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omath::collision::ColliderInterface — Abstract collider base class

Header: omath/collision/collider_interface.hpp Namespace: omath::collision Depends on: omath/linear_algebra/vector3.hpp

ColliderInterface is the abstract base class for all colliders used by the GJK and EPA algorithms. Any shape that can report its furthest vertex along a given direction can implement this interface and be used for collision detection.

API

namespace omath::collision {

template<class VecType = Vector3<float>>
class ColliderInterface {
public:
    using VectorType = VecType;

    virtual ~ColliderInterface() = default;

    // Return the world-space position of the vertex furthest along `direction`.
    [[nodiscard]]
    virtual VectorType find_abs_furthest_vertex_position(
        const VectorType& direction) const = 0;

    // Get the collider's origin (center / position).
    [[nodiscard]]
    virtual const VectorType& get_origin() const = 0;

    // Reposition the collider.
    virtual void set_origin(const VectorType& new_origin) = 0;
};

} // namespace omath::collision

Implementing a custom collider

To create a new collider shape, derive from ColliderInterface and implement the three pure-virtual methods:

#include "omath/collision/collider_interface.hpp"

class SphereCollider final
    : public omath::collision::ColliderInterface<omath::Vector3<float>>
{
public:
    SphereCollider(omath::Vector3<float> center, float radius)
        : m_center(center), m_radius(radius) {}

    [[nodiscard]]
    omath::Vector3<float> find_abs_furthest_vertex_position(
        const omath::Vector3<float>& direction) const override
    {
        return m_center + direction.normalized() * m_radius;
    }

    [[nodiscard]]
    const omath::Vector3<float>& get_origin() const override
    { return m_center; }

    void set_origin(const omath::Vector3<float>& new_origin) override
    { m_center = new_origin; }

private:
    omath::Vector3<float> m_center;
    float m_radius;
};

Notes

  • Template parameter: The default vector type is Vector3<float>, but any vector type with a dot() method can be used.
  • GJK/EPA compatibility: Both GjkAlgorithm and EpaAlgorithm accept any type satisfying the ColliderInterface contract through their template parameters.

See also

Last updated: Feb 2026