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Orange
12f888b8d4
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.
42 lines
1.1 KiB
C++
42 lines
1.1 KiB
C++
//
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// Created by Vlad on 11/9/2025.
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//
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#pragma once
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#include "omath/linear_algebra/vector3.hpp"
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namespace omath::collision
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{
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template<class MeshType>
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class MeshCollider
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{
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public:
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using NumericType = typename MeshType::NumericType;
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using VertexType = Vector3<NumericType>;
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explicit MeshCollider(MeshType mesh): m_mesh(std::move(mesh))
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{
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}
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[[nodiscard]]
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const VertexType& find_furthest_vertex(const VertexType& direction) const
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{
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return *std::ranges::max_element(m_mesh.m_vertex_buffer, [&direction](const auto& first, const auto& second)
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{ return first.dot(direction) < second.dot(direction); });
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}
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[[nodiscard]]
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VertexType find_abs_furthest_vertex(const VertexType& direction) const
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{
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return m_mesh.vertex_to_world_space(find_furthest_vertex(direction));
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}
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[[nodiscard]]
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const VertexType& get_origin() const
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{
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return m_mesh.get_origin();
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}
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private:
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MeshType m_mesh;
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};
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} // namespace omath::collision
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