narrow_phase.hpp

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#pragma once
 
#include "collision_world.hpp"
#include "manifold.hpp"
 
#include <array>
#include <cstddef>
#include <cstdint>
#include <span>
#include <vector>
 
namespace physics {
 
enum class NarrowPhasePairType : uint8_t {
  sphere_sphere,
  sphere_box,
  sphere_capsule,
  box_box,
  box_capsule,
  capsule_capsule,
  sphere_voxel,
  box_voxel,
  capsule_voxel,
  voxel_voxel,
  count
};
 
struct ManifoldQueue {
  std::vector<Manifold> manifolds;
  std::array<size_t, static_cast<size_t>(NarrowPhasePairType::count)> pair_candidates = {};
  std::array<double, static_cast<size_t>(NarrowPhasePairType::count)> pair_time_ms = {};
  size_t candidate_count = 0;
  size_t collision_count = 0;
  size_t rejected_manifold_count = 0;
  size_t contact_count = 0;
};
 
class NarrowPhase {
public:
  [[nodiscard]]
  auto generateManifolds(CollisionWorldView world, std::span<const BroadPhasePair> candidates) const -> ManifoldQueue;

  void accumulate(std::span<Manifold> manifolds, CollisionWorldView world, ManifoldQueue& queue) const;
 
private:
  void collide(CollisionWorldView world, BroadPhasePair pair, std::vector<Manifold>& output) const;
 
  [[nodiscard]]
  auto validate(CollisionWorldView world, Manifold& manifold) const -> bool;
 
  static void flip(Manifold& manifold);
};
 
}