shape_collider.hpp

// SPDX-License-Identifier: MIT
#ifndef LIBSBX_PHYSICS_SHAPE_COLLIDER_HPP_
#define LIBSBX_PHYSICS_SHAPE_COLLIDER_HPP_
 
#include <variant>
#include <algorithm>
 
#include <libsbx/units/mass.hpp>
#include <libsbx/units/distance.hpp>
#include <libsbx/units/time.hpp>
 
#include <libsbx/math/vector3.hpp>
#include <libsbx/math/matrix4x4.hpp>
#include <libsbx/math/volume.hpp>
 
namespace sbx::physics {
 
struct sphere {
  std::float_t radius{0.5f};
}; // struct sphere
 
struct cylinder {
  std::float_t radius{0.5f};
  std::float_t half_height{0.5f};
}; // struct cylinder
 
struct capsule {
  std::float_t radius{0.5f};
  std::float_t half_height{0.5f};
}; // struct capsule
 
struct box {
  math::vector3 half_extents{0.5f, 0.5f, 0.5f};
}; // struct box
 
struct triangle {
  math::vector3 v0;
  math::vector3 v1;
  math::vector3 v2;
}; // struct triangle
 
using convex_shape = std::variant<sphere, cylinder, capsule, box, triangle>;
 
struct shape_collider {
  convex_shape shape;
  math::vector3 offset{math::vector3::zero};
  std::float_t friction{0.5f};
  std::float_t restitution{0.0f};
}; // struct collider
 
auto inverse_inertia_tensor(const shape_collider& collider, std::float_t mass) -> math::matrix3x3;
 
auto get_bounding_volume(const shape_collider& collider, const math::matrix4x4& transform) -> math::volume;
 
} // namespace sbx::physics
 
#endif // LIBSBX_PHYSICS_SHAPE_COLLIDER_HPP_