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orange
8f054316fc
Adds GJK algorithm implementation for detecting collisions between mesh colliders. Includes mesh collider definition and unit tests for basic collision detection. Provides a foundation for more complex collision handling and physics interactions.
47 lines
1.3 KiB
C++
47 lines
1.3 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 "mesh_collider.hpp"
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#include "omath/linear_algebra/vector3.hpp"
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#include "simplex.hpp"
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namespace omath::collision
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{
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class GjkAlgorithm final
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{
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public:
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[[nodiscard]]
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static Vector3<float> find_support_vertex(const MeshCollider& collider_a, const MeshCollider& collider_b,
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const Vector3<float>& direction)
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{
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return collider_a.find_abs_furthest_vertex(direction) - collider_b.find_abs_furthest_vertex(-direction);
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}
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[[nodiscard]]
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static bool check_collision(const MeshCollider& collider_a, const MeshCollider& collider_b)
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{
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// Get initial support point in any direction
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auto support = find_support_vertex(collider_a, collider_b, {1, 0, 0});
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Simplex points;
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points.push_front(support);
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auto direction = -support;
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while (true)
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{
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support = find_support_vertex(collider_a, collider_b, direction);
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if (support.dot(direction) <= 0.f)
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return false;
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points.push_front(support);
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if (handle_simplex(points, direction))
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return true;
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}
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}
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};
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}// namespace omath::collision
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