77 lines
2.5 KiB
C
77 lines
2.5 KiB
C
#ifndef COLLIDER_H
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#define COLLIDER_H
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#if COLLIDER_DEBUG
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extern u32 collider_debug_steps;
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#endif
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struct collider_support_point {
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struct v2 p;
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u32 i; /* Index of original point in shape */
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};
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struct collider_menkowski_point {
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struct v2 p; /* Menkowski difference point */
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struct collider_support_point s0; /* Support point of first shape in dir */
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struct collider_support_point s1; /* Support point of second shape in -dir */
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};
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struct collider_menkowski_simplex {
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u32 len;
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struct collider_menkowski_point a, b, c;
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};
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struct collider_menkowski_feature {
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u32 len;
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struct collider_menkowski_point a, b;
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};
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struct collider_collision_point {
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struct v2 point;
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f32 separation;
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u32 id; /* Based on polygon edge-to-edge */
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};
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struct collider_prototype { struct v2 points[64]; u32 len; };
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struct collider_collision_points_result {
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struct v2 normal;
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struct collider_collision_point points[2];
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u32 num_points;
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/* For debugging */
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b32 solved;
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struct collider_menkowski_simplex simplex;
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struct collider_prototype prototype;
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/* Clipping faces */
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struct v2 a0, b0, a1, b1;
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struct v2 a0_clipped, b0_clipped, a1_clipped, b1_clipped;
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};
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struct collider_closest_points_result {
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struct v2 p0, p1;
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b32 colliding;
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/* For debugging */
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b32 solved;
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struct collider_menkowski_simplex simplex;
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struct collider_prototype prototype;
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};
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struct collider_support_point collider_get_support_point(struct collider_shape *shape, struct xform xf, struct v2 dir);
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struct aabb collider_aabb_from_collider(struct collider_shape *shape, struct xform xf);
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b32 collider_test_aabb(struct aabb box0, struct aabb box1);
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struct collider_collision_points_result collider_collision_points(struct collider_shape *shape0, struct collider_shape *shape1, struct xform xf0, struct xform xf1);
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struct collider_closest_points_result collider_closest_points(struct collider_shape *shape0, struct collider_shape *shape1, struct xform xf0, struct xform xf1);
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f32 collider_time_of_impact(struct collider_shape *c0, struct collider_shape *c1, struct xform xf0_t0, struct xform xf1_t0, struct xform xf0_t1, struct xform xf1_t1, f32 tolerance, u32 max_iterations);
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struct v2_array menkowski(struct arena *arena, struct collider_shape *shape0, struct collider_shape *shape1, struct xform xf0, struct xform xf1, u32 detail);
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struct v2_array cloud(struct arena *arena, struct collider_shape *shape0, struct collider_shape *shape1, struct xform xf0, struct xform xf1);
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#endif
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