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Merged
orange-cpp merged 25 commits into from
Nov 9, 2025
Merged

Feature/gjk algorithm #102

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338246a
Implements GJK collision detection
orange-cpp Nov 9, 2025
31cc111
Updates simplex iterator and size access
orange-cpp Nov 9, 2025
1e54086
Refactors GJK tetrahedron handling
orange-cpp Nov 9, 2025
6e59957
Adds mat_scale function
orange-cpp Nov 9, 2025
e7b82f4
patch
orange-cpp Nov 9, 2025
ebfdd0b
Refactors simplex handling in GJK algorithm
orange-cpp Nov 9, 2025
cd18b08
updated test
orange-cpp Nov 9, 2025
043b5c5
updated
orange-cpp Nov 9, 2025
62d1a61
fix
orange-cpp Nov 9, 2025
015fc9b
made final
orange-cpp Nov 9, 2025
afc0720
Refactor: Simplify GJK simplex handling
orange-cpp Nov 9, 2025
0b663b7
Handles collinear cases in simplex collision
orange-cpp Nov 9, 2025
7b0e212
Adds GJK collision test with equal origins
orange-cpp Nov 9, 2025
b2a512e
Adds mesh scaling to mesh collider
orange-cpp Nov 9, 2025
c402466
Auto stash before checking out "origin/feature/gjk_algorithm"
orange-cpp Nov 9, 2025
79482d5
fix
orange-cpp Nov 9, 2025
ca3dab8
Corrects transform order for collider
orange-cpp Nov 9, 2025
e2378bf
Refactors Simplex class for GJK algorithm
orange-cpp Nov 9, 2025
e5d8e1c
add mesh class
orange-cpp Nov 9, 2025
6da44a5
added mesh class, added mesh trair
orange-cpp Nov 9, 2025
a3f4562
fixed formating
orange-cpp Nov 9, 2025
3968d13
removed redundant headers
orange-cpp Nov 9, 2025
a6cf043
style fix
orange-cpp Nov 9, 2025
44682b6
added other collision types
orange-cpp Nov 9, 2025
8f225c5
forgot keyname
orange-cpp Nov 9, 2025
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Adds mesh scaling to mesh collider 
Updates the mesh collider to include a scale parameter, allowing for non-uniform scaling of the collision mesh.

This provides more flexibility in defining collision shapes and supports a wider range of scenarios.
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@orange-cpp
orange-cpp committed Nov 9, 2025
commit b2a512eafe1aea429e7786b056dc1aafd5a3407f
8 changes: 5 additions & 3 deletions include/omath/collision/mesh_collider.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,20 +13,22 @@ namespace omath::collision
{
public:
using VertexType = Vector3<float>;
MeshCollider(const std::vector<Vector3<float>>& vertexes, const Vector3<float> origin)
: m_vertexes(vertexes), m_origin(origin)
MeshCollider(const std::vector<VertexType>& vertexes, const VertexType& origin, const VertexType& scale = {1.f, 1.f, 1.f})
: m_vertexes(vertexes),m_scale(scale), m_origin(origin)
{
if (m_vertexes.empty())
throw std::runtime_error("Collider cannot have 0 vertexes");
}
std::vector<Vector3<float>> m_vertexes;
Vector3<float> m_scale;

Vector3<float> m_origin;
source_engine::ViewAngles m_rotation;

[[nodiscard]]
source_engine::Mat4X4 to_world() const
{
return mat_translation(m_origin) * source_engine::rotation_matrix(m_rotation);
return mat_scale(m_scale) * mat_translation(m_origin) * source_engine::rotation_matrix(m_rotation);
}

[[nodiscard]]
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27 changes: 4 additions & 23 deletions tests/general/unit_test_gjk.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
#include <gtest/gtest.h>
#include <omath/collision/gjk_algorithm.hpp>

TEST(UnitTestGjk, TestCollisionTrue)
namespace
{
const std::vector<omath::Vector3<float>> mesh = {
{-1.f, -1.f, -1.f},
Expand All @@ -16,7 +16,10 @@
{ 1.f, -1.f, 1.f},
{ 1.f, -1.f, -1.f}
};
}
TEST(UnitTestGjk, TestCollisionTrue)
{

Check notice on line 22 in tests/general/unit_test_gjk.cpp

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codefactor.io / CodeFactor

tests/general/unit_test_gjk.cpp#L22 

Redundant blank line at the start of a code block should be deleted. (whitespace/blank_line)
const omath::collision::MeshCollider collider_a(mesh, {0.f, 0.f, 0.f});
const omath::collision::MeshCollider collider_b(mesh, {0.f, 0.5f, 0.f});

Expand All @@ -26,17 +29,6 @@
}
TEST(UnitTestGjk, TestCollisionFalse)
{
const std::vector<omath::Vector3<float>> mesh = {
{-1.f, -1.f, -1.f},
{-1.f, -1.f, 1.f},
{-1.f, 1.f, -1.f},
{-1.f, 1.f, 1.f},
{ 1.f, 1.f, 1.f}, // x = +1 vertices (put {1,1,1} first in case your support breaks ties by first-hit)
{ 1.f, 1.f, -1.f},
{ 1.f, -1.f, 1.f},
{ 1.f, -1.f, -1.f}
};

const omath::collision::MeshCollider collider_a(mesh, {0.f, 0.f, 0.f});
const omath::collision::MeshCollider collider_b(mesh, {0.f, 2.1f, 0.f});

Expand All @@ -47,17 +39,6 @@

TEST(UnitTestGjk, TestCollisionEqualOrigin)
{
const std::vector<omath::Vector3<float>> mesh = {
{-1.f, -1.f, -1.f},
{-1.f, -1.f, 1.f},
{-1.f, 1.f, -1.f},
{-1.f, 1.f, 1.f},
{ 1.f, 1.f, 1.f}, // x = +1 vertices (put {1,1,1} first in case your support breaks ties by first-hit)
{ 1.f, 1.f, -1.f},
{ 1.f, -1.f, 1.f},
{ 1.f, -1.f, -1.f}
};

const omath::collision::MeshCollider collider_a(mesh, {0.f, 0.f, 0.f});
const omath::collision::MeshCollider collider_b(mesh, {0.f, 0.f, 0.f});

Expand Down
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