narrowphase.h

#pragma once
 
#include <glm/glm.hpp>
 
#include "system/physics/collision/contact.h"
 
namespace Vkm::Engine {
 
struct SupportShape;

struct BoxShape {
    glm::vec3 center      = {0.0f, 0.0f, 0.0f};
    glm::vec3 axes[3]     = {{1.0f, 0.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 0.0f, 1.0f}};
    glm::vec3 halfExtents = {0.5f, 0.5f, 0.5f};
};

struct CapsuleShape {
    glm::vec3 a      = {0.0f, -0.5f, 0.0f};
    glm::vec3 b      = {0.0f,  0.5f, 0.0f};
    float     radius = 0.5f;
};

int contactBoxes(const BoxShape& a, const BoxShape& b, Contact* out);

int contactCapsuleBox(const CapsuleShape& a, const BoxShape& b, Contact* out);

int contactCapsuleCapsule(const CapsuleShape& a, const CapsuleShape& b, Contact* out);

int contactTriangle(const glm::vec3* triangle, const SupportShape& shape, Contact* out);
 
} // namespace Vkm::Engine