Impl Generic_Box_Collision
Also added some helpers for use in Generic_Box_Collision.
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01c56d8d4c
3 changed files with 229 additions and 40 deletions
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@ -40,6 +40,7 @@ $<IF:$<CONFIG:Debug>,-Og,-fno-delete-null-pointer-checks -fno-strict-overflow -f
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add_executable(UnitTest src/test.cpp)
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target_link_libraries(UnitTest SC_SeparatingAxisCollisionDetection)
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target_include_directories(UnitTest PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/src")
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target_compile_features(UnitTest PUBLIC cxx_std_20)
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target_compile_options(UnitTest PUBLIC
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$<IF:$<CONFIG:Debug>,-Og,-fno-delete-null-pointer-checks -fno-strict-overflow -fno-strict-aliasing -ftrivial-auto-var-init=zero>
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141
src/sd_sacd.cpp
141
src/sd_sacd.cpp
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@ -2,6 +2,126 @@
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// Standard library includes.
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#include <cmath>
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#include <stdfloat>
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#include <vector>
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// =============================================================================
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// Private Helpers BEGIN
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// =============================================================================
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SC_SACD_Vec3 operator+(const SC_SACD_Vec3 &a, const SC_SACD_Vec3 &b) {
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return SC_SACD_Vec3{a.x + b.x, a.y + b.y, a.z + b.z};
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}
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std::vector<SC_SACD_Vec3> SC_SACD_Get_Box_Normals(
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const SC_SACD_Generic_Box *box) {
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std::vector<SC_SACD_Vec3> normals;
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normals.emplace_back(SC_SACD_Vec3{1.0F, 0.0F, 0.0F});
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normals.back() = SC_SACD_Vec3_Rotate(normals.back(), box->x_radians,
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box->y_radians, box->z_radians);
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normals.emplace_back(SC_SACD_Vec3{0.0F, 1.0F, 0.0F});
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normals.back() = SC_SACD_Vec3_Rotate(normals.back(), box->x_radians,
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box->y_radians, box->z_radians);
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normals.emplace_back(SC_SACD_Vec3{0.0F, 0.0F, 1.0F});
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normals.back() = SC_SACD_Vec3_Rotate(normals.back(), box->x_radians,
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box->y_radians, box->z_radians);
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// Not normalizing the normals on purpose for optimization. (No unit vectors.)
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return normals;
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}
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std::vector<SC_SACD_Vec3> SC_SACD_Get_Box_Corners(
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const SC_SACD_Generic_Box *box) {
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std::vector<SC_SACD_Vec3> corners;
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SC_SACD_Vec3 pos{box->x, box->y, box->z};
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corners.push_back(
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SC_SACD_Vec3_Rotate(SC_SACD_Vec3{-box->width / 2.0F, -box->height / 2.0F,
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-box->depth / 2.0F},
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box->x_radians, box->y_radians, box->z_radians) +
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pos);
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corners.push_back(
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SC_SACD_Vec3_Rotate(SC_SACD_Vec3{box->width / 2.0F, -box->height / 2.0F,
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-box->depth / 2.0F},
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box->x_radians, box->y_radians, box->z_radians) +
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pos);
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corners.push_back(
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SC_SACD_Vec3_Rotate(SC_SACD_Vec3{-box->width / 2.0F, box->height / 2.0F,
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-box->depth / 2.0F},
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box->x_radians, box->y_radians, box->z_radians) +
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pos);
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corners.push_back(
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SC_SACD_Vec3_Rotate(SC_SACD_Vec3{box->width / 2.0F, box->height / 2.0F,
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-box->depth / 2.0F},
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box->x_radians, box->y_radians, box->z_radians) +
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pos);
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corners.push_back(
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SC_SACD_Vec3_Rotate(SC_SACD_Vec3{-box->width / 2.0F, -box->height / 2.0F,
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box->depth / 2.0F},
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box->x_radians, box->y_radians, box->z_radians) +
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pos);
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corners.push_back(
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SC_SACD_Vec3_Rotate(SC_SACD_Vec3{box->width / 2.0F, -box->height / 2.0F,
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box->depth / 2.0F},
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box->x_radians, box->y_radians, box->z_radians) +
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pos);
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corners.push_back(
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SC_SACD_Vec3_Rotate(SC_SACD_Vec3{-box->width / 2.0F, box->height / 2.0F,
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box->depth / 2.0F},
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box->x_radians, box->y_radians, box->z_radians) +
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pos);
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corners.push_back(
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SC_SACD_Vec3_Rotate(SC_SACD_Vec3{box->width / 2.0F, box->height / 2.0F,
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box->depth / 2.0F},
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box->x_radians, box->y_radians, box->z_radians) +
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pos);
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return corners;
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}
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struct SC_SACD_MinMax {
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float min, max;
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};
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std::vector<SC_SACD_MinMax> SC_SACD_Get_Box_MinMax(
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const SC_SACD_Generic_Box *box, const std::vector<SC_SACD_Vec3> &normals) {
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std::vector<SC_SACD_MinMax> minmaxes;
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std::vector<SC_SACD_Vec3> corners = SC_SACD_Get_Box_Corners(box);
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// Assuming normals are not normalized, and will not normalize anyway.
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// MinMax count should be same as normals count.
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for (const auto &normal : normals) {
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SC_SACD_MinMax minmax{INFINITY, -INFINITY};
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for (const auto &corner : corners) {
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float projected = SC_SACD_Dot_Product(corner, normal);
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if (projected > minmax.max) {
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minmax.max = projected;
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}
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if (projected < minmax.min) {
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minmax.min = projected;
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}
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}
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minmaxes.push_back(minmax);
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}
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return minmaxes;
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}
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// =============================================================================
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// Private Helpers END
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// =============================================================================
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int SC_SACD_AABB_Box_Collision(const SC_SACD_AABB_Box *a,
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const SC_SACD_AABB_Box *b) {
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@ -27,8 +147,25 @@ int SC_SACD_AABB_Box_Collision(const SC_SACD_AABB_Box *a,
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int SC_SACD_Generic_Box_Collision(const SC_SACD_Generic_Box *a,
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const SC_SACD_Generic_Box *b) {
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// TODO
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return 0;
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// Get all normals.
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std::vector<SC_SACD_Vec3> normals = SC_SACD_Get_Box_Normals(a);
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for (const auto &normal : SC_SACD_Get_Box_Normals(b)) {
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normals.push_back(normal);
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}
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// Get all minmaxes.
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std::vector<SC_SACD_MinMax> minmaxes_a = SC_SACD_Get_Box_MinMax(a, normals);
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std::vector<SC_SACD_MinMax> minmaxes_b = SC_SACD_Get_Box_MinMax(b, normals);
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// Check minmaxes.
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for (unsigned int i = 0; i < normals.size(); ++i) {
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if (minmaxes_a[i].max < minmaxes_b[i].min ||
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minmaxes_b[i].max < minmaxes_a[i].min) {
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return 0;
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}
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}
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return 1;
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}
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int SC_SACD_AABB_Generic_Box_Collision(const SC_SACD_AABB_Box *a,
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127
src/test.cpp
127
src/test.cpp
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@ -1,4 +1,5 @@
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#include <iostream>
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#include <numbers>
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static int checks_checked = 0;
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static int checks_passed = 0;
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@ -28,57 +29,107 @@ static int checks_passed = 0;
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int main() {
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// Test 2D AABB.
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SC_SACD_AABB_Box a{0.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F};
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SC_SACD_AABB_Box b{2.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F};
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{
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SC_SACD_AABB_Box a{0.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F};
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SC_SACD_AABB_Box b{2.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F};
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.x = -2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.x = -2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.x = 0.5F;
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CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.x = -0.5F;
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CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.x = 0.5F;
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CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.x = -0.5F;
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CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.x = 0.0F;
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b.y = 2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.y = -2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.x = 0.0F;
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b.y = 2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.y = -2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.y = 0.5F;
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CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.y = -0.5F;
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CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.y = 0.5F;
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CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.y = -0.5F;
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CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.y = 0.0F;
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b.z = 2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.y = 0.0F;
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b.z = 2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.z = -2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.z = -2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.z = 0.5F;
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CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.z = 0.5F;
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CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.z = -0.5F;
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CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.z = -0.5F;
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CHECK_TRUE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.z = 0.0F;
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b.x = 0.5F;
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b.y = 2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.z = 0.0F;
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b.x = 0.5F;
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b.y = 2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.y = -2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.y = -2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.x = -0.5F;
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b.y = 2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.x = -0.5F;
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b.y = 2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.y = -2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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b.y = -2.0F;
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CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
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}
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// Test Separating_Axis_Collision check.
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{
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SC_SACD_Generic_Box a{0.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F, 0.0F, 0.0F, 0.0F};
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SC_SACD_Generic_Box b{0.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F, 0.0F, 0.0F, 0.0F};
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CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
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b.x = 1.1F;
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CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b));
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b.x = -1.1F;
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CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b));
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a.z_radians = std::numbers::pi_v<float> / 4.0F;
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b.z_radians = a.z_radians;
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CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
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b.x = 1.1F;
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CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
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b.x = 0.0F;
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b.y = 1.1F;
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a.z_radians = 0.0F;
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b.z_radians = 0.0F;
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CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b));
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b.y = -1.1F;
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CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b));
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a.z_radians = std::numbers::pi_v<float> / 4.0F;
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b.z_radians = a.z_radians;
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CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
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b.y = 1.1F;
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CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
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b.y = 0.0F;
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a.z_radians = 0.0F;
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b.z_radians = 0.0F;
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b.z = 1.1F;
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CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b));
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b.z = -1.1F;
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CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b));
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a.y_radians = std::numbers::pi_v<float> / 4.0F;
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b.y_radians = a.y_radians;
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CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
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b.z = 1.1F;
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CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
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}
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std::cout << "Checks checked: " << checks_checked << '\n'
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<< "Checks passed: " << checks_passed << '\n';
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