Sleak::Physics Namespace Reference

Collision shapes, the broadphase tree, and the world that steps them. More...

Classes
struct	AABB
struct	BoundingCapsule
struct	BoundingSphere
struct	CollisionManifold
struct	CollisionPair
struct	ContactPoint
class	DynamicAABBTree
class	PhysicsWorld
struct	RayHit
struct	SweepResult
struct	TreeNode
struct	TriangleMesh
class	Vector3D

Typedefs
using	ColliderShape = std::variant<AABB, BoundingSphere, BoundingCapsule, TriangleMesh>
	Tagged union of the shapes a ColliderComponent can hold.

Enumerations
enum class	ColliderType { ColliderType::AABB , ColliderType::Sphere , ColliderType::Capsule , ColliderType::Mesh }

Functions
static Vector3D	ClosestPointOnAABB (const AABB &aabb, const Vector3D &point)
	Clamps point into the box, giving the nearest surface or interior point.
Vector3D	ClosestPointOnSegment (const Vector3D &point, const Vector3D &a, const Vector3D &b)
	Nearest point on segment [a, b] to the given point.
void	ClosestPointsSegmentSegment (const Vector3D &a1, const Vector3D &a2, const Vector3D &b1, const Vector3D &b2, Vector3D &closestA, Vector3D &closestB)
	Nearest points between two line segments, used for capsule-vs-capsule tests.
AABB	GetWorldAABB (const ColliderShape &shape, const Vector3D &worldPos, const Vector3D &worldScale)
	Transforms a local-space collider shape into a world-space AABB for broadphase queries.
CollisionManifold	TestAABBvsAABB (const AABB &a, const AABB &b)
	Narrow-phase collision tests; the resulting normal always points from A to B.
CollisionManifold	TestAABBvsCapsule (const AABB &a, const BoundingCapsule &b)
CollisionManifold	TestAABBvsMesh (const AABB &a, const TriangleMesh &b)
CollisionManifold	TestAABBvsSphere (const AABB &a, const BoundingSphere &b)
CollisionManifold	TestCapsuleVsCapsule (const BoundingCapsule &a, const BoundingCapsule &b)
CollisionManifold	TestCollision (const ColliderShape &shapeA, const Vector3D &posA, const Vector3D &scaleA, const ColliderShape &shapeB, const Vector3D &posB, const Vector3D &scaleB)
	Dispatches to the right narrow-phase test based on the runtime shape held by each variant.
CollisionManifold	TestSphereVsCapsule (const BoundingSphere &a, const BoundingCapsule &b)
CollisionManifold	TestSphereVsMesh (const BoundingSphere &a, const TriangleMesh &b)
CollisionManifold	TestSphereVsSphere (const BoundingSphere &a, const BoundingSphere &b)
CollisionManifold	TestSphereVsTriangle (const BoundingSphere &sphere, const Vector3D &v0, const Vector3D &v1, const Vector3D &v2)
static AABB	TransformAABB (const AABB &aabb, const Vector3D &pos, const Vector3D &scale)
static BoundingCapsule	TransformCapsule (const BoundingCapsule &c, const Vector3D &pos, const Vector3D &scale)
static TriangleMesh	TransformMesh (const TriangleMesh &m, const Vector3D &pos, const Vector3D &scale)
static BoundingSphere	TransformSphere (const BoundingSphere &s, const Vector3D &pos, const Vector3D &scale)

Variables
static constexpr float	FAT_AABB_MARGIN = 0.1f
static constexpr int	NULL_NODE = -1

Detailed Description

Collision shapes, the broadphase tree, and the world that steps them.

PhysicsWorld owns a DynamicAABBTree plus every registered collider, and exposes raycast, sweep, and overlap queries. Each Scene creates one PhysicsWorld and steps it from its update.

Typedef Documentation

ColliderShape

using Sleak::Physics::ColliderShape = std::variant<AABB, BoundingSphere, BoundingCapsule, TriangleMesh>

Tagged union of the shapes a ColliderComponent can hold.

Definition at line 233 of file Colliders.hpp.

Function Documentation

ClosestPointOnAABB()

Vector3D Sleak::Physics::ClosestPointOnAABB ( const AABB & aabb, const Vector3D & point )

static

Clamps point into the box, giving the nearest surface or interior point.

Definition at line 72 of file CollisionDetection.cpp.

ClosestPointOnSegment()

Vector3D Sleak::Physics::ClosestPointOnSegment	(	const Vector3D &	point,
		const Vector3D &	a,
		const Vector3D &	b )

Nearest point on segment [a, b] to the given point.

Definition at line 9 of file CollisionDetection.cpp.

ClosestPointsSegmentSegment()

void Sleak::Physics::ClosestPointsSegmentSegment	(	const Vector3D &	a1,
		const Vector3D &	a2,
		const Vector3D &	b1,
		const Vector3D &	b2,
		Vector3D &	closestA,
		Vector3D &	closestB )

Nearest points between two line segments, used for capsule-vs-capsule tests.

Definition at line 18 of file CollisionDetection.cpp.

GetWorldAABB()

AABB Sleak::Physics::GetWorldAABB ( const ColliderShape & shape, const Vector3D & worldPos, const Vector3D & worldScale )

inline

Transforms a local-space collider shape into a world-space AABB for broadphase queries.

Definition at line 236 of file Colliders.hpp.

TestAABBvsAABB()

CollisionManifold Sleak::Physics::TestAABBvsAABB	(	const AABB &	a,
		const AABB &	b )

Narrow-phase collision tests; the resulting normal always points from A to B.

Definition at line 80 of file CollisionDetection.cpp.

TestAABBvsCapsule()

CollisionManifold Sleak::Physics::TestAABBvsCapsule	(	const AABB &	a,
		const BoundingCapsule &	b )

Definition at line 160 of file CollisionDetection.cpp.

TestAABBvsMesh()

CollisionManifold Sleak::Physics::TestAABBvsMesh	(	const AABB &	a,
		const TriangleMesh &	b )

Definition at line 269 of file CollisionDetection.cpp.

TestAABBvsSphere()

CollisionManifold Sleak::Physics::TestAABBvsSphere	(	const AABB &	a,
		const BoundingSphere &	b )

Definition at line 129 of file CollisionDetection.cpp.

TestCapsuleVsCapsule()

CollisionManifold Sleak::Physics::TestCapsuleVsCapsule	(	const BoundingCapsule &	a,
		const BoundingCapsule &	b )

Definition at line 172 of file CollisionDetection.cpp.

TestCollision()

CollisionManifold Sleak::Physics::TestCollision	(	const ColliderShape &	shapeA,
		const Vector3D &	posA,
		const Vector3D &	scaleA,
		const ColliderShape &	shapeB,
		const Vector3D &	posB,
		const Vector3D &	scaleB )

Dispatches to the right narrow-phase test based on the runtime shape held by each variant.

Definition at line 314 of file CollisionDetection.cpp.

TestSphereVsCapsule()

CollisionManifold Sleak::Physics::TestSphereVsCapsule	(	const BoundingSphere &	a,
		const BoundingCapsule &	b )

Definition at line 150 of file CollisionDetection.cpp.

TestSphereVsMesh()

CollisionManifold Sleak::Physics::TestSphereVsMesh	(	const BoundingSphere &	a,
		const TriangleMesh &	b )

Definition at line 252 of file CollisionDetection.cpp.

TestSphereVsSphere()

CollisionManifold Sleak::Physics::TestSphereVsSphere	(	const BoundingSphere &	a,
		const BoundingSphere &	b )

Definition at line 109 of file CollisionDetection.cpp.

TestSphereVsTriangle()

CollisionManifold Sleak::Physics::TestSphereVsTriangle	(	const BoundingSphere &	sphere,
		const Vector3D &	v0,
		const Vector3D &	v1,
		const Vector3D &	v2 )

Definition at line 184 of file CollisionDetection.cpp.

TransformAABB()

AABB Sleak::Physics::TransformAABB ( const AABB & aabb, const Vector3D & pos, const Vector3D & scale )

static

Definition at line 275 of file CollisionDetection.cpp.

TransformCapsule()

BoundingCapsule Sleak::Physics::TransformCapsule ( const BoundingCapsule & c, const Vector3D & pos, const Vector3D & scale )

static

Definition at line 293 of file CollisionDetection.cpp.

TransformMesh()

TriangleMesh Sleak::Physics::TransformMesh ( const TriangleMesh & m, const Vector3D & pos, const Vector3D & scale )

static

Definition at line 303 of file CollisionDetection.cpp.

TransformSphere()

BoundingSphere Sleak::Physics::TransformSphere ( const BoundingSphere & s, const Vector3D & pos, const Vector3D & scale )

static

Definition at line 288 of file CollisionDetection.cpp.

Variable Documentation

FAT_AABB_MARGIN

float Sleak::Physics::FAT_AABB_MARGIN = 0.1f

staticconstexpr

Definition at line 12 of file DynamicAABBTree.hpp.

NULL_NODE

int Sleak::Physics::NULL_NODE = -1

staticconstexpr

Definition at line 11 of file DynamicAABBTree.hpp.