collision_detector.hpp

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// Copyright (c) JSim contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the LGPLv3 license file in the root directory of this project.
 
#pragma once
 
#include "frcsim/math/vector.hpp"
#include "frcsim/math/quaternion.hpp"
#include "frcsim/collision_shapes/shape.hpp"
#include <vector>
 
namespace frcsim {

struct ContactPoint {
    Vector3 pointOnA;     
    Vector3 pointOnB;     
    Vector3 worldPoint;   
    Vector3 normal;       
    double depth;         
};

struct CollisionManifold {
    std::vector<ContactPoint> contacts;  
    bool hasCollision = false;           
};

class CollisionDetector {
public:
    virtual ~CollisionDetector() = default;

    virtual CollisionManifold DetectCollision(
        const Shape* shapeA, const Vector3& posA, const Quaternion& rotA,
        const Shape* shapeB, const Vector3& posB, const Quaternion& rotB) = 0;
};
 
} // namespace frcsim