ViewDesignEngine
28 lines
770 B
C++
28 lines
770 B
C++
#pragma once
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#include "vde/core/point.h"
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#include <functional>
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#include <optional>
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namespace vde::collision {
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/// Support function type: given direction, return farthest point on shape
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using SupportFunc = std::function<Point3D(const Vector3D&)>;
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struct GJKResult {
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bool intersect;
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double distance;
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Point3D point_a;
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Point3D point_b;
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};
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/// GJK intersection test for convex shapes
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bool gjk_intersect(const SupportFunc& shape_a, const SupportFunc& shape_b);
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/// GJK distance between convex shapes
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double gjk_distance(const SupportFunc& shape_a, const SupportFunc& shape_b);
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/// Full GJK: intersection + closest points + penetration (with EPA)
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GJKResult gjk_full(const SupportFunc& shape_a, const SupportFunc& shape_b);
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} // namespace vde::collision
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