support.h

#pragma once
 
#include <cstdint>
 
#include <glm/glm.hpp>
 
#include "system/physics/collision/narrowphase.h"
 
namespace Vkm::Engine {

struct SupportShape {
    enum class Kind : uint8_t {
        Box,      
        Capsule,  
        Points    
    };
 
    Kind kind = Kind::Box;
 
    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};
 
    glm::vec3 a = {0.0f, 0.0f, 0.0f};
    glm::vec3 b = {0.0f, 0.0f, 0.0f};
    float radius = 0.0f;
 
    const glm::vec3* points = nullptr;
    uint32_t count = 0;
};

SupportShape supportOf(const BoxShape& box);

SupportShape supportOf(const CapsuleShape& capsule);

SupportShape supportOfPoints(const glm::vec3* points, uint32_t count);

glm::vec3 support(const SupportShape& shape, const glm::vec3& direction);
 
} // namespace Vkm::Engine