mirror of
https://github.com/orange-cpp/omath.git
synced 2026-02-13 07:03:25 +00:00
Orange
afc0720f08
Removes the separate `Simplex` class and integrates its functionality directly into the `GjkAlgorithm`. This simplifies the code and reduces unnecessary overhead. Updates tests to align with refactored implementation.
50 lines
1.7 KiB
C++
50 lines
1.7 KiB
C++
//
|
|
// Created by Vlad on 11/9/2025.
|
|
//
|
|
|
|
#pragma once
|
|
#include "omath/engines/source_engine/traits/pred_engine_trait.hpp"
|
|
#include "omath/linear_algebra/vector3.hpp"
|
|
#include <vector>
|
|
|
|
namespace omath::collision
|
|
{
|
|
class MeshCollider
|
|
{
|
|
public:
|
|
using VertexType = Vector3<float>;
|
|
MeshCollider(const std::vector<Vector3<float>>& vertexes, const Vector3<float> origin)
|
|
: m_vertexes(vertexes), m_origin(origin)
|
|
{
|
|
if (m_vertexes.empty())
|
|
throw std::runtime_error("Collider cannot have 0 vertexes");
|
|
}
|
|
std::vector<Vector3<float>> m_vertexes;
|
|
Vector3<float> m_origin;
|
|
source_engine::ViewAngles m_rotation;
|
|
|
|
[[nodiscard]]
|
|
source_engine::Mat4X4 to_world() const
|
|
{
|
|
return mat_translation(m_origin) * source_engine::rotation_matrix(m_rotation);
|
|
}
|
|
|
|
[[nodiscard]]
|
|
const Vector3<float>& find_furthest_vertex(const Vector3<float>& direction) const
|
|
{
|
|
return *std::ranges::max_element(m_vertexes, [&direction](const auto& first, const auto& second)
|
|
{ return first.dot(direction) < second.dot(direction); });
|
|
}
|
|
[[nodiscard]]
|
|
Vector3<float> find_abs_furthest_vertex(const Vector3<float>& direction) const
|
|
{
|
|
return vertex_to_world_space(find_furthest_vertex(direction));
|
|
}
|
|
[[nodiscard]] Vector3<float> vertex_to_world_space( const Vector3<float>& local_vertex) const
|
|
{
|
|
auto abs_vec = to_world() * mat_column_from_vector(local_vertex);
|
|
|
|
return {abs_vec.at(0, 0), abs_vec.at(1, 0), abs_vec.at(2, 0)};
|
|
}
|
|
};
|
|
} // namespace omath::collision
|