feat(physics): add detect_collisions ECS integration

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

crates/voltex_physics/src/collision.rs

@@ -0,0 +1,181 @@
+use voltex_ecs::{World, Entity};
+use voltex_ecs::Transform;
+use voltex_math::Vec3;
+
+use crate::collider::Collider;
+use crate::contact::ContactPoint;
+use crate::bvh::BvhTree;
+use crate::narrow;
+
+pub fn detect_collisions(world: &World) -> Vec<ContactPoint> {
+    // 1. Gather entities with Transform + Collider
+    let pairs_data: Vec<(Entity, Vec3, Collider)> = world
+        .query2::<Transform, Collider>()
+        .into_iter()
+        .map(|(e, t, c)| (e, t.position, *c))
+        .collect();
+
+    if pairs_data.len() < 2 {
+        return Vec::new();
+    }
+
+    // 2. Build AABBs
+    let entries: Vec<(Entity, voltex_math::AABB)> = pairs_data
+        .iter()
+        .map(|(e, pos, col)| (*e, col.aabb(*pos)))
+        .collect();
+
+    // 3. Broad phase
+    let bvh = BvhTree::build(&entries);
+    let broad_pairs = bvh.query_pairs();
+
+    // 4. Narrow phase
+    let mut contacts = Vec::new();
+
+    let lookup = |entity: Entity| -> Option<(Vec3, Collider)> {
+        pairs_data.iter().find(|(e, _, _)| *e == entity).map(|(_, p, c)| (*p, *c))
+    };
+
+    for (ea, eb) in broad_pairs {
+        let (pos_a, col_a) = match lookup(ea) { Some(v) => v, None => continue };
+        let (pos_b, col_b) = match lookup(eb) { Some(v) => v, None => continue };
+
+        let result = match (&col_a, &col_b) {
+            (Collider::Sphere { radius: ra }, Collider::Sphere { radius: rb }) => {
+                narrow::sphere_vs_sphere(pos_a, *ra, pos_b, *rb)
+            }
+            (Collider::Sphere { radius }, Collider::Box { half_extents }) => {
+                narrow::sphere_vs_box(pos_a, *radius, pos_b, *half_extents)
+            }
+            (Collider::Box { half_extents }, Collider::Sphere { radius }) => {
+                narrow::sphere_vs_box(pos_b, *radius, pos_a, *half_extents)
+                    .map(|(n, d, pa, pb)| (-n, d, pb, pa))
+            }
+            (Collider::Box { half_extents: ha }, Collider::Box { half_extents: hb }) => {
+                narrow::box_vs_box(pos_a, *ha, pos_b, *hb)
+            }
+        };
+
+        if let Some((normal, depth, point_on_a, point_on_b)) = result {
+            contacts.push(ContactPoint {
+                entity_a: ea,
+                entity_b: eb,
+                normal,
+                depth,
+                point_on_a,
+                point_on_b,
+            });
+        }
+    }
+
+    contacts
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use voltex_ecs::World;
+    use voltex_ecs::Transform;
+    use voltex_math::Vec3;
+    use crate::Collider;
+
+    #[test]
+    fn test_no_colliders() {
+        let world = World::new();
+        let contacts = detect_collisions(&world);
+        assert!(contacts.is_empty());
+    }
+
+    #[test]
+    fn test_single_entity() {
+        let mut world = World::new();
+        let e = world.spawn();
+        world.add(e, Transform::from_position(Vec3::ZERO));
+        world.add(e, Collider::Sphere { radius: 1.0 });
+        let contacts = detect_collisions(&world);
+        assert!(contacts.is_empty());
+    }
+
+    #[test]
+    fn test_two_spheres_colliding() {
+        let mut world = World::new();
+        let a = world.spawn();
+        world.add(a, Transform::from_position(Vec3::ZERO));
+        world.add(a, Collider::Sphere { radius: 1.0 });
+
+        let b = world.spawn();
+        world.add(b, Transform::from_position(Vec3::new(1.5, 0.0, 0.0)));
+        world.add(b, Collider::Sphere { radius: 1.0 });
+
+        let contacts = detect_collisions(&world);
+        assert_eq!(contacts.len(), 1);
+        assert!((contacts[0].depth - 0.5).abs() < 1e-5);
+    }
+
+    #[test]
+    fn test_two_spheres_separated() {
+        let mut world = World::new();
+        let a = world.spawn();
+        world.add(a, Transform::from_position(Vec3::ZERO));
+        world.add(a, Collider::Sphere { radius: 1.0 });
+
+        let b = world.spawn();
+        world.add(b, Transform::from_position(Vec3::new(10.0, 0.0, 0.0)));
+        world.add(b, Collider::Sphere { radius: 1.0 });
+
+        let contacts = detect_collisions(&world);
+        assert!(contacts.is_empty());
+    }
+
+    #[test]
+    fn test_sphere_vs_box_collision() {
+        let mut world = World::new();
+        let a = world.spawn();
+        world.add(a, Transform::from_position(Vec3::ZERO));
+        world.add(a, Collider::Sphere { radius: 1.0 });
+
+        let b = world.spawn();
+        world.add(b, Transform::from_position(Vec3::new(1.5, 0.0, 0.0)));
+        world.add(b, Collider::Box { half_extents: Vec3::ONE });
+
+        let contacts = detect_collisions(&world);
+        assert_eq!(contacts.len(), 1);
+        assert!(contacts[0].depth > 0.0);
+    }
+
+    #[test]
+    fn test_box_vs_box_collision() {
+        let mut world = World::new();
+        let a = world.spawn();
+        world.add(a, Transform::from_position(Vec3::ZERO));
+        world.add(a, Collider::Box { half_extents: Vec3::ONE });
+
+        let b = world.spawn();
+        world.add(b, Transform::from_position(Vec3::new(1.5, 0.0, 0.0)));
+        world.add(b, Collider::Box { half_extents: Vec3::ONE });
+
+        let contacts = detect_collisions(&world);
+        assert_eq!(contacts.len(), 1);
+        assert!((contacts[0].depth - 0.5).abs() < 1e-5);
+    }
+
+    #[test]
+    fn test_three_entities_mixed() {
+        let mut world = World::new();
+
+        let a = world.spawn();
+        world.add(a, Transform::from_position(Vec3::ZERO));
+        world.add(a, Collider::Sphere { radius: 1.0 });
+
+        let b = world.spawn();
+        world.add(b, Transform::from_position(Vec3::new(1.5, 0.0, 0.0)));
+        world.add(b, Collider::Sphere { radius: 1.0 });
+
+        let c = world.spawn();
+        world.add(c, Transform::from_position(Vec3::new(100.0, 0.0, 0.0)));
+        world.add(c, Collider::Box { half_extents: Vec3::ONE });
+
+        let contacts = detect_collisions(&world);
+        assert_eq!(contacts.len(), 1);
+    }
+}

crates/voltex_physics/src/lib.rs

@@ -2,7 +2,9 @@ pub mod bvh;
 pub mod collider;
 pub mod contact;
 pub mod narrow;
+pub mod collision;
 
 pub use bvh::BvhTree;
 pub use collider::Collider;
 pub use contact::ContactPoint;
+pub use collision::detect_collisions;