Impl Generic_Box_Collision

Also added some helpers for use in Generic_Box_Collision.
This commit is contained in:
Stephen Seo 2024-04-26 15:44:24 +09:00
parent 9a5634f0da
commit 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
add_executable(UnitTest src/test.cpp) add_executable(UnitTest src/test.cpp)
target_link_libraries(UnitTest SC_SeparatingAxisCollisionDetection) target_link_libraries(UnitTest SC_SeparatingAxisCollisionDetection)
target_include_directories(UnitTest PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/src") target_include_directories(UnitTest PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/src")
target_compile_features(UnitTest PUBLIC cxx_std_20)
target_compile_options(UnitTest PUBLIC target_compile_options(UnitTest PUBLIC
$<IF:$<CONFIG:Debug>,-Og,-fno-delete-null-pointer-checks -fno-strict-overflow -fno-strict-aliasing -ftrivial-auto-var-init=zero> $<IF:$<CONFIG:Debug>,-Og,-fno-delete-null-pointer-checks -fno-strict-overflow -fno-strict-aliasing -ftrivial-auto-var-init=zero>

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@ -2,6 +2,126 @@
// Standard library includes. // Standard library includes.
#include <cmath> #include <cmath>
#include <stdfloat>
#include <vector>
// =============================================================================
// Private Helpers BEGIN
// =============================================================================
SC_SACD_Vec3 operator+(const SC_SACD_Vec3 &a, const SC_SACD_Vec3 &b) {
return SC_SACD_Vec3{a.x + b.x, a.y + b.y, a.z + b.z};
}
std::vector<SC_SACD_Vec3> SC_SACD_Get_Box_Normals(
const SC_SACD_Generic_Box *box) {
std::vector<SC_SACD_Vec3> normals;
normals.emplace_back(SC_SACD_Vec3{1.0F, 0.0F, 0.0F});
normals.back() = SC_SACD_Vec3_Rotate(normals.back(), box->x_radians,
box->y_radians, box->z_radians);
normals.emplace_back(SC_SACD_Vec3{0.0F, 1.0F, 0.0F});
normals.back() = SC_SACD_Vec3_Rotate(normals.back(), box->x_radians,
box->y_radians, box->z_radians);
normals.emplace_back(SC_SACD_Vec3{0.0F, 0.0F, 1.0F});
normals.back() = SC_SACD_Vec3_Rotate(normals.back(), box->x_radians,
box->y_radians, box->z_radians);
// Not normalizing the normals on purpose for optimization. (No unit vectors.)
return normals;
}
std::vector<SC_SACD_Vec3> SC_SACD_Get_Box_Corners(
const SC_SACD_Generic_Box *box) {
std::vector<SC_SACD_Vec3> corners;
SC_SACD_Vec3 pos{box->x, box->y, box->z};
corners.push_back(
SC_SACD_Vec3_Rotate(SC_SACD_Vec3{-box->width / 2.0F, -box->height / 2.0F,
-box->depth / 2.0F},
box->x_radians, box->y_radians, box->z_radians) +
pos);
corners.push_back(
SC_SACD_Vec3_Rotate(SC_SACD_Vec3{box->width / 2.0F, -box->height / 2.0F,
-box->depth / 2.0F},
box->x_radians, box->y_radians, box->z_radians) +
pos);
corners.push_back(
SC_SACD_Vec3_Rotate(SC_SACD_Vec3{-box->width / 2.0F, box->height / 2.0F,
-box->depth / 2.0F},
box->x_radians, box->y_radians, box->z_radians) +
pos);
corners.push_back(
SC_SACD_Vec3_Rotate(SC_SACD_Vec3{box->width / 2.0F, box->height / 2.0F,
-box->depth / 2.0F},
box->x_radians, box->y_radians, box->z_radians) +
pos);
corners.push_back(
SC_SACD_Vec3_Rotate(SC_SACD_Vec3{-box->width / 2.0F, -box->height / 2.0F,
box->depth / 2.0F},
box->x_radians, box->y_radians, box->z_radians) +
pos);
corners.push_back(
SC_SACD_Vec3_Rotate(SC_SACD_Vec3{box->width / 2.0F, -box->height / 2.0F,
box->depth / 2.0F},
box->x_radians, box->y_radians, box->z_radians) +
pos);
corners.push_back(
SC_SACD_Vec3_Rotate(SC_SACD_Vec3{-box->width / 2.0F, box->height / 2.0F,
box->depth / 2.0F},
box->x_radians, box->y_radians, box->z_radians) +
pos);
corners.push_back(
SC_SACD_Vec3_Rotate(SC_SACD_Vec3{box->width / 2.0F, box->height / 2.0F,
box->depth / 2.0F},
box->x_radians, box->y_radians, box->z_radians) +
pos);
return corners;
}
struct SC_SACD_MinMax {
float min, max;
};
std::vector<SC_SACD_MinMax> SC_SACD_Get_Box_MinMax(
const SC_SACD_Generic_Box *box, const std::vector<SC_SACD_Vec3> &normals) {
std::vector<SC_SACD_MinMax> minmaxes;
std::vector<SC_SACD_Vec3> corners = SC_SACD_Get_Box_Corners(box);
// Assuming normals are not normalized, and will not normalize anyway.
// MinMax count should be same as normals count.
for (const auto &normal : normals) {
SC_SACD_MinMax minmax{INFINITY, -INFINITY};
for (const auto &corner : corners) {
float projected = SC_SACD_Dot_Product(corner, normal);
if (projected > minmax.max) {
minmax.max = projected;
}
if (projected < minmax.min) {
minmax.min = projected;
}
}
minmaxes.push_back(minmax);
}
return minmaxes;
}
// =============================================================================
// Private Helpers END
// =============================================================================
int SC_SACD_AABB_Box_Collision(const SC_SACD_AABB_Box *a, int SC_SACD_AABB_Box_Collision(const SC_SACD_AABB_Box *a,
const SC_SACD_AABB_Box *b) { const SC_SACD_AABB_Box *b) {
@ -27,8 +147,25 @@ int SC_SACD_AABB_Box_Collision(const SC_SACD_AABB_Box *a,
int SC_SACD_Generic_Box_Collision(const SC_SACD_Generic_Box *a, int SC_SACD_Generic_Box_Collision(const SC_SACD_Generic_Box *a,
const SC_SACD_Generic_Box *b) { const SC_SACD_Generic_Box *b) {
// TODO // Get all normals.
std::vector<SC_SACD_Vec3> normals = SC_SACD_Get_Box_Normals(a);
for (const auto &normal : SC_SACD_Get_Box_Normals(b)) {
normals.push_back(normal);
}
// Get all minmaxes.
std::vector<SC_SACD_MinMax> minmaxes_a = SC_SACD_Get_Box_MinMax(a, normals);
std::vector<SC_SACD_MinMax> minmaxes_b = SC_SACD_Get_Box_MinMax(b, normals);
// Check minmaxes.
for (unsigned int i = 0; i < normals.size(); ++i) {
if (minmaxes_a[i].max < minmaxes_b[i].min ||
minmaxes_b[i].max < minmaxes_a[i].min) {
return 0; return 0;
}
}
return 1;
} }
int SC_SACD_AABB_Generic_Box_Collision(const SC_SACD_AABB_Box *a, int SC_SACD_AABB_Generic_Box_Collision(const SC_SACD_AABB_Box *a,

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@ -1,4 +1,5 @@
#include <iostream> #include <iostream>
#include <numbers>
static int checks_checked = 0; static int checks_checked = 0;
static int checks_passed = 0; static int checks_passed = 0;
@ -28,6 +29,7 @@ static int checks_passed = 0;
int main() { int main() {
// Test 2D AABB. // Test 2D AABB.
{
SC_SACD_AABB_Box a{0.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F}; SC_SACD_AABB_Box a{0.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F};
SC_SACD_AABB_Box b{2.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F}; SC_SACD_AABB_Box b{2.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F};
@ -79,6 +81,55 @@ int main() {
b.y = -2.0F; b.y = -2.0F;
CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b)); CHECK_FALSE(SC_SACD_AABB_Box_Collision(&a, &b));
}
// Test Separating_Axis_Collision check.
{
SC_SACD_Generic_Box a{0.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F, 0.0F, 0.0F, 0.0F};
SC_SACD_Generic_Box b{0.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F, 0.0F, 0.0F, 0.0F};
CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
b.x = 1.1F;
CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b));
b.x = -1.1F;
CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b));
a.z_radians = std::numbers::pi_v<float> / 4.0F;
b.z_radians = a.z_radians;
CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
b.x = 1.1F;
CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
b.x = 0.0F;
b.y = 1.1F;
a.z_radians = 0.0F;
b.z_radians = 0.0F;
CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b));
b.y = -1.1F;
CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b));
a.z_radians = std::numbers::pi_v<float> / 4.0F;
b.z_radians = a.z_radians;
CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
b.y = 1.1F;
CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
b.y = 0.0F;
a.z_radians = 0.0F;
b.z_radians = 0.0F;
b.z = 1.1F;
CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b));
b.z = -1.1F;
CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b));
a.y_radians = std::numbers::pi_v<float> / 4.0F;
b.y_radians = a.y_radians;
CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
b.z = 1.1F;
CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
}
std::cout << "Checks checked: " << checks_checked << '\n' std::cout << "Checks checked: " << checks_checked << '\n'
<< "Checks passed: " << checks_passed << '\n'; << "Checks passed: " << checks_passed << '\n';