diff --git a/CMakeLists.txt b/CMakeLists.txt index 6c226a8..da2d589 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -6,7 +6,8 @@ set(SC_3D_CollisionDetectionHelpers_HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/src/sc_ add_library(SC_3D_CollisionDetectionHelpers ${SC_3D_CollisionDetectionHelpers_SOURCES}) -set_target_properties(SC_3D_CollisionDetectionHelpers PROPERTIES VERSION 2.0.2 SOVERSION 2) +set_target_properties(SC_3D_CollisionDetectionHelpers PROPERTIES VERSION 2.1.0 SOVERSION 2) +target_compile_features(SC_3D_CollisionDetectionHelpers PUBLIC cxx_std_20) if(NOT DEFINED CMAKE_BUILD_TYPE OR "${CMAKE_BUILD_TYPE}" STREQUAL "") message("Defaulting to \"Debug\" build type.") diff --git a/Changelog.md b/Changelog.md index 825366e..4952563 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,5 +1,13 @@ # Changelog +## Version 2.1.0 + +Refactoring of internally used function(s). + +This library now requires a compiler that supports C++20. + +Add SC_SACD_Scale_Mat4(...) fn. + ## Version 2.0.2 Fix SC_SACD_Translate_Mat4(...). It was missing a "1" in the first element of diff --git a/src/sc_sacd.cpp b/src/sc_sacd.cpp index 337b466..f6f8e94 100644 --- a/src/sc_sacd.cpp +++ b/src/sc_sacd.cpp @@ -1,7 +1,9 @@ #include "sc_sacd.h" // Standard library includes. +#include #include +#include #include #include @@ -60,9 +62,8 @@ SC_SACD_Vec3 operator*(const SC_SACD_Mat4 &mat, const SC_SACD_Vec3 &vec) { vec.x * mat.z0 + vec.y * mat.z1 + vec.z * mat.z2 + mat.z3}; } -std::vector SC_SACD_Get_Box_Normals( +std::array SC_SACD_Get_Box_Normals( const SC_SACD_Generic_Box *box) { - std::vector normals; SC_SACD_Vec3 a, b, c; // Facing positive x-axis. @@ -85,7 +86,7 @@ std::vector SC_SACD_Get_Box_Normals( b = b - a; c = c - a; - normals.push_back(SC_SACD_Cross_Product(b, c)); + auto normal_x = SC_SACD_Cross_Product(b, c); // Facing positive y-axis. a.x = 0.0F; @@ -107,7 +108,7 @@ std::vector SC_SACD_Get_Box_Normals( b = b - a; c = c - a; - normals.push_back(SC_SACD_Cross_Product(b, c)); + auto normal_y = SC_SACD_Cross_Product(b, c); // Facing positive z-axis. a.x = 0.0F; @@ -129,14 +130,14 @@ std::vector SC_SACD_Get_Box_Normals( b = b - a; c = c - a; - normals.push_back(SC_SACD_Cross_Product(b, c)); + auto normal_z = SC_SACD_Cross_Product(b, c); - return normals; + return {normal_x, normal_y, normal_z}; } -std::vector SC_SACD_Get_Box_Normals_Normalized( +std::array SC_SACD_Get_Box_Normals_Normalized( const SC_SACD_Generic_Box *box) { - std::vector normals = SC_SACD_Get_Box_Normals(box); + auto normals = SC_SACD_Get_Box_Normals(box); for (auto &normal : normals) { normal = normal / std::sqrt(SC_SACD_Dot_Product(normal, normal)); @@ -213,7 +214,7 @@ struct SC_SACD_MinMax { }; std::vector SC_SACD_Get_Box_MinMax( - const SC_SACD_Generic_Box *box, const std::vector &normals) { + const SC_SACD_Generic_Box *box, const std::span normals) { std::vector minmaxes; std::vector corners = SC_SACD_Get_Box_Corners(box); @@ -272,9 +273,14 @@ int SC_SACD_AABB_Box_Collision(const SC_SACD_AABB_Box *a, int SC_SACD_Generic_Box_Collision(const SC_SACD_Generic_Box *a, const SC_SACD_Generic_Box *b) { // Get all normals. - std::vector normals = SC_SACD_Get_Box_Normals(a); - for (const auto &normal : SC_SACD_Get_Box_Normals(b)) { - normals.push_back(normal); + std::vector normals; + { + for (const auto &normal : SC_SACD_Get_Box_Normals(a)) { + normals.push_back(normal); + } + for (const auto &normal : SC_SACD_Get_Box_Normals(b)) { + normals.push_back(normal); + } } // Get all minmaxes. @@ -344,27 +350,25 @@ int SC_SACD_Sphere_Box_Collision(const SC_SACD_Sphere *sphere, // 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; - if (sphere_box_normal.x < 0.0001F && sphere_box_normal.x > -0.0001F && - sphere_box_normal.y < 0.0001F && sphere_box_normal.y > -0.0001F && - sphere_box_normal.z < 0.0001F && sphere_box_normal.z > -0.0001F) { + std::array sphere_box_normal = { + SC_SACD_Vec3{box->x, box->y, box->z} - sphere_pos}; + if (sphere_box_normal[0].x < 0.0001F && sphere_box_normal[0].x > -0.0001F && + sphere_box_normal[0].y < 0.0001F && sphere_box_normal[0].y > -0.0001F && + sphere_box_normal[0].z < 0.0001F && sphere_box_normal[0].z > -0.0001F) { // Sphere center is box center. return 1; } - sphere_box_normal = - sphere_box_normal / - std::sqrt(SC_SACD_Dot_Product(sphere_box_normal, sphere_box_normal)); - - std::vector normals{sphere_box_normal}; + sphere_box_normal[0] = + sphere_box_normal[0] / std::sqrt(SC_SACD_Dot_Product( + sphere_box_normal[0], sphere_box_normal[0])); std::vector box_minmaxes = - SC_SACD_Get_Box_MinMax(box, normals); + SC_SACD_Get_Box_MinMax(box, sphere_box_normal); float projected_0 = SC_SACD_Dot_Product( - sphere_box_normal, sphere_pos + sphere_box_normal * sphere->radius); + sphere_box_normal[0], sphere_pos + sphere_box_normal[0] * sphere->radius); float projected_1 = SC_SACD_Dot_Product( - sphere_box_normal, sphere_pos - sphere_box_normal * sphere->radius); + sphere_box_normal[0], sphere_pos - sphere_box_normal[0] * sphere->radius); if (projected_0 < projected_1) { if (box_minmaxes[0].max < projected_0 || box_minmaxes[0].min > projected_1) { @@ -377,13 +381,13 @@ int SC_SACD_Sphere_Box_Collision(const SC_SACD_Sphere *sphere, // 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); + auto box_normals = SC_SACD_Get_Box_Normals(box); + box_minmaxes = SC_SACD_Get_Box_MinMax(box, box_normals); + for (unsigned int i = 0; i < box_normals.size(); ++i) { + projected_0 = SC_SACD_Dot_Product( + box_normals[i], sphere_pos + box_normals[i] * sphere->radius); + projected_1 = SC_SACD_Dot_Product( + box_normals[i], sphere_pos - box_normals[i] * sphere->radius); if (projected_0 < projected_1) { if (box_minmaxes[i].max < projected_0 || box_minmaxes[i].min > projected_1) { @@ -542,6 +546,11 @@ SC_SACD_Mat4 SC_SACD_Translate_Mat4(float x, float y, float z) { 0.0F, 0.0F, 1.0F, z, 0.0F, 0.0F, 0.0F, 1.0F}; } +SC_SACD_Mat4 SC_SACD_Scale_Mat4(float x, float y, float z) { + return SC_SACD_Mat4{x, 0.0F, 0.0F, 0.0F, 0.0F, y, 0.0F, 0.0F, + 0.0F, 0.0F, z, 0.0F, 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) { diff --git a/src/sc_sacd.h b/src/sc_sacd.h index 9cb0e21..e0bddb5 100644 --- a/src/sc_sacd.h +++ b/src/sc_sacd.h @@ -119,6 +119,8 @@ 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); +SC_SACD_EXPORT SC_SACD_Mat4 SC_SACD_Scale_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, diff --git a/src/test.cpp b/src/test.cpp index 77acd62..a759639 100644 --- a/src/test.cpp +++ b/src/test.cpp @@ -591,6 +591,48 @@ int main() { CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b)); } + // Box with Scale Mat4. + { + SC_SACD_Generic_Box a = SC_SACD_Generic_Box_Default(); + SC_SACD_Generic_Box b = SC_SACD_Generic_Box_Default(); + + a.x = 1.1F; + b.x = -1.1F; + CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b)); + + a.transform = SC_SACD_Scale_Mat4(2.0F, 1.0F, 1.0F); + CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b)); + + a.transform = SC_SACD_Scale_Mat4(-2.0F, 1.0F, 1.0F); + CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b)); + + a.x = 0.0F; + b.x = 0.0F; + a.y = 1.1F; + b.y = -1.1F; + a.transform = SC_SACD_Mat4_Identity(); + CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b)); + + a.transform = SC_SACD_Scale_Mat4(1.0F, 2.0F, 1.0F); + CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b)); + + a.transform = SC_SACD_Scale_Mat4(1.0F, -2.0F, 1.0F); + CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b)); + + a.y = 0.0F; + b.y = 0.0F; + a.z = 1.1F; + b.z = -1.1F; + a.transform = SC_SACD_Mat4_Identity(); + CHECK_FALSE(SC_SACD_Generic_Box_Collision(&a, &b)); + + a.transform = SC_SACD_Scale_Mat4(1.0F, 1.0F, 2.0F); + CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b)); + + a.transform = SC_SACD_Scale_Mat4(1.0F, 1.0F, -2.0F); + CHECK_TRUE(SC_SACD_Generic_Box_Collision(&a, &b)); + } + std::cout << "Checks checked: " << checks_checked << '\n' << "Checks passed: " << checks_passed << '\n';