Contact Points and Contact Manifold

[fallenatlas]

Description

• Add Contact Manifold
• Compute contact points using the Sutherland Hodgman algorithm.
• Updated collisions sample to show the resulting info on the contact manifold.

(yup, that's all)

To support this:

• Added a Plane to geom
• Added the concept of faces and edges to box shape
• Added utils to geom, which contains functions that don't directly handle intersections.

I'll gladly take any suggestions so Box.hpp doesn't look so ugly.

Resources:
https://research.ncl.ac.uk/game/mastersdegree/gametechnologies/previousinformation/physics5collisionmanifolds/2017%20Tutorial%205%20-%20Collision%20Manifolds.pdf
https://research.ncl.ac.uk/game/mastersdegree/gametechnologies/physicstutorials/4collisiondetection/Physics%20-%20Collision%20Detection.pdf
Also used the structures to hold the date in Box2D/Avian for reference.

Checklist

• Self-review changes.
• Evaluate impact on the documentation.
• Add entry to the changelog's unreleased section.

[github-actions]

PR Preview Action v1.4.7
🚀 Deployed preview to https://GameDevTecnico.github.io/cubos/preview/pr-1301/
on branch gh-pages at 2024-09-09 19:29 UTC

[github-actions]

⚠️ Clang-Tidy found issue(s) with the introduced code (1/4)

[github-actions]

⚠️ Clang-Tidy found issue(s) with the introduced code (2/4)

[github-actions]

⚠️ Clang-Tidy found issue(s) with the introduced code (3/4)

[github-actions]

⚠️ Clang-Tidy found issue(s) with the introduced code (4/4)

[codecov]

Codecov Report

Attention: Patch coverage is 7.58017% with 317 lines in your changes missing coverage. Please review.

Project coverage is 35.94%. Comparing base (7a05b26) to head (03b9126).
Report is 17 commits behind head on main.

Files with missing lines	Patch %	Lines
core/include/cubos/core/geom/box.hpp	0.00%	157 Missing ⚠️
core/src/geom/utils.cpp	0.00%	71 Missing ⚠️
core/src/geom/intersections.cpp	0.00%	42 Missing ⚠️
engine/src/collisions/narrow_phase/plugin.cpp	17.64%	42 Missing ⚠️
core/src/geom/plane.cpp	0.00%	5 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1301      +/-   ##
==========================================
- Coverage   36.25%   35.94%   -0.31%     
==========================================
  Files         395      398       +3     
  Lines       31537    31876     +339     
==========================================
+ Hits        11433    11458      +25     
- Misses      20104    20418     +314     

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[RiscadoA]

Incredible work, ty very much for working on this! Also ran the sample on my PC, very cool to see the results 👀
Performance wise I'm sure we can improve this a lot further but it's not worth it to waste time on that right now. The only thing I think you should change on that part is replacing std::list by std::vector - unless you've a reason for sticking to the former ofc.

Also sorry for the review delay once again!

[RiscadoA]

Also it would be cool to link those resources in the code itself so that it doesn't get forgotten

[Dacops]

post resolving the pending conversations; lgtm