collision.hpp

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#pragma once
 
#include "body.hpp"
#include "shape.hpp"
 
#include <compare>
#include <utility>
 
namespace physics {
 
struct BodyShapeKey {
  BodyID body;
  ShapeID shape;
  auto operator<=>(const BodyShapeKey&) const = default;
};
 
struct BroadPhasePair {
  BodyShapeKey a;
  BodyShapeKey b;
  auto operator<=>(const BroadPhasePair&) const = default;
};
 
[[nodiscard]]
inline auto canonicalPair(BodyShapeKey first, BodyShapeKey second) -> BroadPhasePair {
  if (second < first) {
    std::swap(first, second);
  }
  return {.a = first, .b = second};
}
 
inline constexpr uint8_t k_primitive_manifold_normal_index = 0xFFu;
 
}