
support = find_support_vertex(collider_a, collider_b, direction); support = find_support_vertex(collider_a, collider_b, direction);
if (support.dot(direction) <= 0.f) if (support.dot(direction) <= 0.f)
return false; return {false, simplex};
simplex.push_front(support); simplex.push_front(support);
if (simplex.handle(direction)) if (simplex.handle(direction))
return true; return {true, simplex};
} }
} }
}; };