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add mesh class

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This commit is contained in:
Orange
2025-11-09 21:28:00 +03:00
parent e2378bfa8b
commit e5d8e1c953
4 changed files with 112 additions and 11 deletions
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10
include/omath/collision/gjk_algorithm.hpp
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@@ -9,25 +9,25 @@
namespace omath::collision
{
template<class ColliderType = MeshCollider>
template<class ColliderType = MeshCollider<>>
class GjkAlgorithm final
{
public:
[[nodiscard]]
static MeshCollider::VertexType find_support_vertex(const ColliderType& collider_a,
static ColliderType::VertexType find_support_vertex(const ColliderType& collider_a,
const ColliderType& collider_b,
const MeshCollider::VertexType& direction)
const ColliderType::VertexType& direction)
{
return collider_a.find_abs_furthest_vertex(direction) - collider_b.find_abs_furthest_vertex(-direction);
}
[[nodiscard]]
static bool is_collide(const MeshCollider& collider_a, const MeshCollider& collider_b)
static bool is_collide(const ColliderType& collider_a, const ColliderType& collider_b)
{
// Get initial support point in any direction
auto support = find_support_vertex(collider_a, collider_b, {1, 0, 0});
Simplex<MeshCollider::VertexType> simplex;
Simplex<typename ColliderType::VertexType> simplex;
simplex.push_front(support);
auto direction = -support;