PhysColliderSys.h

#pragma once
#include <vector>
#include <algorithm>
#include "GameObject.h"
#include "Debug.h"

//only include the children of that abstract class as we cannot assume the abstract has all the data we need.
//add more here as necessary
#include "SphereCollider.h"
#include "PlaneCollider.h"
#include "AABBCollider.h"

//placing each system in their own chunk like this allows for each simulation to be separated if we wanted to.
//each simulation system has a collection of physics objects to keep track of and collide with.
class PhysColliderSys {
private:
    vector<PhysicsModel*> _physicsWorld;
    vector<Collider*> _colliderWorld;

    //phases for collision tick to call
    void BroadPhase();
    void NarrowPhase(int index1, int index2);
    void Solve(int index1, int index2, CollisionManifold& manifold);

    //overloads for tons of collision checks, anything that exists
    bool CollisionCheck(SphereCollider& sphere, PlaneCollider& plane, CollisionManifold& collision);
    bool CollisionCheck(AABBCollider& aabb, PlaneCollider& plane, CollisionManifold& collision);

    bool CollisionCheck(SphereCollider& sphere, AABBCollider& aabb, CollisionManifold& collision);

    bool CollisionCheck(SphereCollider& sphere1, SphereCollider& sphere2, CollisionManifold& collision);
    bool CollisionCheck(AABBCollider& aabb1, AABBCollider& aabb2, CollisionManifold& collision);
    
    void SolveInterpenetration(PhysicsModel* model1, PhysicsModel* model2, CollisionManifold& manifold);

    //helper mathematics
    float DistanceTo(Vector3& vector1, Vector3& vector2);
    float AABBRadiusOnNormal(Vector3& extents, Vector3& normal);
    Vector3 ClosestPointOnPlane(Vector3& pointToCompare, PlaneCollider& plane);
    bool CheckDistanceToExtents(Vector3& distance, Vector3& extents);
    bool CheckDistanceToBoundary(Vector3& distance, float boundary);

    //resolution mathematics
    void ResolveManifold(CollisionManifold manifold, PhysicsModel* modelA, PhysicsModel* modelB);

public:
    PhysColliderSys(vector<GameObject*>& gameObjects);
    ~PhysColliderSys();
    void CollisionTick();
};