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Feature/gjk algorithm #102

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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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Corrects transform order for collider 
Reorders the transform application to translation, scale, then rotation.

This ensures the collider’s world matrix is constructed correctly, preventing potential scaling or rotation issues in the GJK algorithm being developed on this branch.
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@orange-cpp
orange-cpp committed Nov 9, 2025
commit ca3dab855be9614952ff5881ff80fc613802b773
2 changes: 1 addition & 1 deletion include/omath/collision/mesh_collider.hpp
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Expand Up @@ -28,7 +28,7 @@ namespace omath::collision
[[nodiscard]]
source_engine::Mat4X4 to_world() const
{
return mat_scale(m_scale) * mat_translation(m_origin) * source_engine::rotation_matrix(m_rotation);
return mat_translation(m_origin) * mat_scale(m_scale) * source_engine::rotation_matrix(m_rotation);
}

[[nodiscard]]
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