diff --git a/CMakeLists.txt b/CMakeLists.txt index ce00a45..840d6fc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -6,7 +6,7 @@ set(SC_3D_CollisionDetectionHelpers_HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/src/sc_ add_library(SC_3D_CollisionDetectionHelpers ${SC_3D_CollisionDetectionHelpers_SOURCES}) -set_target_properties(SC_3D_CollisionDetectionHelpers PROPERTIES VERSION 1.0.0 SOVERSION 1) +set_target_properties(SC_3D_CollisionDetectionHelpers PROPERTIES VERSION 2.0.0 SOVERSION 2) if(NOT DEFINED CMAKE_BUILD_TYPE OR "${CMAKE_BUILD_TYPE}" STREQUAL "") message("Defaulting to \"Debug\" build type.") diff --git a/Changelog.md b/Changelog.md index f26d6ed..8309ce9 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,5 +1,15 @@ # Changelog +## Version 2.0.0 + +Add collision detection with Spheres. + +Add some more vector/matrix math stuff. + +Replace Mat3 with Mat4. + +Replace xyz-axis rotation floats in GenericBox with Mat4. + ## Version 1.0.0 First version of this library. diff --git a/src/sc_sacd.cpp b/src/sc_sacd.cpp index f97bb3c..2713cdc 100644 --- a/src/sc_sacd.cpp +++ b/src/sc_sacd.cpp @@ -9,27 +9,89 @@ // Private Helpers BEGIN // ============================================================================= +constexpr float INV_SQRT2 = 0.70710678118654752440F; + 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}; } +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}; +} + +SC_SACD_Vec3 operator*(const SC_SACD_Vec3 &a, float scalar) { + return SC_SACD_Vec3{a.x * scalar, a.y * scalar, a.z * scalar}; +} + +SC_SACD_Vec3 operator/(const SC_SACD_Vec3 &a, float scalar) { + return SC_SACD_Vec3{a.x / scalar, a.y / scalar, a.z / scalar}; +} + +SC_SACD_Mat4 operator*(const SC_SACD_Mat4 &a, const SC_SACD_Mat4 &b) { + SC_SACD_Mat4 mat; + + mat.x0 = b.x0 * a.x0 + b.y0 * a.x1 + b.z0 * a.x2 + b.w0 * a.x3; + mat.y0 = b.x0 * a.y0 + b.y0 * a.y1 + b.z0 * a.y2 + b.w0 * a.y3; + mat.z0 = b.x0 * a.z0 + b.y0 * a.z1 + b.z0 * a.z2 + b.w0 * a.z3; + mat.w0 = b.x0 * a.w0 + b.y0 * a.w1 + b.z0 * a.w2 + b.w0 * a.w3; + + mat.x1 = b.x1 * a.x0 + b.y1 * a.x1 + b.z1 * a.x2 + b.w1 * a.x3; + mat.y1 = b.x1 * a.y0 + b.y1 * a.y1 + b.z1 * a.y2 + b.w1 * a.y3; + mat.z1 = b.x1 * a.z0 + b.y1 * a.z1 + b.z1 * a.z2 + b.w1 * a.z3; + mat.w1 = b.x1 * a.w0 + b.y1 * a.w1 + b.z1 * a.w2 + b.w1 * a.w3; + + mat.x2 = b.x2 * a.x0 + b.y2 * a.x1 + b.z2 * a.x2 + b.w2 * a.x3; + mat.y2 = b.x2 * a.y0 + b.y2 * a.y1 + b.z2 * a.y2 + b.w2 * a.y3; + mat.z2 = b.x2 * a.z0 + b.y2 * a.z1 + b.z2 * a.z2 + b.w2 * a.z3; + mat.w2 = b.x2 * a.w0 + b.y2 * a.w1 + b.z2 * a.w2 + b.w2 * a.w3; + + mat.x3 = b.x3 * a.x0 + b.y3 * a.x1 + b.z3 * a.x2 + b.w3 * a.x3; + mat.y3 = b.x3 * a.y0 + b.y3 * a.y1 + b.z3 * a.y2 + b.w3 * a.y3; + mat.z3 = b.x3 * a.z0 + b.y3 * a.z1 + b.z3 * a.z2 + b.w3 * a.z3; + mat.w3 = b.x3 * a.w0 + b.y3 * a.w1 + b.z3 * a.w2 + b.w3 * a.w3; + + return mat; +} + +SC_SACD_Vec3 operator*(const SC_SACD_Mat4 &mat, const SC_SACD_Vec3 &vec) { + return SC_SACD_Vec3{ + vec.x * mat.x0 + vec.y * mat.x1 + vec.z * mat.x2 + mat.x3, + vec.x * mat.y0 + vec.y * mat.y1 + vec.z * mat.y2 + mat.y3, + vec.x * mat.z0 + vec.y * mat.z1 + vec.z * mat.z2 + mat.z3}; +} + std::vector SC_SACD_Get_Box_Normals( const SC_SACD_Generic_Box *box) { std::vector 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.back() = box->transform * normals.back(); 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.back() = box->transform * normals.back(); 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); + normals.back() = box->transform * normals.back(); + + return normals; +} + +std::vector SC_SACD_Get_Box_Normals_Normalized( + const SC_SACD_Generic_Box *box) { + std::vector normals; + + normals.emplace_back(SC_SACD_Vec3{1.0F, 0.0F, 0.0F}); + normals.back() = box->transform * normals.back(); + normals.back() = normals.back() / SC_SACD_Vec3_Length(normals.back()); + + normals.emplace_back(SC_SACD_Vec3{0.0F, 1.0F, 0.0F}); + normals.back() = box->transform * normals.back(); + normals.back() = normals.back() / SC_SACD_Vec3_Length(normals.back()); + + normals.emplace_back(SC_SACD_Vec3{0.0F, 0.0F, 1.0F}); + normals.back() = box->transform * normals.back(); + normals.back() = normals.back() / SC_SACD_Vec3_Length(normals.back()); - // Not normalizing the normals on purpose for optimization. (No unit vectors.) return normals; } @@ -37,55 +99,61 @@ std::vector SC_SACD_Get_Box_Corners( const SC_SACD_Generic_Box *box) { std::vector corners; - SC_SACD_Vec3 pos{box->x, box->y, box->z}; + corners.push_back(box->transform * SC_SACD_Vec3{-box->width / 2.0F, + -box->height / 2.0F, + -box->depth / 2.0F}); + corners.back().x += box->x; + corners.back().y += box->y; + corners.back().z += 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(box->transform * SC_SACD_Vec3{box->width / 2.0F, + -box->height / 2.0F, + -box->depth / 2.0F}); + corners.back().x += box->x; + corners.back().y += box->y; + corners.back().z += 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(box->transform * SC_SACD_Vec3{-box->width / 2.0F, + box->height / 2.0F, + -box->depth / 2.0F}); + corners.back().x += box->x; + corners.back().y += box->y; + corners.back().z += 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(box->transform * SC_SACD_Vec3{box->width / 2.0F, + box->height / 2.0F, + -box->depth / 2.0F}); + corners.back().x += box->x; + corners.back().y += box->y; + corners.back().z += 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(box->transform * SC_SACD_Vec3{-box->width / 2.0F, + -box->height / 2.0F, + box->depth / 2.0F}); + corners.back().x += box->x; + corners.back().y += box->y; + corners.back().z += 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(box->transform * SC_SACD_Vec3{box->width / 2.0F, + -box->height / 2.0F, + box->depth / 2.0F}); + corners.back().x += box->x; + corners.back().y += box->y; + corners.back().z += 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(box->transform * SC_SACD_Vec3{-box->width / 2.0F, + box->height / 2.0F, + box->depth / 2.0F}); + corners.back().x += box->x; + corners.back().y += box->y; + corners.back().z += 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(box->transform * SC_SACD_Vec3{box->width / 2.0F, + box->height / 2.0F, + box->depth / 2.0F}); + corners.back().x += box->x; + corners.back().y += box->y; + corners.back().z += box->z; return corners; } @@ -123,6 +191,12 @@ std::vector SC_SACD_Get_Box_MinMax( // Private Helpers END // ============================================================================= +SC_SACD_Generic_Box SC_SACD_Generic_Box_Default() { + return { + 0.0F, 0.0F, 0.0F, 2.0F, 2.0F, 2.0F, SC_SACD_Mat4_Identity(), + }; +} + int SC_SACD_AABB_Box_Collision(const SC_SACD_AABB_Box *a, const SC_SACD_AABB_Box *b) { float ax_min = a->x - a->width / 2.0F; @@ -178,12 +252,96 @@ int SC_SACD_AABB_Generic_Box_Collision(const SC_SACD_AABB_Box *a, a_conv.width = a->width; a_conv.height = a->height; a_conv.depth = a->depth; - a_conv.x_radians = 0.0F; - a_conv.y_radians = 0.0F; - a_conv.z_radians = 0.0F; + a_conv.transform = SC_SACD_Mat4_Identity(); return SC_SACD_Generic_Box_Collision(&a_conv, b); } +int SC_SACD_Sphere_Collision(const SC_SACD_Sphere *a, const SC_SACD_Sphere *b) { + SC_SACD_Vec3 vec{a->x - b->x, a->y - b->y, a->z - b->z}; + + return (a->radius + b->radius) > std::sqrt(SC_SACD_Dot_Product(vec, vec)) ? 1 + : 0; +} + +int SC_SACD_Sphere_AABB_Box_Collision(const SC_SACD_Sphere *sphere, + const SC_SACD_AABB_Box *box) { + SC_SACD_Vec3 box_min{ + box->x - box->width / 2.0F, + box->y - box->height / 2.0F, + box->z - box->depth / 2.0F, + }; + SC_SACD_Vec3 box_max{ + box->x + box->width / 2.0F, + box->y + box->height / 2.0F, + box->z + box->depth / 2.0F, + }; + + SC_SACD_Vec3 clamped{std::max(box_min.x, std::min(sphere->x, box_max.x)), + std::max(box_min.y, std::min(sphere->y, box_max.y)), + std::max(box_min.z, std::min(sphere->z, box_max.z))}; + + SC_SACD_Vec3 diff = clamped - SC_SACD_Vec3{sphere->x, sphere->y, sphere->z}; + + float dist = std::sqrt(SC_SACD_Dot_Product(diff, diff)); + + return dist < sphere->radius; +} + +int SC_SACD_Sphere_Box_Collision(const SC_SACD_Sphere *sphere, + const SC_SACD_Generic_Box *box) { + // Adapted from Generic_Box/Generic_Box collision. + + // First check plane where normal = box_pos - sphere_pos. + + SC_SACD_Vec3 sphere_pos{sphere->x, sphere->y, sphere->z}; + SC_SACD_Vec3 sphere_box_normal = + SC_SACD_Vec3{box->x, box->y, box->z} - sphere_pos; + sphere_box_normal = + sphere_box_normal / + std::sqrt(SC_SACD_Dot_Product(sphere_box_normal, sphere_box_normal)); + + std::vector normals{sphere_box_normal}; + + std::vector box_minmaxes = + SC_SACD_Get_Box_MinMax(box, normals); + + float projected_0 = SC_SACD_Dot_Product( + sphere_box_normal, sphere_pos + sphere_box_normal * sphere->radius); + float projected_1 = SC_SACD_Dot_Product( + sphere_box_normal, sphere_pos - sphere_box_normal * sphere->radius); + if (projected_0 < projected_1) { + if (box_minmaxes[0].max < projected_0 || + box_minmaxes[0].min > projected_1) { + return 0; + } + } else if (box_minmaxes[0].max < projected_1 || + box_minmaxes[0].min > projected_0) { + return 0; + } + + // Next check the planes for the 3 normals of the box. + + normals = SC_SACD_Get_Box_Normals(box); + box_minmaxes = SC_SACD_Get_Box_MinMax(box, normals); + for (unsigned int i = 0; i < normals.size(); ++i) { + projected_0 = SC_SACD_Dot_Product(normals[i], + sphere_pos + normals[i] * sphere->radius); + projected_1 = SC_SACD_Dot_Product(normals[i], + sphere_pos - normals[i] * sphere->radius); + if (projected_0 < projected_1) { + if (box_minmaxes[i].max < projected_0 || + box_minmaxes[i].min > projected_1) { + return 0; + } + } else if (box_minmaxes[i].max < projected_1 || + box_minmaxes[i].min > projected_0) { + return 0; + } + } + + return 1; +} + float SC_SACD_Dot_Product(const SC_SACD_Vec3 a, const SC_SACD_Vec3 b) { return a.x * b.x + a.y * b.y + a.z * b.z; } @@ -193,13 +351,18 @@ SC_SACD_Vec3 SC_SACD_Cross_Product(const SC_SACD_Vec3 a, const SC_SACD_Vec3 b) { a.x * b.y - a.y * b.x}; } -SC_SACD_Vec3 SC_SACD_Mat3_Vec3_Mult(const SC_SACD_Mat3 *mat, +SC_SACD_Mat4 SC_SACD_Mat4_Identity(void) { + return SC_SACD_Mat4{1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, + 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F}; +} + +SC_SACD_Mat4 SC_SACD_Mat4_Mult(const SC_SACD_Mat4 *a, const SC_SACD_Mat4 *b) { + return (*a) * (*b); +} + +SC_SACD_Vec3 SC_SACD_Mat4_Vec3_Mult(const SC_SACD_Mat4 *mat, const SC_SACD_Vec3 vec) { - return SC_SACD_Vec3{ - vec.x * mat->x0 + vec.y * mat->y0 + vec.z * mat->z0, - vec.x * mat->x1 + vec.y * mat->y1 + vec.z * mat->z1, - vec.x * mat->x2 + vec.y * mat->y2 + vec.z * mat->z2, - }; + return (*mat) * vec; } SC_SACD_Vec3 SC_SACD_Vec3_Rotate(const SC_SACD_Vec3 vec, float x_axis, @@ -221,45 +384,125 @@ SC_SACD_Vec3 SC_SACD_Vec3_Rotate(const SC_SACD_Vec3 vec, float x_axis, * [ -sin, 0, cos ] */ - SC_SACD_Mat3 mat; + SC_SACD_Mat4 mat; SC_SACD_Vec3 result; // About x_axis. - mat.x0 = 1.0F; - mat.y0 = 0.0F; - mat.z0 = 0.0F; - mat.x1 = 0.0F; - mat.y1 = std::cos(x_axis); - mat.z1 = -std::sin(x_axis); - mat.x2 = 0.0F; - mat.y2 = -mat.z1; - mat.z2 = mat.y1; + mat = SC_SACD_Rotation_Mat4_XAxis(x_axis); - result = SC_SACD_Mat3_Vec3_Mult(&mat, vec); + result = SC_SACD_Mat4_Vec3_Mult(&mat, vec); // About y_axis. - mat.x0 = std::cos(y_axis); - mat.y0 = 0.0F; - mat.z0 = std::sin(y_axis); - mat.x1 = 0.0F; - mat.y1 = 1.0F; - mat.z1 = 0.0F; - mat.x2 = -mat.z0; - mat.y2 = 0.0F; - mat.z2 = mat.x0; + mat = SC_SACD_Rotation_Mat4_YAxis(y_axis); - result = SC_SACD_Mat3_Vec3_Mult(&mat, result); + result = SC_SACD_Mat4_Vec3_Mult(&mat, result); // About z_axis. - mat.x0 = std::cos(z_axis); - mat.y0 = -std::sin(z_axis); - mat.z0 = 0.0F; - mat.x1 = -mat.y0; - mat.y1 = mat.x0; - mat.z1 = 0.0F; - mat.x2 = 0.0F; - mat.y2 = 0.0F; - mat.z2 = 1.0F; + mat = SC_SACD_Rotation_Mat4_ZAxis(z_axis); - return SC_SACD_Mat3_Vec3_Mult(&mat, result); + return SC_SACD_Mat4_Vec3_Mult(&mat, result); +} + +SC_SACD_Mat4 SC_SACD_Rotation_Mat4_XAxis(float x_radians) { + SC_SACD_Mat4 mat; + + mat.x0 = 1.0F; + mat.x1 = 0.0F; + mat.x2 = 0.0F; + mat.x3 = 0.0F; + + mat.y0 = 0.0F; + mat.y1 = std::cos(x_radians); + mat.y2 = -std::sin(x_radians); + mat.y3 = 0.0F; + + mat.z0 = 0.0F; + mat.z1 = -mat.y2; + mat.z2 = mat.y1; + mat.z3 = 0.0F; + + mat.w0 = 0.0F; + mat.w1 = 0.0F; + mat.w2 = 0.0F; + mat.w3 = 1.0F; + + return mat; +} + +SC_SACD_Mat4 SC_SACD_Rotation_Mat4_YAxis(float y_radians) { + SC_SACD_Mat4 mat; + + mat.x0 = std::cos(y_radians); + mat.x1 = 0.0F; + mat.x2 = std::sin(y_radians); + mat.x3 = 0.0F; + + mat.y0 = 0.0F; + mat.y1 = 1.0F; + mat.y2 = 0.0F; + mat.y3 = 0.0F; + + mat.z0 = -mat.x2; + mat.z1 = 0.0F; + mat.z2 = mat.x0; + mat.z3 = 0.0F; + + mat.w0 = 0.0F; + mat.w1 = 0.0F; + mat.w2 = 0.0F; + mat.w3 = 1.0F; + + return mat; +} + +SC_SACD_Mat4 SC_SACD_Rotation_Mat4_ZAxis(float z_radians) { + SC_SACD_Mat4 mat; + + mat.x0 = std::cos(z_radians); + mat.x1 = -std::sin(z_radians); + mat.x2 = 0.0F; + mat.x3 = 0.0F; + + mat.y0 = -mat.x1; + mat.y1 = mat.x0; + mat.y2 = 0.0F; + mat.y3 = 0.0F; + + mat.z0 = 0.0F; + mat.z1 = 0.0F; + mat.z2 = 1.0F; + mat.z3 = 0.0F; + + mat.w0 = 0.0F; + mat.w1 = 0.0F; + mat.w2 = 0.0F; + mat.w3 = 1.0F; + + return mat; +} + +SC_SACD_Mat4 SC_SACD_Translate_Mat4(float x, float y, float z) { + return SC_SACD_Mat4{0.0F, 0.0F, 0.0F, x, 0.0F, 1.0F, 0.0F, y, + 0.0F, 0.0F, 1.0F, z, 0.0F, 0.0F, 0.0F, 1.0F}; +} + +SC_SACD_Vec3 SC_SACD_Closest_Point_Dir_Normalized(const SC_SACD_Vec3 *pos, + const SC_SACD_Vec3 *dir, + const SC_SACD_Vec3 *point) { + float alpha = + SC_SACD_Dot_Product(*dir, *point) - SC_SACD_Dot_Product(*dir, *pos); + return *pos + *dir * alpha; +} + +SC_SACD_Vec3 SC_SACD_Closest_Point(const SC_SACD_Vec3 *pos, + const SC_SACD_Vec3 *dir, + const SC_SACD_Vec3 *point) { + float alpha = + (SC_SACD_Dot_Product(*dir, *point) - SC_SACD_Dot_Product(*dir, *pos)) / + SC_SACD_Dot_Product(*dir, *dir); + return *pos + *dir * alpha; +} + +float SC_SACD_Vec3_Length(const SC_SACD_Vec3 vec) { + return std::sqrt(SC_SACD_Dot_Product(vec, vec)); } diff --git a/src/sc_sacd.h b/src/sc_sacd.h index 4893046..9cb0e21 100644 --- a/src/sc_sacd.h +++ b/src/sc_sacd.h @@ -24,11 +24,12 @@ typedef struct SC_SACD_EXPORT SC_SACD_Vec3 { float x, y, z; } SC_SACD_Vec3; -typedef struct SC_SACD_EXPORT SC_SACD_Mat3 { - float x0, y0, z0; - float x1, y1, z1; - float x2, y2, z2; -} SC_SACD_Mat3; +typedef struct SC_SACD_EXPORT SC_SACD_Mat4 { + float x0, x1, x2, x3; + float y0, y1, y2, y3; + float z0, z1, z2, z3; + float w0, w1, w2, w3; +} SC_SACD_Mat4; typedef struct SC_SACD_EXPORT SC_SACD_AABB_Box { /// Coordinates are to center of box. @@ -43,6 +44,7 @@ typedef struct SC_SACD_EXPORT SC_SACD_AABB_Box { float depth; } SC_SACD_AABB_Box; +/// Must not be zero initialized. Use SC_SACD_Generix_Box_Default() instead. typedef struct SC_SACD_EXPORT SC_SACD_Generic_Box { /// Coordinates are to center of box. float x; @@ -54,12 +56,20 @@ typedef struct SC_SACD_EXPORT SC_SACD_Generic_Box { float height; /// z-axis depth. float depth; - /// Rotation about center of box about axis. - float x_radians; - float y_radians; - float z_radians; + /// Local transform; expects center of box as origin. + SC_SACD_Mat4 transform; } SC_SACD_Generic_Box; +typedef struct SC_SACD_EXPORT SC_SACD_Sphere { + float x; + float y; + float z; + float radius; +} SC_SACD_Sphere; + +/// Returns a box at origin with width/height/depth of 2 each. +SC_SACD_EXPORT SC_SACD_Generic_Box SC_SACD_Generic_Box_Default(void); + /// Returns non-zero if there is collision. SC_SACD_EXPORT int SC_SACD_AABB_Box_Collision(const SC_SACD_AABB_Box *a, const SC_SACD_AABB_Box *b); @@ -72,19 +82,55 @@ SC_SACD_EXPORT int SC_SACD_Generic_Box_Collision(const SC_SACD_Generic_Box *a, SC_SACD_EXPORT int SC_SACD_AABB_Generic_Box_Collision( const SC_SACD_AABB_Box *a, const SC_SACD_Generic_Box *b); +/// Returns non-zero if there is collision. +SC_SACD_EXPORT int SC_SACD_Sphere_Collision(const SC_SACD_Sphere *a, + const SC_SACD_Sphere *b); + +/// Returns non-zero if there is collision. +SC_SACD_EXPORT int SC_SACD_Sphere_AABB_Box_Collision( + const SC_SACD_Sphere *sphere, const SC_SACD_AABB_Box *box); + +/// Returns non-zero if there is collision. +SC_SACD_EXPORT int SC_SACD_Sphere_Box_Collision(const SC_SACD_Sphere *sphere, + const SC_SACD_Generic_Box *box); + SC_SACD_EXPORT float SC_SACD_Dot_Product(const SC_SACD_Vec3 a, const SC_SACD_Vec3 b); SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Cross_Product(const SC_SACD_Vec3 a, const SC_SACD_Vec3 b); -SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Mat3_Vec3_Mult(const SC_SACD_Mat3 *mat, +SC_SACD_EXPORT SC_SACD_Mat4 SC_SACD_Mat4_Identity(void); + +SC_SACD_EXPORT SC_SACD_Mat4 SC_SACD_Mat4_Mult(const SC_SACD_Mat4 *a, + const SC_SACD_Mat4 *b); + +SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Mat4_Vec3_Mult(const SC_SACD_Mat4 *mat, const SC_SACD_Vec3 vec); +/// Rotates by x-axis first, then y-axis, then finally z-axis. SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Vec3_Rotate(const SC_SACD_Vec3 vec, float x_axis, float y_axis, float z_axis); +SC_SACD_EXPORT SC_SACD_Mat4 SC_SACD_Rotation_Mat4_XAxis(float x_radians); +SC_SACD_EXPORT SC_SACD_Mat4 SC_SACD_Rotation_Mat4_YAxis(float y_radians); +SC_SACD_EXPORT SC_SACD_Mat4 SC_SACD_Rotation_Mat4_ZAxis(float z_radians); + +SC_SACD_EXPORT SC_SACD_Mat4 SC_SACD_Translate_Mat4(float x, float y, float z); + +/// This variant of Closest_Point expects "dir" to be a unit vector. +SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Closest_Point_Dir_Normalized( + const SC_SACD_Vec3 *pos, const SC_SACD_Vec3 *dir, + const SC_SACD_Vec3 *point); + +/// This variant of Closest_Point expects "dir" to NOT be a unit vector. +SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Closest_Point(const SC_SACD_Vec3 *pos, + const SC_SACD_Vec3 *dir, + const SC_SACD_Vec3 *point); + +SC_SACD_EXPORT float SC_SACD_Vec3_Length(const SC_SACD_Vec3 vec); + #ifdef __cplusplus } #endif diff --git a/src/test.cpp b/src/test.cpp index ea09c49..bebaccc 100644 --- a/src/test.cpp +++ b/src/test.cpp @@ -1,3 +1,4 @@ +#include #include #include @@ -25,6 +26,16 @@ static int checks_passed = 0; } \ } while (false); +#define CHECK_FLOAT(var, value) \ + do { \ + ++checks_checked; \ + if ((var) > (value)-0.0001F && (var) < (value) + 0.0001F) { \ + ++checks_passed; \ + } else { \ + std::cout << "CHECK_FLOAT at line " << __LINE__ << " failed!\n"; \ + } \ + } while (false); + #include "sc_sacd.h" int main() { @@ -85,8 +96,10 @@ int main() { // 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}; + SC_SACD_Generic_Box a{ + 0.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F, SC_SACD_Mat4_Identity()}; + SC_SACD_Generic_Box b{ + 0.0F, 0.0F, 0.0F, 1.0F, 1.0F, 1.0F, SC_SACD_Mat4_Identity()}; CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b)); @@ -95,44 +108,468 @@ int main() { b.x = -1.1F; CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b)); - a.z_radians = std::numbers::pi_v / 4.0F; - b.z_radians = a.z_radians; + a.transform = SC_SACD_Rotation_Mat4_ZAxis(std::numbers::pi_v / 4.0F); + b.transform = a.transform; 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; + a.transform = SC_SACD_Mat4_Identity(); + b.transform = a.transform; 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 / 4.0F; - b.z_radians = a.z_radians; + a.transform = SC_SACD_Rotation_Mat4_ZAxis(std::numbers::pi_v / 4.0F); + b.transform = a.transform; 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; + a.transform = SC_SACD_Mat4_Identity(); + b.transform = a.transform; 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 / 4.0F; - b.y_radians = a.y_radians; + a.transform = SC_SACD_Rotation_Mat4_YAxis(std::numbers::pi_v / 4.0F); + b.transform = a.transform; CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b)); b.z = 1.1F; CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b)); } + // Test Sphere/Sphere collision check. + { + SC_SACD_Sphere a{0.0F, 0.0F, 0.0F, 1.0F}; + SC_SACD_Sphere b{0.0F, 0.0F, 0.0F, 1.0F}; + CHECK_TRUE(SC_SACD_Sphere_Collision(&a, &b)); + + a.x = 10.0F; + a.y = 10.0F; + a.z = 10.0F; + b.x = 10.0F; + b.y = 10.5F; + b.z = 10.0F; + CHECK_TRUE(SC_SACD_Sphere_Collision(&a, &b)); + b.y = 12.0F; + b.z = 12.0F; + CHECK_FALSE(SC_SACD_Sphere_Collision(&a, &b)); + b.y = 11.0F; + b.z = 11.0F; + CHECK_TRUE(SC_SACD_Sphere_Collision(&a, &b)); + } + + // Test Sphere/AABB collision check. + { + SC_SACD_Sphere sphere{0.0F, 0.0F, 0.0F, 1.0F}; + SC_SACD_AABB_Box box{0.0F, 0.0F, 0.0F, 2.0F, 2.0F, 2.0F}; + + CHECK_TRUE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.x = 2.1F; + CHECK_FALSE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.x = -2.1F; + CHECK_FALSE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.x = 0.0F; + sphere.y = 2.1F; + CHECK_FALSE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.y = -2.1F; + CHECK_FALSE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.y = 0.0F; + sphere.z = 2.1F; + CHECK_FALSE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.z = -2.1F; + CHECK_FALSE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.z = 0.0F; + sphere.x = 1.0F; + sphere.y = 1.0F; + CHECK_TRUE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.x = -1.0F; + sphere.y = -1.0F; + CHECK_TRUE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.x = 2.0F; + sphere.y = 2.0F; + CHECK_FALSE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.x = -2.0F; + sphere.y = -2.0F; + CHECK_FALSE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.x = 1.0F; + sphere.y = 0.0F; + sphere.z = 1.0F; + CHECK_TRUE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.x = -1.0F; + sphere.z = -1.0F; + CHECK_TRUE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.x = 2.0F; + sphere.z = 2.0F; + CHECK_FALSE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.x = -2.0F; + sphere.z = -2.0F; + CHECK_FALSE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.x = 1.0F; + sphere.z = 1.5F; + CHECK_TRUE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + + sphere.x = 1.0F; + sphere.z = 2.0F; + CHECK_FALSE(SC_SACD_Sphere_AABB_Box_Collision(&sphere, &box)); + } + + // Test Sphere/Generic_Box collision check. + { + SC_SACD_Sphere sphere{0.0F, 0.0F, 0.0F, 1.0F}; + SC_SACD_Generic_Box box{ + 0.0F, + 0.0F, + 0.0F, + 2.0F, + 2.0F, + 2.0F, + SC_SACD_Rotation_Mat4_ZAxis(std::numbers::pi_v / 4.0F)}; + + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = 2.5F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.x = -2.5F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.x = 2.3F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.x = -2.3F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = 0.0F; + sphere.y = 2.5F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.y = -2.5F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.y = 2.3F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.y = -2.3F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.y = 0.0F; + sphere.z = 2.1F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.z = -2.1F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.z = 1.9F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.z = -1.9F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = 1.5F; + sphere.y = 1.5F; + sphere.z = 0.0F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.x = 1.4F; + sphere.y = 1.4F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = 2.2F; + sphere.y = 0.7929F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = 2.1F; + sphere.y = 0.6929F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = -1.5F; + sphere.y = -1.5F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.x = -1.4F; + sphere.y = -1.4F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = -2.2F; + sphere.y = -0.7929F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = -2.1F; + sphere.y = -0.6929F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + box.x = 10.0F; + box.y = -10.0F; + box.z = 13.0F; + + sphere.y = -10.0F; + sphere.z = 13.0F; + sphere.x = 10.0F + 2.5F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.x = 10.0F + -2.5F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.x = 10.0F + 2.3F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.x = 10.0F + -2.3F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = 10.0F + 0.0F; + sphere.y = -10.0F + 2.5F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.y = -10.0F + -2.5F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.y = -10.0F + 2.3F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.y = -10.0F + -2.3F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.y = -10.0F + 0.0F; + sphere.z = 13.0F + 2.1F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.z = 13.0F + -2.1F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.z = 13.0F + 1.9F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.z = 13.0F + -1.9F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = 10.0F + 1.5F; + sphere.y = -10.0F + 1.5F; + sphere.z = 13.0F + 0.0F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.x = 10.0F + 1.4F; + sphere.y = -10.0F + 1.4F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = 10.0F + 2.2F; + sphere.y = -10.0F + 0.7929F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = 10.0F + 2.1F; + sphere.y = -10.0F + 0.6929F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = 10.0F + -1.5F; + sphere.y = -10.0F + -1.5F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + sphere.x = 10.0F + -1.4F; + sphere.y = -10.0F + -1.4F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = 10.0F + -2.2F; + sphere.y = -10.0F + -0.7929F; + CHECK_FALSE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + + sphere.x = 10.0F + -2.1F; + sphere.y = -10.0F + -0.6929F; + CHECK_TRUE(SC_SACD_Sphere_Box_Collision(&sphere, &box)); + } + + // Test matrix/vector multiplication. + { + SC_SACD_Mat4 mat_a{1.0F, 2.0F, 3.0F, 4.0F, 5.0F, 6.0F, 7.0F, 8.0F, + 9.0F, 10.0F, 11.0F, 12.0F, 13.0F, 14.0F, 15.0F, 16.0F}; + + SC_SACD_Mat4 mat_b = SC_SACD_Mat4_Identity(); + + { + auto result = SC_SACD_Mat4_Mult(&mat_a, &mat_b); + CHECK_TRUE(mat_a.x0 == result.x0); + CHECK_TRUE(mat_a.x1 == result.x1); + CHECK_TRUE(mat_a.x2 == result.x2); + CHECK_TRUE(mat_a.x3 == result.x3); + CHECK_TRUE(mat_a.y0 == result.y0); + CHECK_TRUE(mat_a.y1 == result.y1); + CHECK_TRUE(mat_a.y2 == result.y2); + CHECK_TRUE(mat_a.y3 == result.y3); + CHECK_TRUE(mat_a.z0 == result.z0); + CHECK_TRUE(mat_a.z1 == result.z1); + CHECK_TRUE(mat_a.z2 == result.z2); + CHECK_TRUE(mat_a.z3 == result.z3); + CHECK_TRUE(mat_a.w0 == result.w0); + CHECK_TRUE(mat_a.w1 == result.w1); + CHECK_TRUE(mat_a.w2 == result.w2); + CHECK_TRUE(mat_a.w3 == result.w3); + } + + mat_b.x0 = 2.0F; + mat_b.y1 = 0.0F; + mat_b.z2 = 0.0F; + { + auto result = SC_SACD_Mat4_Mult(&mat_a, &mat_b); + CHECK_FLOAT(result.x0, 2.0F); + CHECK_FLOAT(result.y0, 10.0F); + CHECK_FLOAT(result.z0, 18.0F); + CHECK_FLOAT(result.w0, 26.0F); + CHECK_FLOAT(result.x1, 0.0F); + CHECK_FLOAT(result.y1, 0.0F); + CHECK_FLOAT(result.z1, 0.0F); + CHECK_FLOAT(result.w1, 0.0F); + CHECK_FLOAT(result.x2, 0.0F); + CHECK_FLOAT(result.y2, 0.0F); + CHECK_FLOAT(result.z2, 0.0F); + CHECK_FLOAT(result.w2, 0.0F); + CHECK_FLOAT(result.x3, 4.0F); + CHECK_FLOAT(result.y3, 8.0F); + CHECK_FLOAT(result.z3, 12.0F); + CHECK_FLOAT(result.w3, 16.0F); + } + + mat_b = SC_SACD_Mat4_Identity(); + SC_SACD_Vec3 vec_a{1.0F, 0.0F, 0.0F}; + { + auto result = SC_SACD_Mat4_Vec3_Mult(&mat_b, vec_a); + CHECK_TRUE(result.x == vec_a.x); + CHECK_TRUE(result.y == vec_a.y); + CHECK_TRUE(result.z == vec_a.z); + } + + // Rotations about each axis. + mat_a = SC_SACD_Rotation_Mat4_ZAxis(std::numbers::pi_v / 2.0F); + { + auto result = SC_SACD_Mat4_Vec3_Mult(&mat_a, vec_a); + CHECK_TRUE(result.x < 0.0001F && result.x > -0.0001F); + CHECK_TRUE(result.y < 1.0001F && result.y > 0.9999F); + CHECK_TRUE(result.z < 0.0001F && result.z > -0.0001F); + } + + mat_a = SC_SACD_Rotation_Mat4_ZAxis(std::numbers::pi_v); + { + auto result = SC_SACD_Mat4_Vec3_Mult(&mat_a, vec_a); + CHECK_TRUE(result.x < -0.9999F && result.x > -1.0001F); + CHECK_TRUE(result.y < 0.0001F && result.y > -0.0001F); + CHECK_TRUE(result.z < 0.0001F && result.z > -0.0001F); + } + + mat_a = + SC_SACD_Rotation_Mat4_ZAxis(std::numbers::pi_v * 3.0F / 2.0F); + { + auto result = SC_SACD_Mat4_Vec3_Mult(&mat_a, vec_a); + CHECK_TRUE(result.x < 0.0001F && result.x > -0.0001F); + CHECK_TRUE(result.y < -0.9999F && result.y > -1.0001F); + CHECK_TRUE(result.z < 0.0001F && result.z > -0.0001F); + } + + mat_a = SC_SACD_Rotation_Mat4_XAxis(std::numbers::pi_v / 2.0F); + vec_a.x = 0.0F; + vec_a.y = 1.0F; + vec_a.z = 0.0F; + { + auto result = SC_SACD_Mat4_Vec3_Mult(&mat_a, vec_a); + CHECK_TRUE(result.x < 0.0001F && result.x > -0.0001F); + CHECK_TRUE(result.y < 0.0001F && result.y > -0.0001F); + CHECK_TRUE(result.z < 1.0001F && result.z > 0.9999F); + } + + mat_a = SC_SACD_Rotation_Mat4_XAxis(std::numbers::pi_v); + { + auto result = SC_SACD_Mat4_Vec3_Mult(&mat_a, vec_a); + CHECK_TRUE(result.x < 0.0001F && result.x > -0.0001F); + CHECK_TRUE(result.y < -0.9999F && result.y > -1.0001F); + CHECK_TRUE(result.z < 0.0001F && result.z > -0.0001F); + } + + mat_a = + SC_SACD_Rotation_Mat4_XAxis(std::numbers::pi_v * 3.0F / 2.0F); + { + auto result = SC_SACD_Mat4_Vec3_Mult(&mat_a, vec_a); + CHECK_TRUE(result.x < 0.0001F && result.x > -0.0001F); + CHECK_TRUE(result.y < 0.0001F && result.y > -0.0001F); + CHECK_TRUE(result.z < -0.9999F && result.z > -1.0001F); + } + + mat_a = SC_SACD_Rotation_Mat4_YAxis(std::numbers::pi_v / 2.0F); + vec_a.x = 0.0F; + vec_a.y = 0.0F; + vec_a.z = 1.0F; + { + auto result = SC_SACD_Mat4_Vec3_Mult(&mat_a, vec_a); + CHECK_TRUE(result.x < 1.0001F && result.x > 0.9999F); + CHECK_TRUE(result.y < 0.0001F && result.y > -0.0001F); + CHECK_TRUE(result.z < 0.0001F && result.z > -0.0001F); + } + + mat_a = SC_SACD_Rotation_Mat4_YAxis(std::numbers::pi_v); + { + auto result = SC_SACD_Mat4_Vec3_Mult(&mat_a, vec_a); + CHECK_TRUE(result.x < 0.0001F && result.x > -0.0001F); + CHECK_TRUE(result.y < 0.0001F && result.y > -0.0001F); + CHECK_TRUE(result.z < -0.9999F && result.z > -1.0001F); + } + + mat_a = + SC_SACD_Rotation_Mat4_YAxis(std::numbers::pi_v * 3.0F / 2.0F); + { + auto result = SC_SACD_Mat4_Vec3_Mult(&mat_a, vec_a); + CHECK_TRUE(result.x < -0.9999F && result.x > -1.0001F); + CHECK_TRUE(result.y < 0.0001F && result.y > -0.0001F); + CHECK_TRUE(result.z < 0.0001F && result.z > -0.0001F); + } + + // Combined axis rotation. + vec_a.x = 1.0F; + vec_a.y = 0.0F; + vec_a.z = 0.0F; + mat_a = SC_SACD_Rotation_Mat4_YAxis(std::numbers::pi_v / 4.0F); + mat_b = SC_SACD_Rotation_Mat4_ZAxis(std::numbers::pi_v / 4.0F); + // Apply mat_a, then mat_b. + mat_a = SC_SACD_Mat4_Mult(&mat_b, &mat_a); + { + auto result = SC_SACD_Mat4_Vec3_Mult(&mat_a, vec_a); + CHECK_FLOAT(result.x, 0.5F); + CHECK_FLOAT(result.y, 0.5F); + CHECK_FLOAT(result.z, -std::sqrt(2.0F) / 2.0F); + } + // Apply another rotation on combined mat_a. + mat_b = SC_SACD_Rotation_Mat4_ZAxis(std::numbers::pi_v / 4.0F); + mat_a = SC_SACD_Mat4_Mult(&mat_b, &mat_a); + { + auto result = SC_SACD_Mat4_Vec3_Mult(&mat_a, vec_a); + CHECK_FLOAT(result.x, 0.0F); + CHECK_FLOAT(result.y, std::sqrt(2.0F) / 2.0F); + CHECK_FLOAT(result.z, -std::sqrt(2.0F) / 2.0F); + } + // Apply another rotation on combined mat_a. + mat_b = SC_SACD_Rotation_Mat4_XAxis(std::numbers::pi_v / 2.0F); + mat_a = SC_SACD_Mat4_Mult(&mat_b, &mat_a); + { + auto result = SC_SACD_Mat4_Vec3_Mult(&mat_a, vec_a); + CHECK_FLOAT(result.x, 0.0F); + CHECK_FLOAT(result.y, std::sqrt(2.0F) / 2.0F); + CHECK_FLOAT(result.z, std::sqrt(2.0F) / 2.0F); + } + } + + // Mat4 rotation and translation. + { + SC_SACD_Mat4 mat_a = SC_SACD_Translate_Mat4(1.0F, 1.0F, 1.0F); + SC_SACD_Mat4 mat_b = + SC_SACD_Rotation_Mat4_ZAxis(std::numbers::pi_v / 4.0F); + mat_a = SC_SACD_Mat4_Mult(&mat_b, &mat_a); + mat_b = SC_SACD_Translate_Mat4(0.0F, 0.0F, -1.0F); + mat_a = SC_SACD_Mat4_Mult(&mat_b, &mat_a); + + { + auto result = + SC_SACD_Mat4_Vec3_Mult(&mat_a, SC_SACD_Vec3{0.0F, 0.0F, 0.0F}); + CHECK_FLOAT(result.x, 0.0F); + CHECK_FLOAT(result.z, 0.0F); + CHECK_FLOAT(result.y, std::sqrt(2.0F)); + } + } std::cout << "Checks checked: " << checks_checked << '\n' << "Checks passed: " << checks_passed << '\n'; - return 0; + return checks_checked == checks_passed ? 0 : 1; }