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ret std::array not std::vector in get-box-normals

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"Get Box Normals" function always returns three vectors, so use
std::array instead of std::vector.

Minor changes related to usage of this function.
This commit is contained in:
Stephen Seo 2024-05-03 17:40:21 +09:00
parent 5a1413bda9
commit 9e8c5f0c39
1 changed files with 33 additions and 24 deletions
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53
src/sc_sacd.cpp
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@ -1,6 +1,7 @@
#include "sc_sacd.h"
// Standard library includes.
#include <array>
#include <cmath>
#include <stdfloat>
#include <vector>
@ -60,9 +61,8 @@ 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_Vec3> SC_SACD_Get_Box_Normals(
std::array<SC_SACD_Vec3, 3> SC_SACD_Get_Box_Normals(
const SC_SACD_Generic_Box *box) {
std::vector<SC_SACD_Vec3> normals;
SC_SACD_Vec3 a, b, c;
// Facing positive x-axis.
@ -85,7 +85,7 @@ std::vector<SC_SACD_Vec3> 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 +107,7 @@ std::vector<SC_SACD_Vec3> 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 +129,14 @@ std::vector<SC_SACD_Vec3> 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_Vec3> SC_SACD_Get_Box_Normals_Normalized(
std::array<SC_SACD_Vec3, 3> SC_SACD_Get_Box_Normals_Normalized(
const SC_SACD_Generic_Box *box) {
std::vector<SC_SACD_Vec3> 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));
@ -213,17 +213,18 @@ struct SC_SACD_MinMax {
};
std::vector<SC_SACD_MinMax> SC_SACD_Get_Box_MinMax(
const SC_SACD_Generic_Box *box, const std::vector<SC_SACD_Vec3> &normals) {
const SC_SACD_Generic_Box *box, const SC_SACD_Vec3 *normals,
std::size_t size) {
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) {
for (std::size_t idx = 0; idx < size; ++idx) {
SC_SACD_MinMax minmax{INFINITY, -INFINITY};
for (const auto &corner : corners) {
float projected = SC_SACD_Dot_Product(corner, normal);
float projected = SC_SACD_Dot_Product(corner, normals[idx]);
if (projected > minmax.max) {
minmax.max = projected;
}
@ -272,14 +273,21 @@ 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<SC_SACD_Vec3> normals = SC_SACD_Get_Box_Normals(a);
std::vector<SC_SACD_Vec3> 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.
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);
std::vector<SC_SACD_MinMax> minmaxes_a =
SC_SACD_Get_Box_MinMax(a, normals.data(), normals.size());
std::vector<SC_SACD_MinMax> minmaxes_b =
SC_SACD_Get_Box_MinMax(b, normals.data(), normals.size());
// Check minmaxes.
for (unsigned int i = 0; i < normals.size(); ++i) {
@ -359,7 +367,7 @@ int SC_SACD_Sphere_Box_Collision(const SC_SACD_Sphere *sphere,
std::vector<SC_SACD_Vec3> normals{sphere_box_normal};
std::vector<SC_SACD_MinMax> box_minmaxes =
SC_SACD_Get_Box_MinMax(box, normals);
SC_SACD_Get_Box_MinMax(box, normals.data(), normals.size());
float projected_0 = SC_SACD_Dot_Product(
sphere_box_normal, sphere_pos + sphere_box_normal * sphere->radius);
@ -377,13 +385,14 @@ 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.data(), box_normals.size());
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) {