Extract broad-phase to plugin

engine/CMakeLists.txt

@@ -47,8 +47,9 @@ set(CUBOS_ENGINE_SOURCE
     "src/cubos/engine/voxels/palette.cpp"
 
     "src/cubos/engine/collisions/plugin.cpp"
-    "src/cubos/engine/collisions/broad_phase.cpp"
-    "src/cubos/engine/collisions/broad_phase_collisions.cpp"
+    "src/cubos/engine/collisions/broad_phase/plugin.cpp"
+    "src/cubos/engine/collisions/broad_phase/sweep_and_prune.cpp"
+    "src/cubos/engine/collisions/broad_phase/candidates.cpp"
 
     "src/cubos/engine/input/plugin.cpp"
     "src/cubos/engine/input/input.cpp"

engine/include/cubos/engine/collisions/broad_phase_collisions.hpp → engine/include/cubos/engine/collisions/broad_phase/candidates.hpp

@@ -1,6 +1,8 @@
 /// @file
-/// @brief Resource @ref cubos::engine::BroadPhaseCollisions.
-/// @ingroup collisions-plugin
+/// @brief Resource @ref cubos::engine::Candidates.
+/// @ingroup broad-phase-collisions-plugin
+
+// FIXME: This should be private, but it's used in the sample.
 
 #pragma once
 
@@ -13,9 +15,9 @@
 
 namespace cubos::engine
 {
-    /// @brief Resource which stores data used in broad phase collision detection.
-    /// @ingroup collisions-plugin
-    struct BroadPhaseCollisions
+    /// @brief Resource which stores candidates found in broad phase collision detection.
+    /// @ingroup broad-phase-collisions-plugin
+    struct BroadPhaseCandidates
     {
         /// @brief Pair of entities that may collide.
         using Candidate = std::pair<core::ecs::Entity, core::ecs::Entity>;
@@ -39,41 +41,10 @@ namespace cubos::engine
             Count ///< Number of collision types.
         };
 
-        /// @brief Marker used for sweep and prune.
-        struct SweepMarker
-        {
-            core::ecs::Entity entity; ///< Entity referenced by the marker.
-            bool isMin;               ///< Whether the marker is a min or max marker.
-        };
-
-        /// @brief List of ordered sweep markers for each axis. Stores the index of the marker in mMarkers.
-        std::vector<SweepMarker> markersPerAxis[3];
-
-        /// @brief Maps of overlapping entities for each axis calculated by sweep and prune.
-        ///
-        /// For each each map, the key is an entity and the value is a list of entities that
-        /// overlap with the key. Symmetrical pairs are not stored.
-        std::unordered_map<core::ecs::Entity, std::vector<core::ecs::Entity>, core::ecs::EntityHash>
-            sweepOverlapMaps[3];
-
-        /// @brief Set of active entities during sweep for each axis.
-        std::unordered_set<core::ecs::Entity, core::ecs::EntityHash> activePerAxis[3];
-
         /// @brief Sets of collision candidates for each collision type. The index of the array is
         /// the collision type.
         std::unordered_set<Candidate, CandidateHash> candidatesPerType[static_cast<std::size_t>(CollisionType::Count)];
 
-        /// @brief Adds an entity to the list of entities tracked by sweep and prune.
-        /// @param entity Entity to add.
-        void addEntity(core::ecs::Entity entity);
-
-        /// @brief Removes an entity from the list of entities tracked by sweep and prune.
-        /// @param entity Entity to remove.
-        void removeEntity(core::ecs::Entity entity);
-
-        /// @brief Clears the list of entities tracked by sweep and prune.
-        void clearEntities();
-
         /// @brief Adds a collision candidate to the list of candidates for a specific collision type.
         /// @param type Collision type.
         /// @param candidate Collision candidate.

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

@@ -25,6 +25,6 @@ namespace cubos::engine
         /// 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.
+        int fresh = -1; ///< This is an hack and should be done in ECS.
     };
 } // namespace cubos::engine

engine/include/cubos/engine/collisions/plugin.hpp

@@ -5,8 +5,11 @@
 /// @brief Plugin entry point.
 /// @ingroup collisions-plugin
 
-/// @dir ./colliders
-/// @brief Collider components directory.
+/// @dir ./shapes
+/// @brief Collision shapes components directory.
+
+/// @dir ./broad_phase
+/// @brief Broad phase collision sub-plugin directory.
 
 #pragma once
 
@@ -19,23 +22,17 @@ namespace cubos::engine
     /// @brief Adds collision detection to @b CUBOS.
     ///
     /// ## Components
-    /// - @ref BoxCollider - holds the box collider data.
-    /// - @ref CapsuleCollider - holds the capsule collider data.
+    /// - @ref BoxCollisionShape - holds the box collision shape.
+    /// - @ref CapsuleCollisionShape - holds the capsule collision shape.
+    /// - @ref Collider - holds collider data.
     ///
     /// ## Events
     /// - @ref CollisionEvent - (TODO) emitted when a collision occurs.
     /// - @ref TriggerEvent - (TODO) emitted when a trigger is entered or exited.
     ///
-    /// ## Resources
-    /// - @ref BroadPhaseCollisions - stores broad phase collision data.
-    ///
     /// ## Tags
-    /// - `cubos.collisions.aabb.missing` - missing aabb colliders are added.
-    /// - `cubos.collisions.aabb` - collider aabbs are updated.
-    /// - `cubos.collisions.broad.markers` - sweep markers are updated.
-    /// - `cubos.collisions.broad.sweep` - sweep is performed.
-    /// - `cubos.collisions.broad` - broad phase collision detection.
-    /// - `cubos.collisions` - collisions are resolved.
+    /// - `cubos.collisions.setup` - new colliders are setup.
+    /// - `cubos.collisions.broad` - broad phase candidate pairs are generated.
     ///
     /// ## Dependencies
     /// - @ref transform-plugin

engine/samples/collisions/main.cpp

@@ -4,7 +4,7 @@
 #include <cubos/core/gl/debug.hpp>
 #include <cubos/core/log.hpp>
 
-#include <cubos/engine/collisions/broad_phase_collisions.hpp>
+#include <cubos/engine/collisions/broad_phase/candidates.hpp>
 #include <cubos/engine/collisions/collider.hpp>
 #include <cubos/engine/collisions/plugin.hpp>
 #include <cubos/engine/collisions/shapes/box.hpp>
@@ -108,12 +108,12 @@ static void updateTransform(Write<State> state, Read<Input> input, Query<Write<P
     bPos->vec += glm::vec3{0.0F, 0.0F, -0.01F};
 }
 
-static void updateCollided(Query<Read<Collider>> query, Write<State> state, Read<BroadPhaseCollisions> collisions)
+static void updateCollided(Query<Read<Collider>> query, Write<State> state, Read<BroadPhaseCandidates> candidates)
 {
     for (auto [entity, collider] : query)
     {
         for (const auto& [collider1, collider2] :
-             collisions->candidates(BroadPhaseCollisions::CollisionType::BoxCapsule))
+             candidates->candidates(BroadPhaseCandidates::CollisionType::BoxCapsule))
         {
             if (collider1 == entity || collider2 == entity)
             {