Collision.hpp

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#pragma once
 
#include "libstp/sim/Pose2D.hpp"
#include "libstp/sim/RobotConfig.hpp"
#include "libstp/sim/WorldMap.hpp"
 
#include <optional>
#include <vector>
 
namespace libstp::sim::collision
{
    std::vector<MapSegment> buildCollisionWalls(const WorldMap& map);

    std::vector<MapSegment> buildCollisionWalls(const WorldMap& map, std::size_t layerIdx);
 
    struct CollisionInfo
    {
        MapSegment wall{};
        Vec2 normal{};
        Vec2 tangent{};
        float depth{0.0f};
    };

    std::optional<CollisionInfo> findCollision(
        const Pose2D& pose,
        const Vec2& moveVec,
        const RobotConfig& robot,
        const std::vector<MapSegment>& walls);

    Pose2D resolveAgainstWall(
        const Pose2D& pose,
        const CollisionInfo& collision,
        const RobotConfig& robot);

    std::vector<Pose2D> simulateSegment(
        const Pose2D& start,
        const Pose2D& target,
        const RobotConfig& robot,
        const std::vector<MapSegment>& walls);

    bool checkRobotCollision(
        const Pose2D& pose,
        const RobotConfig& robot,
        const std::vector<MapSegment>& walls);

    float raycastDistanceCm(
        float originX,
        float originY,
        float angleRad,
        float maxDistanceCm,
        const std::vector<MapSegment>& walls);
}