ContactManifold.hpp

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#pragma once
 
#include "ecs/physics/SurfaceType.hpp"
 
#include <array>
#include <cstdint>
#include <entt/entt.hpp>
#include <glm/vec3.hpp>
 
namespace physics
{

inline constexpr int k_maxContactPoints = 4;

struct ContactFeatureId
{
    uint32_t value = 0xFFFFFFFFu;
 
    [[nodiscard]] bool operator==(const ContactFeatureId& other) const noexcept { return value == other.value; }
};

struct ContactPoint
{
    glm::vec3 worldPositionA{0.0f}; 
    glm::vec3 worldPositionB{0.0f}; 
    glm::vec3 localA{0.0f};         
    glm::vec3 localB{0.0f};         
    float depth = 0.0f;             
    float normalImpulse = 0.0f;     
    float tangentImpulse[2] = {0.0f, 0.0f}; 
    ContactFeatureId featureId{};
};

struct ContactManifold
{
    entt::entity a{entt::null};
    entt::entity b{entt::null};
    glm::vec3 normal{0.0f, 1.0f, 0.0f}; 
    int pointCount = 0;
    std::array<ContactPoint, k_maxContactPoints> points{};
    SurfaceType surfaceA = SurfaceType::Concrete;
    SurfaceType surfaceB = SurfaceType::Concrete;

    bool aIsStatic = false;
    bool bIsStatic = false;
};
 
} // namespace physics