obb.hpp

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#pragma once
 
#include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp>
 
namespace Engine::Physics {
    struct OBB {
        glm::vec3 center;
        glm::vec3 axes[3];
        glm::vec3 halfExtents;

        OBB(glm::vec3 pos, glm::vec3 size, glm::quat rot) {
            center = pos;
            halfExtents = size * 0.5f;
 
            glm::mat3 rotMat = glm::mat3_cast(rot);
 
            // Chaque colonne de rotMat est un axe local unitaire
            axes[0] = rotMat[0]; // X local
            axes[1] = rotMat[1]; // Y local
            axes[2] = rotMat[2]; // Z local
        }
    };
}