CollisionShape.hpp

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#pragma once
 
#include <cmath>
#include <cstdint>
#include <glm/vec3.hpp>

enum class CollisionShapeType : uint8_t
{
    AABB = 0,    
    Capsule = 1, 
};

struct CollisionShape
{
    CollisionShapeType type = CollisionShapeType::AABB;

    glm::vec3 halfExtents{16.0f, 36.0f, 16.0f};

    float radius = 16.0f;

    float halfHeight = 20.0f;

    [[nodiscard]] float minkowskiExtent(const glm::vec3& n) const noexcept
    {
        if (type == CollisionShapeType::Capsule) {
            // Capsule projects to a line segment of length 2*halfHeight*|n.y|
            // plus the radius on each end.
            return radius + halfHeight * std::abs(n.y);
        }
        // AABB:
        return std::abs(n.x) * halfExtents.x + std::abs(n.y) * halfExtents.y + std::abs(n.z) * halfExtents.z;
    }
};