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improved mesh class

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This commit is contained in:
Orange
2025-11-29 16:28:06 +03:00
parent 5a8b033816
commit 09263b390f
10 changed files with 120 additions and 63 deletions
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include/omath/collision/epa_algorithm.hpp
+16 -16
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@@ -24,13 +24,13 @@ namespace omath::collision
class Epa final
{
public:
using Vertex = typename ColliderType::VertexType;
static_assert(EpaVector<Vertex>, "VertexType must satisfy EpaVector concept");
using VectorType = typename ColliderType::VectorType;
static_assert(EpaVector<VectorType>, "VertexType must satisfy EpaVector concept");
struct Result final
{
Vertex normal{}; // outward normal (from B to A)
Vertex penetration_vector;
VectorType normal{}; // outward normal (from B to A)
VectorType penetration_vector;
float depth{0.0f};
int iterations{0};
int num_vertices{0};
@@ -45,11 +45,11 @@ namespace omath::collision
// Precondition: simplex.size()==4 and contains the origin.
[[nodiscard]]
static std::optional<Result> solve(const ColliderType& a, const ColliderType& b, const Simplex<Vertex>& simplex,
static std::optional<Result> solve(const ColliderType& a, const ColliderType& b, const Simplex<VectorType>& simplex,
const Params params = {})
{
// --- Build initial polytope from simplex (4 points) ---
std::vector<Vertex> vertexes;
std::vector<VectorType> vertexes;
vertexes.reserve(64);
for (std::size_t i = 0; i < simplex.size(); ++i)
vertexes.push_back(simplex[i]);
@@ -84,7 +84,7 @@ namespace omath::collision
const Face f = faces[fidx];
// Get farthest point in face normal direction
const Vertex p = support_point(a, b, f.n);
const VectorType p = support_point(a, b, f.n);
const float p_dist = f.n.dot(p);
// Converged if we can’t push the face closer than tolerance
@@ -172,7 +172,7 @@ namespace omath::collision
struct Face final
{
int i0, i1, i2;
Vertex n; // unit outward normal
VectorType n; // unit outward normal
float d; // n · v0 (>=0 ideally because origin is inside)
};
@@ -205,7 +205,7 @@ namespace omath::collision
}
[[nodiscard]]
static bool visible_from(const Face& f, const Vertex& p)
static bool visible_from(const Face& f, const VectorType& p)
{
// positive if p is in front of the face
return (f.n.dot(p) - f.d) > 1e-7f;
@@ -223,12 +223,12 @@ namespace omath::collision
}
[[nodiscard]]
static Face make_face(const std::vector<Vertex>& vertexes, int i0, int i1, int i2)
static Face make_face(const std::vector<VectorType>& vertexes, int i0, int i1, int i2)
{
const Vertex& a0 = vertexes[i0];
const Vertex& a1 = vertexes[i1];
const Vertex& a2 = vertexes[i2];
Vertex n = (a1 - a0).cross(a2 - a0);
const VectorType& a0 = vertexes[i0];
const VectorType& a1 = vertexes[i1];
const VectorType& a2 = vertexes[i2];
VectorType n = (a1 - a0).cross(a2 - a0);
if (n.dot(n) <= 1e-30f)
{
n = any_perp_vec(a1 - a0); // degenerate guard
@@ -246,9 +246,9 @@ namespace omath::collision
}
[[nodiscard]]
static Vertex support_point(const ColliderType& a, const ColliderType& b, const Vertex& dir)
static VectorType support_point(const ColliderType& a, const ColliderType& b, const VectorType& dir)
{
return a.find_abs_furthest_vertex(dir) - b.find_abs_furthest_vertex(-dir);
return a.find_abs_furthest_vertex(dir).position - b.find_abs_furthest_vertex(-dir).position;
}
template<class V>