Merge branch 'dev', version 2.2.0

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 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)
 
 if(NOT DEFINED CMAKE_BUILD_TYPE OR "${CMAKE_BUILD_TYPE}" STREQUAL "")

Changelog.md

@@ -1,5 +1,13 @@
 # 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
 
 Refactoring of internally used function(s).

src/sc_sacd.cpp

@@ -146,67 +146,68 @@ std::array<SC_SACD_Vec3, 3> SC_SACD_Get_Box_Normals_Normalized(
   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) {
-  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,
-                                                  -box->height / 2.0F,
-                                                  -box->depth / 2.0F});
-  corners.back().x += box->x;
-  corners.back().y += box->y;
-  corners.back().z += box->z;
+  SC_SACD_Vec3 corner_1 =
+      box->transform *
+      SC_SACD_Vec3{box->width / 2.0F, -box->height / 2.0F, -box->depth / 2.0F};
+  corner_1.x += box->x;
+  corner_1.y += box->y;
+  corner_1.z += 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;
+  SC_SACD_Vec3 corner_2 =
+      box->transform *
+      SC_SACD_Vec3{-box->width / 2.0F, box->height / 2.0F, -box->depth / 2.0F};
+  corner_2.x += box->x;
+  corner_2.y += box->y;
+  corner_2.z += 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;
+  SC_SACD_Vec3 corner_3 =
+      box->transform *
+      SC_SACD_Vec3{box->width / 2.0F, box->height / 2.0F, -box->depth / 2.0F};
+  corner_3.x += box->x;
+  corner_3.y += box->y;
+  corner_3.z += 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;
+  SC_SACD_Vec3 corner_4 =
+      box->transform *
+      SC_SACD_Vec3{-box->width / 2.0F, -box->height / 2.0F, box->depth / 2.0F};
+  corner_4.x += box->x;
+  corner_4.y += box->y;
+  corner_4.z += 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;
+  SC_SACD_Vec3 corner_5 =
+      box->transform *
+      SC_SACD_Vec3{box->width / 2.0F, -box->height / 2.0F, box->depth / 2.0F};
+  corner_5.x += box->x;
+  corner_5.y += box->y;
+  corner_5.z += 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;
+  SC_SACD_Vec3 corner_6 =
+      box->transform *
+      SC_SACD_Vec3{-box->width / 2.0F, box->height / 2.0F, box->depth / 2.0F};
+  corner_6.x += box->x;
+  corner_6.y += box->y;
+  corner_6.z += 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;
+  SC_SACD_Vec3 corner_7 =
+      box->transform *
+      SC_SACD_Vec3{box->width / 2.0F, box->height / 2.0F, box->depth / 2.0F};
+  corner_7.x += box->x;
+  corner_7.y += box->y;
+  corner_7.z += 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;
-
-  return corners;
+  return {
+      corner_0, corner_1, corner_2, corner_3,
+      corner_4, corner_5, corner_6, corner_7,
+  };
 }
 
 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) {
   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.
   // 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) {
   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};
+}

src/sc_sacd.h

@@ -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 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
 }
 #endif

src/test.cpp

@@ -633,6 +633,69 @@ int main() {
     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'
             << "Checks passed:  " << checks_passed << '\n';