SweptCollision.hpp File Reference

Swept AABB and sphere collision queries against world geometry. More...

#include "PhysicsPerfStats.hpp"
#include "SurfaceType.hpp"
#include <cmath>
#include <cstdint>
#include <functional>
#include <glm/geometric.hpp>
#include <glm/vec3.hpp>
#include <span>
#include <vector>

Include dependency graph for SweptCollision.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	physics::Plane
	An infinite plane dividing free space from solid geometry. More...
struct	physics::WorldAABB
	An axis-aligned box in world space, used as static collision geometry. More...
struct	physics::WorldBrush
	A convex volume defined by bounding planes (for ramps, angled walls, etc.). More...
struct	physics::WorldCylinder
	A vertical (Y-axis) cylinder in world space. More...
struct	physics::WorldSphere
	A sphere in world space. More...
struct	physics::BVHNode
	A single BVH node for spatial acceleration of triangle meshes. More...
struct	physics::WorldTriMesh
	A triangle mesh with BVH acceleration for collision queries. More...
struct	physics::StaticWorldBroadphase
	Immutable world-level BVH over WorldTriMesh bounds. More...
struct	physics::WorldGeometry
	All world collision geometry for one tick. More...
struct	physics::CapsuleShape
	Capsule shape input for swept-collision queries. More...
struct	physics::HitResult
	Result of a swept AABB collision query. More...
struct	physics::ClearanceResult
	Result of a shape-vs-geometry closest-point clearance query. More...
struct	physics::GroundProbeResult
	Result of a downward ground probe — what's directly under a character's feet, classified for walkability. More...
struct	physics::DepenContact
	Single deepest contact from a capsule against a primitive or the world. More...
struct	physics::DepenetrationOptions
struct	physics::DepenetrationResult
struct	physics::SphereHitResult
	Result of a sphere-cast query (includes world-space hit point). More...

Namespaces
namespace	physics
	Pure physics math — no ECS types, no registry.

Functions
void	physics::buildStaticWorldBroadphase (StaticWorldBroadphase &broadphase, std::span< const WorldTriMesh > triMeshes)
	Rebuild the immutable broadphase over all static triangle meshes.
void	physics::queryStaticWorldBroadphase (const StaticWorldBroadphase &broadphase, const WorldAABB &query, const std::function< bool(uint32_t meshIndex)> &visit)
	Visit triangle-mesh indices whose mesh bounds overlap query.
bool	physics::broadphaseAabbOverlap (const WorldAABB &a, const WorldAABB &b) noexcept
template<class Visit>
void	physics::queryStaticWorldBroadphaseFast (const StaticWorldBroadphase &broadphase, const WorldAABB &query, Visit &&visit)
HitResult	physics::sweepAABB (glm::vec3 halfExtents, glm::vec3 start, glm::vec3 end, std::span< const Plane > planes)
	Sweep an AABB along the path [start, end] against a list of infinite planes.
HitResult	physics::sweepAABBvsBox (glm::vec3 halfExtents, glm::vec3 start, glm::vec3 end, const WorldAABB &box)
	Sweep an AABB against a static axis-aligned box.
HitResult	physics::sweepAABBvsBrush (glm::vec3 halfExtents, glm::vec3 start, glm::vec3 end, const WorldBrush &brush)
	Sweep an AABB against a convex brush (set of bounding planes).
HitResult	physics::sweepAABBvsCylinder (glm::vec3 halfExtents, glm::vec3 start, glm::vec3 end, const WorldCylinder &cyl)
	Sweep an AABB against a vertical cylinder.
HitResult	physics::sweepAABBvsSphere (glm::vec3 halfExtents, glm::vec3 start, glm::vec3 end, const WorldSphere &sph)
	Sweep an AABB against a sphere.
HitResult	physics::sweepAll (glm::vec3 halfExtents, glm::vec3 start, glm::vec3 end, const WorldGeometry &world)
	Sweep an AABB against all world geometry, returning the earliest hit.
HitResult	physics::sweepCapsuleVsPlanes (CapsuleShape capsule, glm::vec3 start, glm::vec3 end, std::span< const Plane > planes)
	Sweep a capsule along [start, end] against a list of infinite planes.
HitResult	physics::sweepCapsuleVsBox (CapsuleShape capsule, glm::vec3 start, glm::vec3 end, const WorldAABB &box)
	Sweep a capsule against a static axis-aligned box. Conservative.
HitResult	physics::sweepCapsuleVsBrush (CapsuleShape capsule, glm::vec3 start, glm::vec3 end, const WorldBrush &brush)
	Sweep a capsule against a convex brush. Exact (per-plane Minkowski extent).
HitResult	physics::sweepCapsuleVsCylinder (CapsuleShape capsule, glm::vec3 start, glm::vec3 end, const WorldCylinder &cyl)
	Sweep a capsule against a vertical cylinder. Conservative.
HitResult	physics::sweepCapsuleVsSphere (CapsuleShape capsule, glm::vec3 start, glm::vec3 end, const WorldSphere &sph)
	Sweep a capsule against a sphere. Conservative.
HitResult	physics::sweepAll (CapsuleShape capsule, glm::vec3 start, glm::vec3 end, const WorldGeometry &world)
	Sweep a capsule against all world geometry, returning the earliest hit.
ClearanceResult	physics::clearanceCapsuleVsPlanes (CapsuleShape capsule, glm::vec3 pos, std::span< const Plane > planes)
ClearanceResult	physics::clearanceCapsuleVsBox (CapsuleShape capsule, glm::vec3 pos, const WorldAABB &box)
ClearanceResult	physics::clearanceCapsuleVsBrush (CapsuleShape capsule, glm::vec3 pos, const WorldBrush &brush)
ClearanceResult	physics::clearanceCapsuleVsCylinder (CapsuleShape capsule, glm::vec3 pos, const WorldCylinder &cyl)
ClearanceResult	physics::clearanceCapsuleVsSphere (CapsuleShape capsule, glm::vec3 pos, const WorldSphere &sph)
ClearanceResult	physics::clearanceCapsuleVsWorld (CapsuleShape capsule, glm::vec3 pos, const WorldGeometry &world, float maxMeshSearchRadius=1024.0f)
	Scene-wide minimum clearance.
GroundProbeResult	physics::probeGround (CapsuleShape capsule, glm::vec3 pos, float maxDistance, const WorldGeometry &world)
	Downward sweep that classifies the ground under a capsule.
DepenContact	physics::deepestCapsuleContact (CapsuleShape capsule, glm::vec3 pos, glm::vec3 vel, const WorldGeometry &world)
	Scene-wide deepest single contact (per-primitive, per-feature).
void	physics::depenetrateCapsuleVsWorld (glm::vec3 &pos, glm::vec3 &vel, CapsuleShape capsule, const WorldGeometry &world)
	Per-pass-deepest-first capsule depenetration against the whole world.
DepenetrationResult	physics::depenetrateCapsuleVsWorldDetailed (glm::vec3 &pos, glm::vec3 &vel, CapsuleShape capsule, const WorldGeometry &world, DepenetrationOptions options)
bool	physics::emergencyUnstick (glm::vec3 &pos, glm::vec3 &vel, CapsuleShape capsule, const WorldGeometry &world)
	Last-resort recovery for a capsule embedded in geometry with no clear depen direction.
SphereHitResult	physics::sphereCast (float radius, glm::vec3 start, glm::vec3 end, const WorldGeometry &world)
	Cast a sphere along the path [start, end] against all world geometry.

Detailed Description

Swept AABB and sphere collision queries against world geometry.