Collisions

[luishfonseca]

Checklist

• Broadphase I

  • Remove useless shapes #657
  • Split Collider and ColliderShape #660
  • Generate AABBs for Capsule #671
  • Move broadphase phase to its plugin #678
  • Use voxel space AABBs #684
  • Improve AABB rotation algorithm
  • Replace Broadphase resource with a relations solution #905

• Narrowphase I

  • Add Box intersection tests to core::geom
  • Add Capsule intersection tests to core::geom
  • Detect collisions for Box vs Box #524
  • Generate contacts for Box vs Box
  • Detect collisions for Box vs Capsule #525
  • Generate contacts for Box vs Capsule
  • Detect collisions for Capsule vs Capsule #523
  • Generate contacts for Capsule vs Capsule

• Broadphase II

  • Add VoxelCollisionShape #992
  • Implement Local BVH for VoxelShapes
  • Optimize World with BVH

• Narrowphase II

  • Detect collisions for Box vs Voxel #993
  • Generate contacts for Box vs Voxel
  • Detect collisions for Capsule vs Voxel
  • Generate contacts for Capsule vs Voxel
  • Detect collisions for Voxel vs Voxel #994
  • Generate contacts for Voxel vs Voxel
  • Compute manifold for Capsule (add inertia tensor calculation too)

• Overall:

  • Collision layers and collision masks

• Optimization:

  • Measure collisions performance

Sphere:

Look into having a separate sphere shape. I believe the computations can be simplified compared to a capsule if all we want is a sphere.

Problem

I was young and naive when I designed what we have so far, it's time to rewrite.

Design

Fill this later