From d05c425281565c122a348cfb7eaedfa2e574c8f8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Lu=C3=ADs=20Fonseca?= <luis@lhf.pt>
Date: Thu, 5 Oct 2023 01:39:18 +0100
Subject: [PATCH] feat(collisions): compute capsule aabbs

---
 engine/samples/collisions/main.cpp                | 12 +++++++-----
 .../src/cubos/engine/collisions/broad_phase.cpp   | 15 +++++++++++++--
 2 files changed, 20 insertions(+), 7 deletions(-)

diff --git a/engine/samples/collisions/main.cpp b/engine/samples/collisions/main.cpp
index 201ae59544..29632e91cf 100644
--- a/engine/samples/collisions/main.cpp
+++ b/engine/samples/collisions/main.cpp
@@ -8,6 +8,7 @@
 #include <cubos/engine/collisions/collider.hpp>
 #include <cubos/engine/collisions/plugin.hpp>
 #include <cubos/engine/collisions/shapes/box.hpp>
+#include <cubos/engine/collisions/shapes/capsule.hpp>
 #include <cubos/engine/input/plugin.hpp>
 #include <cubos/engine/renderer/plugin.hpp>
 #include <cubos/engine/settings/settings.hpp>
@@ -61,7 +62,7 @@ static void addColliders(Write<State> state, Commands commands)
 {
     state->a = commands.create()
                    .add(Collider{})
-                   .add(BoxCollisionShape{})
+                   .add(CapsuleCollisionShape{{0.5F, 1.0F}})
                    .add(LocalToWorld{})
                    .add(Position{glm::vec3{0.0F, 0.0F, -2.0F}})
                    .add(Rotation{})
@@ -111,7 +112,8 @@ static void updateCollided(Query<Read<Collider>> query, Write<State> state, Read
 {
     for (auto [entity, collider] : query)
     {
-        for (const auto& [collider1, collider2] : collisions->candidates(BroadPhaseCollisions::CollisionType::BoxBox))
+        for (const auto& [collider1, collider2] :
+             collisions->candidates(BroadPhaseCollisions::CollisionType::BoxCapsule))
         {
             if (collider1 == entity || collider2 == entity)
             {
@@ -122,11 +124,11 @@ static void updateCollided(Query<Read<Collider>> query, Write<State> state, Read
     }
 }
 
-static void render(Query<Read<LocalToWorld>, Read<Collider>, Read<BoxCollisionShape>> query)
+static void render(Query<Read<LocalToWorld>, Read<Collider>> query)
 {
-    for (auto [entity, localToWorld, collider, shape] : query)
+    for (auto [entity, localToWorld, collider] : query)
     {
-        cubos::core::gl::Debug::drawWireBox(shape->box, localToWorld->mat * collider->transform);
+        cubos::core::gl::Debug::drawWireBox(collider->localAABB.box(), localToWorld->mat * collider->transform);
         cubos::core::gl::Debug::drawWireBox(collider->worldAABB.box(),
                                             glm::translate(glm::mat4{1.0}, collider->worldAABB.center()),
                                             glm::vec3{1.0, 0.0, 0.0});
diff --git a/engine/src/cubos/engine/collisions/broad_phase.cpp b/engine/src/cubos/engine/collisions/broad_phase.cpp
index d2bc7df613..fa53ee1263 100644
--- a/engine/src/cubos/engine/collisions/broad_phase.cpp
+++ b/engine/src/cubos/engine/collisions/broad_phase.cpp
@@ -21,8 +21,19 @@ void setupNewBoxes(Query<Read<BoxCollisionShape>, Write<Collider>> query, Write<
 
 void setupNewCapsules(Query<Read<CapsuleCollisionShape>, Write<Collider>> query, Write<BroadPhaseCollisions> collisions)
 {
-    (void)query;
-    (void)collisions;
+    for (auto [entity, shape, collider] : query)
+    {
+        if (collider->fresh)
+        {
+            collisions->addEntity(entity);
+
+            collider->localAABB = shape->capsule.aabb();
+
+            collider->margin = 0.0F;
+
+            collider->fresh = false;
+        }
+    }
 }
 
 void updateAABBs(Query<Read<LocalToWorld>, Write<Collider>> query)