Physics::Bounding::ICollider Interface Reference

Abstract base class for collision volumes in the physics engine. More...

#include <ICollider.h>

Inheritance diagram for Physics::Bounding::ICollider:

Public Member Functions
virtual	~ICollider ()=default
	Virtual destructor for proper cleanup of derived classes.
virtual bool	contains (const glm::vec3 &p) const =0
	Tests if a point is inside the collider volume.
virtual ContactInfo	closestPoint (const glm::vec3 &p) const =0
	Finds the closest point on the collider surface to a given point.
virtual std::unique_ptr< ICollider >	getTransformed (const glm::mat4 &modelMatrix) const =0
	Creates a transformed copy of this collider in world space.
virtual std::optional< float >	intersectRay (const Math::Ray &ray) const =0
	Tests ray-collider intersection.
virtual glm::vec3	getAABBMin () const
	Gets the minimum, maximum corner of the axis-aligned bounding box (AABB) that contains this collider.
virtual glm::vec3	getAABBMax () const

Detailed Description

Abstract base class for collision volumes in the physics engine.

Defines the interface for 3D collision primitives such as axis-aligned bounding boxes (AABB) and oriented bounding boxes (OBB). Colliders support both discrete intersection tests and continuous queries for closest points.

Note

Colliders are defined in local space. Transform them to world space using getTransformed() before collision checks.

Ownership Model

ICollider instances are typically owned by PhysicsBody objects. When transformed copies are created via getTransformed(), ownership is transferred to the caller.

Derived Classes

• AABB: Axis-aligned bounding box (fast, simple)
• BoxCollider: Oriented bounding box (arbitrary rotation)
• SphereCollider: (planned, not yet implemented)

See also

AABB, BoxCollider, PhysicsBody

Definition at line 64 of file ICollider.h.

Constructor & Destructor Documentation

~ICollider()

virtual Physics::Bounding::ICollider::~ICollider ( )

virtualdefault

Virtual destructor for proper cleanup of derived classes.

Member Function Documentation

closestPoint()

virtual ContactInfo Physics::Bounding::ICollider::closestPoint ( const glm::vec3 &  p ) const

pure virtual

Finds the closest point on the collider surface to a given point.

Parameters

p	Query point in the same space as the collider

Returns

ContactInfo containing closest point, normal, and penetration depth

Note

If p is inside the collider, penetration will be positive

The normal always points away from the collider surface

Use Cases

• Collision resolution (finding separation vector)
• Distance queries
• Computing contact manifolds

See also

ContactInfo

Implemented in Physics::Bounding::AABB, and Physics::Bounding::BoxCollider.

contains()

virtual bool Physics::Bounding::ICollider::contains ( const glm::vec3 &  p ) const

pure virtual

Tests if a point is inside the collider volume.

Parameters

p	Point to test, in the same coordinate space as this collider

Returns

true if point is inside or on the surface, false otherwise

Note

For box colliders, "inside" includes the surface (closed volume)

This test is typically performed in world space after transformation

Implemented in Physics::Bounding::AABB, and Physics::Bounding::BoxCollider.

getAABBMax()

virtual glm::vec3 Physics::Bounding::ICollider::getAABBMax ( ) const

inlinevirtual

Implemented in Physics::Bounding::AABB, and Physics::Bounding::BoxCollider.

Definition at line 145 of file ICollider.h.

getAABBMin()

virtual glm::vec3 Physics::Bounding::ICollider::getAABBMin ( ) const

inlinevirtual

Gets the minimum, maximum corner of the axis-aligned bounding box (AABB) that contains this collider.

Returns

Minimum or Maximum corner of AABB in local space

Note

This is used for broad-phase collision detection and spatial partitioning

For simple colliders like AABB, this is just the min,max corner. For others, it may require computation.

Implemented in Physics::Bounding::AABB, and Physics::Bounding::BoxCollider.

Definition at line 144 of file ICollider.h.

getTransformed()

virtual std::unique_ptr< ICollider > Physics::Bounding::ICollider::getTransformed ( const glm::mat4 &  modelMatrix ) const

pure virtual

Creates a transformed copy of this collider in world space.

Applies a 4x4 transformation matrix to create a new collider instance representing this shape in world coordinates. This is used to transform local-space colliders to world space for collision testing.

Parameters

modelMatrix

Transformation matrix (typically from SceneObject) Encodes translation, rotation, and scale

Returns

Unique pointer to transformed collider (ownership transferred)

Note

The transformation extracts:

• Translation: modelMatrix[3].xyz
• Rotation: Extracted via glm::decompose
• Scale: Applied to half-extents/radius

Caller receives ownership via std::unique_ptr

Returns nullptr only if transformation fails (rare)

Implemented in Physics::Bounding::AABB, and Physics::Bounding::BoxCollider.

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intersectRay()

virtual std::optional< float > Physics::Bounding::ICollider::intersectRay ( const Math::Ray &  ray ) const

pure virtual

Tests ray-collider intersection.

Parameters

ray	The ray to test against this collider

Returns

Distance along ray if intersection occurs, std::nullopt otherwise

Note

Negative distances may be rejected depending on implementation

See also

Ray

Implemented in Physics::Bounding::AABB, and Physics::Bounding::BoxCollider.

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The documentation for this interface was generated from the following file:

• src/physics/bounding/ICollider.h