ObjectCollisionBase.hh

#pragma once
 
#include <egg/math/Matrix.hh>
 
namespace Field {
 
struct GJKState {
    GJKState() : m_flags(0), m_idx(0), m_mask(0), m_00c(0), m_scales{{}} {}
 
    u32 m_flags;
    u32 m_idx;
    u32 m_mask;
    s32 m_00c;
    std::array<EGG::Vector3f, 4> m_s;
    std::array<EGG::Vector3f, 4> m_support1;
    std::array<EGG::Vector3f, 4> m_support2;
    std::array<std::array<f32, 4>, 16> m_scales;
};
 
class ObjectCollisionBase {
public:
    ObjectCollisionBase();
    virtual ~ObjectCollisionBase();
 
    virtual void transform(const EGG::Matrix34f &mat, const EGG::Vector3f &scale,
            const EGG::Vector3f &speed) = 0;
    virtual const EGG::Vector3f &getSupport(const EGG::Vector3f &v) const = 0;
    virtual f32 getBoundingRadius() const = 0;
 
    bool check(ObjectCollisionBase &rhs, EGG::Vector3f &distance);
 
    [[nodiscard]] const EGG::Vector3f &translation() const {
        return m_translation;
    }
 
protected:
    EGG::Vector3f m_translation;
 
private:
    bool enclosesOrigin(const GJKState &state, u32 idx) const;
    void FUN_808350e4(GJKState &state, EGG::Vector3f &v) const;
    bool getNearestSimplex(GJKState &state, EGG::Vector3f &v) const;
    void getNearestPoint(GJKState &state, u32 idx, EGG::Vector3f &v0, EGG::Vector3f &v1) const;
    bool FUN_808357e4(const GJKState &state, u32 idx) const;
    bool inSimplex(const GJKState &state, const EGG::Vector3f &v) const;
    void getNearestPoint(const GJKState &state, u32 idx, EGG::Vector3f &v) const;
    void calcSimplex(GJKState &state) const;
 
    EGG::Vector3f m_00;
 
    static std::array<std::array<f32, 4>, 4> s_dotProductCache;
};
 
} // namespace Field