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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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updated test
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@orange-cpp
orange-cpp committed Nov 9, 2025
commit cd18b088cb7a9570afb90dcb86afa067142e0de6
2 changes: 1 addition & 1 deletion include/omath/collision/gjk_algorithm.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ namespace omath::collision
}

[[nodiscard]]
static bool check_collision(const MeshCollider& collider_a, const MeshCollider& collider_b)
static bool is_collide(const MeshCollider& collider_a, const MeshCollider& collider_b)
{
// Get initial support point in any direction
auto support = find_support_vertex(collider_a, collider_b, {1, 0, 0});
Expand Down
28 changes: 25 additions & 3 deletions tests/general/unit_test_gjk.cpp
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Expand Up @@ -4,7 +4,7 @@
#include <gtest/gtest.h>
#include <omath/collision/gjk_algorithm.hpp>

TEST(UnitTestGjk, TestCollision)
TEST(UnitTestGjk, TestCollisionTrue)
{
const std::vector<omath::Vector3<float>> mesh = {
{-1.f, -1.f, -1.f},
Expand All @@ -18,7 +18,29 @@ TEST(UnitTestGjk, TestCollision)
};

const omath::collision::MeshCollider collider_a(mesh, {0.f, 0.f, 0.f});
const omath::collision::MeshCollider collider_b(mesh, {0.f, 3.f, 0.f});
const omath::collision::MeshCollider collider_b(mesh, {0.f, 0.5f, 0.f});

const auto result = omath::collision::GjkAlgorithm::check_collision(collider_a, collider_b);
const auto result = omath::collision::GjkAlgorithm::is_collide(collider_a, collider_b);

EXPECT_TRUE(result);
}
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, 4.1f, 0.f});

const auto result = omath::collision::GjkAlgorithm::is_collide(collider_a, collider_b);

EXPECT_FALSE(result);
}