Merge branch 'dev', version 2.2.0
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Stephen Seo 2024-05-06 14:31:45 +09:00
commit 5f33fedae4
5 changed files with 241 additions and 54 deletions

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@ -6,7 +6,7 @@ set(SC_3D_CollisionDetectionHelpers_HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/src/sc_
add_library(SC_3D_CollisionDetectionHelpers ${SC_3D_CollisionDetectionHelpers_SOURCES}) add_library(SC_3D_CollisionDetectionHelpers ${SC_3D_CollisionDetectionHelpers_SOURCES})
set_target_properties(SC_3D_CollisionDetectionHelpers PROPERTIES VERSION 2.1.0 SOVERSION 2) set_target_properties(SC_3D_CollisionDetectionHelpers PROPERTIES VERSION 2.2.0 SOVERSION 2)
target_compile_features(SC_3D_CollisionDetectionHelpers PUBLIC cxx_std_20) target_compile_features(SC_3D_CollisionDetectionHelpers PUBLIC cxx_std_20)
if(NOT DEFINED CMAKE_BUILD_TYPE OR "${CMAKE_BUILD_TYPE}" STREQUAL "") if(NOT DEFINED CMAKE_BUILD_TYPE OR "${CMAKE_BUILD_TYPE}" STREQUAL "")

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@ -1,5 +1,13 @@
# Changelog # Changelog
## Version 2.2.0
Refactoring of internally used function.
Add functions to convert Sphere and GenericBox to AABB.
Add function to combine two AABBs.
## Version 2.1.0 ## Version 2.1.0
Refactoring of internally used function(s). Refactoring of internally used function(s).

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@ -146,67 +146,68 @@ std::array<SC_SACD_Vec3, 3> SC_SACD_Get_Box_Normals_Normalized(
return normals; return normals;
} }
std::vector<SC_SACD_Vec3> SC_SACD_Get_Box_Corners( std::array<SC_SACD_Vec3, 8> SC_SACD_Get_Box_Corners(
const SC_SACD_Generic_Box *box) { const SC_SACD_Generic_Box *box) {
std::vector<SC_SACD_Vec3> corners; SC_SACD_Vec3 corner_0 =
box->transform *
SC_SACD_Vec3{-box->width / 2.0F, -box->height / 2.0F, -box->depth / 2.0F};
corner_0.x += box->x;
corner_0.y += box->y;
corner_0.z += box->z;
corners.push_back(box->transform * SC_SACD_Vec3{-box->width / 2.0F, SC_SACD_Vec3 corner_1 =
-box->height / 2.0F, box->transform *
-box->depth / 2.0F}); SC_SACD_Vec3{box->width / 2.0F, -box->height / 2.0F, -box->depth / 2.0F};
corners.back().x += box->x; corner_1.x += box->x;
corners.back().y += box->y; corner_1.y += box->y;
corners.back().z += box->z; corner_1.z += box->z;
corners.push_back(box->transform * SC_SACD_Vec3{box->width / 2.0F, SC_SACD_Vec3 corner_2 =
-box->height / 2.0F, box->transform *
-box->depth / 2.0F}); SC_SACD_Vec3{-box->width / 2.0F, box->height / 2.0F, -box->depth / 2.0F};
corners.back().x += box->x; corner_2.x += box->x;
corners.back().y += box->y; corner_2.y += box->y;
corners.back().z += box->z; corner_2.z += box->z;
corners.push_back(box->transform * SC_SACD_Vec3{-box->width / 2.0F, SC_SACD_Vec3 corner_3 =
box->height / 2.0F, box->transform *
-box->depth / 2.0F}); SC_SACD_Vec3{box->width / 2.0F, box->height / 2.0F, -box->depth / 2.0F};
corners.back().x += box->x; corner_3.x += box->x;
corners.back().y += box->y; corner_3.y += box->y;
corners.back().z += box->z; corner_3.z += box->z;
corners.push_back(box->transform * SC_SACD_Vec3{box->width / 2.0F, SC_SACD_Vec3 corner_4 =
box->height / 2.0F, box->transform *
-box->depth / 2.0F}); SC_SACD_Vec3{-box->width / 2.0F, -box->height / 2.0F, box->depth / 2.0F};
corners.back().x += box->x; corner_4.x += box->x;
corners.back().y += box->y; corner_4.y += box->y;
corners.back().z += box->z; corner_4.z += box->z;
corners.push_back(box->transform * SC_SACD_Vec3{-box->width / 2.0F, SC_SACD_Vec3 corner_5 =
-box->height / 2.0F, box->transform *
box->depth / 2.0F}); SC_SACD_Vec3{box->width / 2.0F, -box->height / 2.0F, box->depth / 2.0F};
corners.back().x += box->x; corner_5.x += box->x;
corners.back().y += box->y; corner_5.y += box->y;
corners.back().z += box->z; corner_5.z += box->z;
corners.push_back(box->transform * SC_SACD_Vec3{box->width / 2.0F, SC_SACD_Vec3 corner_6 =
-box->height / 2.0F, box->transform *
box->depth / 2.0F}); SC_SACD_Vec3{-box->width / 2.0F, box->height / 2.0F, box->depth / 2.0F};
corners.back().x += box->x; corner_6.x += box->x;
corners.back().y += box->y; corner_6.y += box->y;
corners.back().z += box->z; corner_6.z += box->z;
corners.push_back(box->transform * SC_SACD_Vec3{-box->width / 2.0F, SC_SACD_Vec3 corner_7 =
box->height / 2.0F, box->transform *
box->depth / 2.0F}); SC_SACD_Vec3{box->width / 2.0F, box->height / 2.0F, box->depth / 2.0F};
corners.back().x += box->x; corner_7.x += box->x;
corners.back().y += box->y; corner_7.y += box->y;
corners.back().z += box->z; corner_7.z += box->z;
corners.push_back(box->transform * SC_SACD_Vec3{box->width / 2.0F, return {
box->height / 2.0F, corner_0, corner_1, corner_2, corner_3,
box->depth / 2.0F}); corner_4, corner_5, corner_6, corner_7,
corners.back().x += box->x; };
corners.back().y += box->y;
corners.back().z += box->z;
return corners;
} }
struct SC_SACD_MinMax { struct SC_SACD_MinMax {
@ -217,7 +218,7 @@ std::vector<SC_SACD_MinMax> SC_SACD_Get_Box_MinMax(
const SC_SACD_Generic_Box *box, const std::span<SC_SACD_Vec3> normals) { const SC_SACD_Generic_Box *box, const std::span<SC_SACD_Vec3> normals) {
std::vector<SC_SACD_MinMax> minmaxes; std::vector<SC_SACD_MinMax> minmaxes;
std::vector<SC_SACD_Vec3> corners = SC_SACD_Get_Box_Corners(box); auto corners = SC_SACD_Get_Box_Corners(box);
// Assuming normals are not normalized, and will not normalize anyway. // Assuming normals are not normalized, and will not normalize anyway.
// MinMax count should be same as normals count. // MinMax count should be same as normals count.
@ -571,3 +572,110 @@ SC_SACD_Vec3 SC_SACD_Closest_Point(const SC_SACD_Vec3 *pos,
float SC_SACD_Vec3_Length(const SC_SACD_Vec3 vec) { float SC_SACD_Vec3_Length(const SC_SACD_Vec3 vec) {
return std::sqrt(SC_SACD_Dot_Product(vec, vec)); return std::sqrt(SC_SACD_Dot_Product(vec, vec));
} }
SC_SACD_AABB_Box SC_SACD_Sphere_To_AABB(const SC_SACD_Sphere s) {
SC_SACD_AABB_Box aabb{};
aabb.x = s.x;
aabb.y = s.y;
aabb.z = s.z;
aabb.width = s.radius * 2.0F;
aabb.height = s.radius * 2.0F;
aabb.depth = s.radius * 2.0F;
return aabb;
}
SC_SACD_AABB_Box SC_SACD_Generic_Box_To_AABB(const SC_SACD_Generic_Box s) {
SC_SACD_AABB_Box aabb{};
auto corners = SC_SACD_Get_Box_Corners(&s);
SC_SACD_Vec3 min{INFINITY, INFINITY, INFINITY};
SC_SACD_Vec3 max{-INFINITY, -INFINITY, -INFINITY};
for (const auto &corner : corners) {
if (corner.x < min.x) {
min.x = corner.x;
}
if (corner.y < min.y) {
min.y = corner.y;
}
if (corner.z < min.z) {
min.z = corner.z;
}
if (corner.x > max.x) {
max.x = corner.x;
}
if (corner.y > max.y) {
max.y = corner.y;
}
if (corner.z > max.z) {
max.z = corner.z;
}
}
aabb.width = max.x - min.x;
aabb.height = max.y - min.y;
aabb.depth = max.z - min.z;
aabb.x = min.x + aabb.width / 2.0F;
aabb.y = min.y + aabb.height / 2.0F;
aabb.z = min.z + aabb.depth / 2.0F;
return aabb;
}
SC_SACD_AABB_Box SC_SACD_AABB_Combine(const SC_SACD_AABB_Box a,
const SC_SACD_AABB_Box b) {
SC_SACD_Vec3 min, max;
// Populate min values.
float temp_a = a.x - a.width / 2.0F;
float temp_b = b.x - b.width / 2.0F;
min.x = temp_a < temp_b ? temp_a : temp_b;
temp_a = a.y - a.height / 2.0F;
temp_b = b.y - b.height / 2.0F;
min.y = temp_a < temp_b ? temp_a : temp_b;
temp_a = a.z - a.depth / 2.0F;
temp_b = b.z - b.depth / 2.0F;
min.z = temp_a < temp_b ? temp_a : temp_b;
// Populate max values.
temp_a = a.x + a.width / 2.0F;
temp_b = b.x + b.width / 2.0F;
max.x = temp_a > temp_b ? temp_a : temp_b;
temp_a = a.y + a.height / 2.0F;
temp_b = b.y + b.height / 2.0F;
max.y = temp_a > temp_b ? temp_a : temp_b;
temp_a = a.z + a.depth / 2.0F;
temp_b = b.z + b.depth / 2.0F;
max.z = temp_a > temp_b ? temp_a : temp_b;
// Populate the result.
temp_a = max.x - min.x;
temp_b = max.y - min.y;
float temp_c = max.z - min.z;
return SC_SACD_AABB_Box{min.x + temp_a / 2.0F,
min.y + temp_b / 2.0F,
min.z + temp_c / 2.0F,
temp_a,
temp_b,
temp_c};
}

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@ -133,6 +133,14 @@ SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Closest_Point(const SC_SACD_Vec3 *pos,
SC_SACD_EXPORT float SC_SACD_Vec3_Length(const SC_SACD_Vec3 vec); SC_SACD_EXPORT float SC_SACD_Vec3_Length(const SC_SACD_Vec3 vec);
SC_SACD_EXPORT SC_SACD_AABB_Box SC_SACD_Sphere_To_AABB(const SC_SACD_Sphere s);
SC_SACD_EXPORT SC_SACD_AABB_Box
SC_SACD_Generic_Box_To_AABB(const SC_SACD_Generic_Box s);
/// Combines AABB's such that the new AABB encompasses the two AABB's.
SC_SACD_EXPORT SC_SACD_AABB_Box SC_SACD_AABB_Combine(const SC_SACD_AABB_Box a,
const SC_SACD_AABB_Box b);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

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@ -633,6 +633,69 @@ int main() {
CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b)); CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b));
} }
// Test Sphere/GenericBox to AABB.
{
SC_SACD_Sphere s{10.0F, 10.0F, 10.0F, 5.0F};
SC_SACD_AABB_Box aabb = SC_SACD_Sphere_To_AABB(s);
CHECK_FLOAT(aabb.x, s.x);
CHECK_FLOAT(aabb.y, s.y);
CHECK_FLOAT(aabb.z, s.z);
CHECK_FLOAT(aabb.width, s.radius * 2.0F);
CHECK_FLOAT(aabb.height, s.radius * 2.0F);
CHECK_FLOAT(aabb.depth, s.radius * 2.0F);
SC_SACD_Generic_Box box = SC_SACD_Generic_Box_Default();
box.x = 20.0F;
box.y = 20.0F;
box.z = 20.0F;
aabb = SC_SACD_Generic_Box_To_AABB(box);
CHECK_FLOAT(aabb.x, box.x);
CHECK_FLOAT(aabb.y, box.y);
CHECK_FLOAT(aabb.z, box.z);
CHECK_FLOAT(aabb.width, box.width);
CHECK_FLOAT(aabb.height, box.height);
CHECK_FLOAT(aabb.depth, box.depth);
box.transform =
SC_SACD_Rotation_Mat4_ZAxis(std::numbers::pi_v<float> / 4.0F);
aabb = SC_SACD_Generic_Box_To_AABB(box);
CHECK_FLOAT(aabb.x, box.x);
CHECK_FLOAT(aabb.y, box.y);
CHECK_FLOAT(aabb.z, box.z);
CHECK_FLOAT(aabb.width, std::sqrt(2.0F) * 2.0F);
CHECK_FLOAT(aabb.height, std::sqrt(2.0F) * 2.0F);
CHECK_FLOAT(aabb.depth, box.depth);
auto translate = SC_SACD_Translate_Mat4(-5.0F, -4.0F, 1.0F);
box.transform = SC_SACD_Mat4_Mult(&translate, &box.transform);
aabb = SC_SACD_Generic_Box_To_AABB(box);
CHECK_FLOAT(aabb.x, box.x - 5.0F);
CHECK_FLOAT(aabb.y, box.y - 4.0F);
CHECK_FLOAT(aabb.z, box.z + 1.0F);
CHECK_FLOAT(aabb.width, std::sqrt(2.0F) * 2.0F);
CHECK_FLOAT(aabb.height, std::sqrt(2.0F) * 2.0F);
CHECK_FLOAT(aabb.depth, box.depth);
}
// Test combining AABB.
{
SC_SACD_AABB_Box a{5.0F, 5.0F, 5.0F, 2.0F, 2.0F, 2.0F};
SC_SACD_AABB_Box b{-3.0F, -3.0F, -3.0F, 2.0F, 2.0F, 2.0F};
auto combined = SC_SACD_AABB_Combine(a, b);
CHECK_FLOAT(combined.x, (7.0F - 5.0F) / 2.0F);
CHECK_FLOAT(combined.y, (7.0F - 5.0F) / 2.0F);
CHECK_FLOAT(combined.z, (7.0F - 5.0F) / 2.0F);
CHECK_FLOAT(combined.width, 10.0F);
CHECK_FLOAT(combined.height, 10.0F);
CHECK_FLOAT(combined.depth, 10.0F);
}
std::cout << "Checks checked: " << checks_checked << '\n' std::cout << "Checks checked: " << checks_checked << '\n'
<< "Checks passed: " << checks_passed << '\n'; << "Checks passed: " << checks_passed << '\n';