collision_detection.hpp

// SPDX-License-Identifier: MIT
#ifndef LIBSBX_PHYSICS_COLLISION_DETECTION_HPP_
#define LIBSBX_PHYSICS_COLLISION_DETECTION_HPP_
 
#include <libsbx/math/vector3.hpp>
#include <libsbx/math/matrix4x4.hpp>
#include <libsbx/math/volume.hpp>
#include <libsbx/math/quaternion.hpp>
 
#include <libsbx/scenes/node.hpp>
 
#include <libsbx/physics/shape_collider.hpp>
#include <libsbx/physics/mesh_collider.hpp>
 
namespace sbx::physics {
 
struct collider_data {
  math::vector3 position;
  math::quaternion rotation;
  const physics::shape_collider& collider;
}; // struct collider_data
 
struct contact_point {
  math::vector3 position;
  std::float_t depth{0.0f};
}; // struct contact_point
 
struct collision_manifold {
  math::vector3 normal;
  float depth{0.0f};
  std::vector<contact_point> contact_points;
}; // struct collision_manifold
 
auto check_collision(const collider_data& first, const collider_data& second) -> std::optional<collision_manifold>;
 
auto check_collision(const collider_data& convex, const mesh_collider& mesh, const math::vector3& mesh_position, const math::quaternion& mesh_rotation) -> std::optional<collision_manifold>;
 
} // namespace sbx::physics
 
#endif // LIBSBX_PHYSICS_COLLISION_DETECTION_HPP_