mesh-collider.hpp

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/*
 * Copyright (C) 2023  Christopher J. Howard
 *
 * This file is part of Antkeeper source code.
 *
 * Antkeeper source code is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Antkeeper source code is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Antkeeper source code.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#ifndef ANTKEEPER_PHYSICS_MESH_COLLIDER_HPP
#define ANTKEEPER_PHYSICS_MESH_COLLIDER_HPP
 
#include <engine/physics/kinematics/collider.hpp>
#include <engine/geom/brep/brep-mesh.hpp>
#include <engine/geom/bvh/bvh.hpp>
#include <engine/math/vector.hpp>
#include <engine/geom/primitives/ray.hpp>
#include <memory>
#include <optional>
 
namespace physics {
 
class mesh_collider: public collider
{
public:
    using mesh_type = geom::brep_mesh;
    
    using bvh_type = geom::bvh;
    
    [[nodiscard]] inline constexpr collider_type type() const noexcept override
    {
        return collider_type::mesh;
    }
    
    explicit mesh_collider(std::shared_ptr<mesh_type> mesh);
    
    constexpr mesh_collider() noexcept = default;
    
    void set_mesh(std::shared_ptr<mesh_type> mesh);
    
    [[nodiscard]] inline constexpr const std::shared_ptr<mesh_type>& get_mesh() const noexcept
    {
        return m_mesh;
    }
    
    [[nodiscard]] inline constexpr const bvh_type& get_bvh() const noexcept
    {
        return m_bvh;
    }
    
    void rebuild_bvh();
    
    [[nodiscard]] std::optional<std::tuple<float, std::uint32_t, math::fvec3>> intersection(const geom::ray<float, 3>& ray) const;
    
private:
    std::shared_ptr<mesh_type> m_mesh;
    const geom::brep_attribute<math::fvec3>* m_vertex_positions{};
    const geom::brep_attribute<math::fvec3>* m_face_normals{};
    bvh_type m_bvh;
};
 
} // namespace physics
 
#endif // ANTKEEPER_PHYSICS_MESH_COLLIDER_HPP