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added collider interface

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Orange
2025-12-06 13:34:34 +03:00
parent 67ccaedb33
commit 70c64f765b
9 changed files with 118 additions and 43 deletions
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include/omath/collision/epa_algorithm.hpp
+3 -9
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@@ -101,10 +101,7 @@ namespace omath::collision
out.num_vertices = static_cast<int>(vertexes.size());
out.num_faces = static_cast<int>(faces.size());
const auto centers = b.get_origin() - a.get_origin();
const auto sign = out.normal.dot(centers) >= 0 ? 1 : -1;
out.penetration_vector = out.normal * out.depth * sign;
out.penetration_vector = out.normal * out.depth;
return out;
}
@@ -163,10 +160,7 @@ namespace omath::collision
out.num_vertices = static_cast<int>(vertexes.size());
out.num_faces = static_cast<int>(faces.size());
const auto centers = b.get_origin() - a.get_origin();
const auto sign = out.normal.dot(centers) >= 0 ? 1 : -1;
out.penetration_vector = out.normal * out.depth * sign;
out.penetration_vector = out.normal * out.depth;
return out;
}
@@ -253,7 +247,7 @@ namespace omath::collision
[[nodiscard]]
static VectorType support_point(const ColliderType& a, const ColliderType& b, const VectorType& dir)
{
return a.find_abs_furthest_vertex(dir).position - b.find_abs_furthest_vertex(-dir).position;
return a.find_abs_furthest_vertex_position(dir) - b.find_abs_furthest_vertex_position(-dir);
}
template<class V>