Program Listing for File CollisionInfo.h

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/**
 * @file
 * @brief Contains the Contact, CollisionInfo, and DistanceInfo structs.
 */

#pragma once
#include "Karana/KCore/Id.h"
#include "Karana/Math/Defs.h"
#include <vector>

namespace Karana::Scene {
    /// Struct of info for a single contact point
    struct Contact {
        /** penetration distance of the contact */
        float penetration;

        /** witness point on the first object */
        Karana::Math::Vec3 witness1;

        /** witness point on the second object */
        Karana::Math::Vec3 witness2;

        /** normal relative to first object */
        Karana::Math::Vec3 normal;
    };

    /// Struct of info for a collision query result
    struct CollisionInfo {
        /**
         * @brief Get a global instance with static lifetime.
         * @return The global CollisionInfo instance.
         */
        static CollisionInfo &singleton();
        /**
         * @brief Check whether there is a collision
         * @return True if there is a collision (>=1 contact points)
         */
        bool hasContact() const;

        /// true if there are one or more contacts
        operator bool() const;

        /// list of contact instances
        std::vector<Contact> contacts;

        /// id of the first part
        Karana::Core::id_t part1;

        /// id of the second part
        Karana::Core::id_t part2;
    };

    /// Struct of info for a distance query result
    struct DistanceInfo {
        /**
         * @brief Get a global instance with static lifetime.
         * @return The global DistanceInfo instance.
         */
        static DistanceInfo &singleton();

        /// distance: nearest distance between the two objects
        float distance;

        /// nearest1: nearest point on the first object
        Karana::Math::Vec3 nearest1;

        /// nearest2: nearest point on the second object
        Karana::Math::Vec3 nearest2;
    };
} // namespace Karana::Scene