added capsule collider

collider/types.py

@@ -1,6 +1,7 @@
 from dataclasses import dataclass
 from typing import Generator
 from abc import ABC, abstractmethod
+from math import pi, cos, sin
 
 import pygame as pg
 from transform import Transform
@@ -90,3 +91,51 @@ class RectCollider(ConvexCollider):
 
     def moment_of_inertia(self, mass: float) -> float:
         return (1.0 / 12.0) * mass * (self.width ** 2 + self.height ** 2) 
+
+@dataclass
+class CapsuleCollider(ConvexCollider):
+    width: float
+    height: float
+    resolution: int = 8
+
+    @property
+    def radius(self) -> float:
+        return self.width / 2
+
+    @property
+    def _half_height(self) -> float:
+        return (self.height / 2) - self.radius
+
+@dataclass
+class CapsuleCollider(ConvexCollider):
+    width: float
+    height: float
+    resolution: int = 10
+
+    @property
+    def radius(self) -> float:
+        return self.width / 2
+
+    def hull(self, transform: Transform) -> PolygonalHull:
+        verts: list[pg.Vector2] = []
+        center_offset = (self.height / 2.0 - self.radius)
+        top_center = transform.global_position - pg.Vector2(0, center_offset).rotate(transform.global_degrees) * transform.global_scale
+        bottom_center = transform.global_position + pg.Vector2(0, center_offset).rotate(transform.global_degrees) * transform.global_scale
+        angle = pi
+        for _ in range(0, self.resolution):
+            verts.append(
+                top_center + (self.radius * pg.Vector2(cos(angle), -sin(angle))).rotate(transform.global_degrees) * transform.global_scale
+            )
+            angle -= pi / self.resolution
+
+        angle = 0.0
+        for _ in range(0, self.resolution):
+            verts.append(
+                bottom_center + (self.radius * pg.Vector2(cos(angle), -sin(angle))).rotate(transform.global_degrees) * transform.global_scale
+            )
+            angle -= pi / self.resolution
+        return PolygonalHull(verts)
+
+
+    def moment_of_inertia(self, mass: float) -> float:
+        return (1.0 / 12.0) * mass * (self.width ** 2 + self.height ** 2)