CMakeLists.txt

@@ -7,7 +7,6 @@ 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)
-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.")

Changelog.md

@@ -4,8 +4,6 @@
 
 Refactoring of internally used function(s).
 
-This library now requires a compiler that supports C++20.
-
 ## Version 2.0.2
 
 Fix SC_SACD_Translate_Mat4(...). It was missing a "1" in the first element of

src/sc_sacd.cpp

@@ -3,7 +3,6 @@
 // Standard library includes.
 #include <array>
 #include <cmath>
-#include <span>
 #include <stdfloat>
 #include <vector>
 
@@ -214,17 +213,18 @@ struct SC_SACD_MinMax {
 };
 
 std::vector<SC_SACD_MinMax> SC_SACD_Get_Box_MinMax(
-    const SC_SACD_Generic_Box *box, const std::span<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;
       }
@@ -284,8 +284,10 @@ int SC_SACD_Generic_Box_Collision(const SC_SACD_Generic_Box *a,
   }
 
   // Get all minmaxes.
-  std::vector<SC_SACD_MinMax> minmaxes_a = SC_SACD_Get_Box_MinMax(a, normals);
+  std::vector<SC_SACD_MinMax> minmaxes_a =
-  std::vector<SC_SACD_MinMax> minmaxes_b = SC_SACD_Get_Box_MinMax(b, normals);
+      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) {
@@ -365,7 +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);
@@ -384,7 +386,8 @@ int SC_SACD_Sphere_Box_Collision(const SC_SACD_Sphere *sphere,
   // Next check the planes for the 3 normals of the box.
 
   auto box_normals = SC_SACD_Get_Box_Normals(box);
-  box_minmaxes = SC_SACD_Get_Box_MinMax(box, box_normals);
+  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);