Split Collider and ColliderShape

.clang-format

@@ -1,7 +1,6 @@
 ---
 BasedOnStyle: Microsoft
 NamespaceIndentation: All
-SortIncludes: 'false'
 IndentWidth: 4
 AccessModifierOffset: -4
 DerivePointerAlignment: false

core/include/cubos/core/geom/aabb.hpp

@@ -0,0 +1,115 @@
+/// @file
+/// @brief Component @ref cubos::core::geom::AABB.
+/// @ingroup core-geom
+
+#pragma once
+
+#include <glm/vec3.hpp>
+
+#include <cubos/core/geom/box.hpp>
+
+namespace cubos::core::geom
+{
+    /// @brief Represents an axis-aligned bounding box.
+    /// @ingroup core-geom
+    struct AABB
+    {
+        /// @brief Diagonal of the AABB.
+        glm::vec3 diag[2] = {glm::vec3{-std::numeric_limits<float>::infinity()},
+                             glm::vec3{-std::numeric_limits<float>::infinity()}};
+
+        /// @brief Minimum point of the AABB.
+        /// @return Minimum point of the AABB.
+        glm::vec3 min() const
+        {
+            return diag[0];
+        }
+
+        /// @brief Maximum point of the AABB.
+        /// @return Maximum point of the AABB.
+        glm::vec3 max() const
+        {
+            return diag[1];
+        }
+
+        /// @brief Sets the minimum point of the AABB.
+        /// @param min Minimum point of the AABB.
+        void min(const glm::vec3& min)
+        {
+            diag[0] = min;
+        }
+
+        /// @brief Sets the maximum point of the AABB.
+        /// @param max Maximum point of the AABB.
+        void max(const glm::vec3& max)
+        {
+            diag[1] = max;
+        }
+
+        /// @brief Gets a @ref Box representation of the AABB.
+        /// @return @ref Box representation.
+        Box box() const
+        {
+            auto size = max() - min();
+            return Box{size / 2.0F};
+        }
+
+        /// @brief Gets the center of the AABB.
+        /// @return Center of the AABB.
+        glm::vec3 center() const
+        {
+            return (min() + max()) / 2.0F;
+        }
+
+        /// @brief Checks if the AABB overlaps with another AABB on the X axis.
+        /// @param other Other AABB.
+        /// @return Whether the AABBs overlap.
+        bool overlapsX(const AABB& other) const
+        {
+            return min().x <= other.max().x && max().x >= other.min().x;
+        }
+
+        /// @brief Checks if the AABB overlaps with another AABB on the Y axis.
+        /// @param other Other AABB.
+        /// @return Whether the AABBs overlap.
+        bool overlapsY(const AABB& other) const
+        {
+            return min().y <= other.max().y && max().y >= other.min().y;
+        }
+
+        /// @brief Checks if the AABB overlaps with another AABB on the Z axis.
+        /// @param other Other AABB.
+        /// @return Whether the AABBs overlap.
+        bool overlapsZ(const AABB& other) const
+        {
+            return min().z <= other.max().z && max().z >= other.min().z;
+        }
+
+        /// @brief Checks if the AABB overlaps with another AABB.
+        /// @param other Other AABB.
+        /// @return Whether the AABBs overlap.
+        bool overlaps(const AABB& other) const
+        {
+            return overlapsX(other) && overlapsY(other) && overlapsZ(other);
+        }
+    };
+} // namespace cubos::core::geom
+
+namespace cubos::core::data::old
+{
+    inline void serialize(Serializer& ser, const core::geom::AABB& aabb, const char* name)
+    {
+        ser.beginObject(name);
+        ser.write(aabb.min(), "min");
+        ser.write(aabb.max(), "max");
+        ser.endObject();
+    }
+
+    inline void deserialize(Deserializer& des, core::geom::AABB& aabb)
+    {
+        des.beginObject();
+        des.read(aabb.diag[0]);
+        des.read(aabb.diag[1]);
+        des.endObject();
+    }
+} // namespace cubos::core::data::old

core/include/cubos/core/geom/box.hpp

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <glm/glm.hpp>
+#include <glm/vec3.hpp>
 
 #include <cubos/core/data/old/deserializer.hpp>
 #include <cubos/core/data/old/serializer.hpp>

core/include/cubos/core/geom/capsule.hpp

@@ -6,6 +6,7 @@
 
 #include <cubos/core/data/old/deserializer.hpp>
 #include <cubos/core/data/old/serializer.hpp>
+#include <cubos/core/geom/aabb.hpp>
 
 namespace cubos::core::geom
 {
@@ -30,6 +31,16 @@ namespace cubos::core::geom
         {
             return length + 2.0F * radius;
         }
+
+        /// @brief Computes the local AABB of the capsule.
+        /// @return Local AABB of the capsule.
+        AABB aabb() const
+        {
+            AABB aabb;
+            aabb.min({-radius, -radius, -radius});
+            aabb.max({radius, radius + length, radius});
+            return aabb;
+        }
     };
 } // namespace cubos::core::geom
 

engine/include/cubos/engine/collisions/collider.hpp

@@ -0,0 +1,30 @@
+/// @file
+/// @brief Component @ref cubos::engine::Collider.
+/// @ingroup collisions-plugin
+
+#pragma once
+
+#include <glm/mat4x4.hpp>
+
+#include <cubos/core/geom/aabb.hpp>
+
+namespace cubos::engine
+{
+    /// @brief Component which adds a collider to an entity.
+    /// @ingroup collisions-plugin
+    struct [[cubos::component("cubos/collider", VecStorage)]] Collider
+    {
+        glm::mat4 transform{1.0F}; ///< Transform of the collider.
+
+        core::geom::AABB localAABB{}; ///< Local space AABB of the collider.
+        core::geom::AABB worldAABB{}; ///< World space AABB of the collider.
+
+        /// @brief Margin of the collider.
+        ///
+        /// When the collider shape has sharp edges, a margin is needed.
+        /// The plugin will set it based on the shape associated with the collider.
+        float margin;
+
+        bool fresh = true; ///< Whether the collider is fresh. This is an hack and should be done in ECS.
+    };
+} // namespace cubos::engine

engine/include/cubos/engine/collisions/shapes/box.hpp

@@ -0,0 +1,17 @@
+/// @file
+/// @brief Component @ref cubos::engine::BoxCollisionShape.
+/// @ingroup collisions-plugin
+
+#pragma once
+
+#include <cubos/core/geom/box.hpp>
+
+namespace cubos::engine
+{
+    /// @brief Component which adds a box collision shape to an entity, used with a @ref Collider component.
+    /// @ingroup collisions-plugin
+    struct [[cubos::component("cubos/box_collision_shape", VecStorage)]] BoxCollisionShape
+    {
+        cubos::core::geom::Box box; ///< Box shape.
+    };
+} // namespace cubos::engine

engine/include/cubos/engine/collisions/shapes/capsule.hpp

@@ -0,0 +1,17 @@
+/// @file
+/// @brief Component @ref cubos::engine::CapsuleCollisionShape.
+/// @ingroup collisions-plugin
+
+#pragma once
+
+#include <cubos/core/geom/capsule.hpp>
+
+namespace cubos::engine
+{
+    /// @brief Component which adds a capsule collision shape to an entity, used with a @ref Collider component.
+    /// @ingroup collisions-plugin
+    struct [[cubos::component("cubos/capsule_collision_shape", VecStorage)]] CapsuleCollisionShape
+    {
+        cubos::core::geom::Capsule capsule; ///< Capsule shape.
+    };
+} // namespace cubos::engine