libstp::sim::collision Namespace Reference

Classes
struct	CollisionInfo

Functions
std::vector< MapSegment >	buildCollisionWalls (const WorldMap &map)
std::vector< MapSegment >	buildCollisionWalls (const WorldMap &map, std::size_t layerIdx)
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)

Function Documentation

buildCollisionWalls() [1/2]

std::vector< MapSegment > libstp::sim::collision::buildCollisionWalls

(

const WorldMap &

map

)

Expand thick walls into 4-edge rectangles, append table borders. Port of web-ide physics.ts buildCollisionWalls(). Uses the ground/active layer's walls.

buildCollisionWalls() [2/2]

std::vector< MapSegment > libstp::sim::collision::buildCollisionWalls	(	const WorldMap &	map,
		std::size_t	layerIdx )

Layer-scoped variant: collide against the walls of layer layerIdx (plus the table border, which applies to every plane). Used by the sim so a robot on the raised ramp respects that layer's geometry.

checkRobotCollision()

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

True if the robot's OBB at pose intersects any wall. Port of physics.ts checkRobotCollision().

findCollision()

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

Deepest wall the robot's OBB currently penetrates, if any. Port of physics.ts findCollision(). moveVec is the motion that was attempted; walls facing away from it are ignored.

raycastDistanceCm()

float libstp::sim::collision::raycastDistanceCm	(	float	originX,
		float	originY,
		float	angleRad,
		float	maxDistanceCm,
		const std::vector< MapSegment > &	walls )

Closest-hit raycast against a set of wall segments. originX, originY in cm, angleRad is the world-frame direction. Returns the distance (cm) to the first wall hit within maxDistanceCm, or maxDistanceCm if no wall is hit (clean miss to max range).

resolveAgainstWall()

Pose2D libstp::sim::collision::resolveAgainstWall	(	const Pose2D &	pose,
		const CollisionInfo &	collision,
		const RobotConfig &	robot )

Push a penetrating pose out along the collision normal. Port of physics.ts resolvePoseAgainstWall().

simulateSegment()

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

Integrate a motion from start → target with per-step wall collision and tangent sliding. Port of physics.ts simulateSegment(). Returns the trail of poses the robot actually visited (empty if no motion).