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feat(physics): add ConvexHull collider with GJK support function

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Add ConvexHull struct storing vertices with a support function that
returns the farthest point in a given direction, enabling GJK/EPA
collision detection. Update all Collider match arms across the physics
crate (collision, raycast, integrator, solver) to handle the new variant.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
tolelom
2026-03-26 15:49:38 +09:00
parent 1b5da4d0d5
commit 0f08c65a1e
6 changed files with 125 additions and 10 deletions
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10
crates/voltex_physics/src/solver.rs
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@@ -23,8 +23,8 @@ pub fn resolve_collisions(world: &mut World, contacts: &[ContactPoint], iteratio
for contact in contacts {
let rb_a = world.get::<RigidBody>(contact.entity_a).copied();
let rb_b = world.get::<RigidBody>(contact.entity_b).copied();
let col_a = world.get::<Collider>(contact.entity_a).copied();
let col_b = world.get::<Collider>(contact.entity_b).copied();
let col_a = world.get::<Collider>(contact.entity_a).cloned();
let col_b = world.get::<Collider>(contact.entity_b).cloned();
let pos_a = world.get::<Transform>(contact.entity_a).map(|t| t.position);
let pos_b = world.get::<Transform>(contact.entity_b).map(|t| t.position);
@@ -205,7 +205,7 @@ fn apply_ccd(world: &mut World, config: &PhysicsConfig) {
.query3::<Transform, RigidBody, Collider>()
.into_iter()
.filter(|(_, _, rb, _)| !rb.is_static() && !rb.is_sleeping)
.map(|(e, t, rb, c)| (e, t.position, rb.velocity, *c))
.map(|(e, t, rb, c)| (e, t.position, rb.velocity, c.clone()))
.collect();
let all_colliders: Vec<(Entity, voltex_math::AABB)> = world
@@ -222,6 +222,10 @@ fn apply_ccd(world: &mut World, config: &PhysicsConfig) {
Collider::Sphere { radius } => *radius,
Collider::Box { half_extents } => half_extents.x.min(half_extents.y).min(half_extents.z),
Collider::Capsule { radius, .. } => *radius,
Collider::ConvexHull(hull) => {
// Use minimum distance from origin to any vertex as approximate radius
hull.vertices.iter().map(|v| v.length()).fold(f32::MAX, f32::min)
}
};
// Only apply CCD if displacement > collider radius