1 files changed, 69 insertions, 0 deletions
diff --git a/engine-ocean/Game/Systems/CollisionSystems/ellipsoidtrianglecollisionsystem.h b/engine-ocean/Game/Systems/CollisionSystems/ellipsoidtrianglecollisionsystem.h
new file mode 100644
index 0000000..8a7d102
--- /dev/null
+++ b/engine-ocean/Game/Systems/CollisionSystems/ellipsoidtrianglecollisionsystem.h
@@ -0,0 +1,69 @@
+#ifndef ELLIPSOIDTRIANGLECOLLISIONSYSTEM_H
+#define ELLIPSOIDTRIANGLECOLLISIONSYSTEM_H
+#include "Game/Components/CollisionComponents/BoundingEllipsoid.h"
+#include "Game/Components/CollisionComponents/BoundingTriangle.h"
+#include "Game/GameObjects/GameObject.h"
+#include "Game/Systems/CollisionSystems/BVH/bvhtree.h"
+#include "glm/glm.hpp"
+#include <vector>
+
+struct CollisionData{
+    bool hasCollided = true; // only false when there is no collision data to return
+    bool isVertex = false;
+    float t = INFINITY;
+    glm::vec3 triangle_n; // normal of the triangle its colliding with
+    glm::vec3 intersection_pos;
+    glm::vec3 point_of_contact;
+};
+
+class EllipsoidTriangleCollisionSystem
+{
+public:
+    EllipsoidTriangleCollisionSystem(std::map<std::string, std::shared_ptr<GameObject>>& rigid_gameobjects);
+
+
+    std::pair<std::vector<CollisionData>, glm::vec3> mtvSlide(glm::vec3 initial_pos, glm::vec3 final_pos, glm::vec3 dimensions);
+
+private:
+    CollisionData collideWithWorld(const glm::vec3 &posA, const glm::vec3 &posB);
+    void setEllipsoidDimensions(const glm::vec3 &dimensions);
+    glm::vec3 doNudge(glm::vec3 curr_pos, CollisionData collision);
+    CollisionData revertDataToOriginalSpace(const CollisionData &sphere_datum, const glm::vec3 &ellip_R, const glm::vec3 orig_triangle_n);
+    CollisionData detectTriangleCollision(const Triangle &sphere_tri, const glm::vec3 &posA, const glm::vec3 &posB);
+    CollisionData getNearestCollision(const std::vector<CollisionData> &collisionData, const Triangle &sphere_tri);
+    glm::mat3 makeConversionMT(glm::vec3 initial_center_pos, glm::vec3 dimensions);
+
+
+    bool detectSphere_with_Vertex(const glm::vec3 &v, const glm::vec3 triangle_normal, const glm::vec3 &posA, const glm::vec3 &posB);
+    bool detectSphere_with_Edge(const glm::vec3 &v1, const glm::vec3 &v2,
+                                const glm::vec3 &triangle_normal,
+                                 const glm::vec3 &posA, const glm::vec3 &posB);
+    void makeCollisionData(const float t, const glm::vec3 triangle_n, const glm::vec3 intersection_pos, const glm::vec3 point_of_contact, const bool isVertex);
+    bool detectSphere_with_Interior(const Triangle &triangle, const glm::vec3 posA, const glm::vec3 posB);
+
+
+    bool isSameDirection(const glm::vec3 edge1, const glm::vec3 edge2, const glm::vec3 n);
+    glm::vec3 getTriangleEdge(const glm::vec3 v1, const glm::vec3 v2);
+    float raycastSphere(const glm::vec3 &ray_p, const glm::vec3 &ray_d, const glm::vec3 posA, const glm::vec3 posB);
+    float raycastTriangle(const glm::vec3 &ray_p, const glm::vec3 &ray_d, const Triangle &triangle);
+    float solveQuadratic(float a, float b, float c);
+    glm::vec3 getIntersectionPt(const glm::vec3 &ray_p, const glm::vec3 &ray_d, const float t);
+    Triangle convertTriangleToSphereSpace(const glm::vec3 &orig_R, const Triangle &orig_triangle);
+
+    std::vector<CollisionData> m_collisionData;
+    std::map<std::string, std::shared_ptr<GameObject>>& m_rigid_gameobjects;
+
+    glm::vec3 m_ellipsoid_dimensions = glm::vec3(1.0);
+
+    float ZERO = -.0001f;
+    float ONE = 1.0001f;
+
+    std::shared_ptr<ModelTransform> m_conversion_mt;
+    glm::mat3 m_scale_normals_mt = glm::mat3(1.f);
+
+    std::vector<std::shared_ptr<GameObject>> m_candidate_obstacles;
+    std::unique_ptr<BVHTree> m_bvh_system;
+
+};
+
+#endif // ELLIPSOIDTRIANGLECOLLISIONSYSTEM_H