SweptCollision.hpp

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#pragma once
 
#include <glm/vec3.hpp>
#include <span>
 
namespace physics
{
 
struct Plane
{
    glm::vec3 normal; 
    float distance;   
};
 
struct WorldAABB
{
    glm::vec3 min; 
    glm::vec3 max; 
};
 
struct WorldBrush
{
    static constexpr int k_maxPlanes = 8;
    Plane planes[k_maxPlanes];
    int planeCount{0};
};
 
struct WorldGeometry
{
    std::span<const Plane> planes;
    std::span<const WorldAABB> boxes;
    std::span<const WorldBrush> brushes;
};
 
struct HitResult
{
    bool hit{false};                    
    float tFirst{1.0f};                 
    glm::vec3 normal{0.0f, 1.0f, 0.0f}; 
};
 
HitResult sweepAABB(glm::vec3 halfExtents, glm::vec3 start, glm::vec3 end, std::span<const Plane> planes);
 
HitResult sweepAABBvsBox(glm::vec3 halfExtents, glm::vec3 start, glm::vec3 end, const WorldAABB& box);
 
HitResult sweepAABBvsBrush(glm::vec3 halfExtents, glm::vec3 start, glm::vec3 end, const WorldBrush& brush);
 
HitResult sweepAll(glm::vec3 halfExtents, glm::vec3 start, glm::vec3 end, const WorldGeometry& world);
 
// Sphere cast
 
struct SphereHitResult
{
    bool hit{false};
    float t{1.0f};                      
    glm::vec3 normal{0.0f, 1.0f, 0.0f}; 
    glm::vec3 point{0.0f};              
};
 
SphereHitResult sphereCast(float radius, glm::vec3 start, glm::vec3 end, const WorldGeometry& world);
 
} // namespace physics