Merge branch 'dev', version 2.1.0

Version minor bump due to new feature SC_SACD_Scale_Mat4.

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.")

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

src/sc_sacd.cpp

@@ -1,7 +1,9 @@
 #include "sc_sacd.h"
 
 // Standard library includes.
+#include <array>
 #include <cmath>
+#include <span>
 #include <stdfloat>
 #include <vector>
 
@@ -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_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 +86,7 @@ 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 +108,7 @@ 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 +130,14 @@ 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));
@@ -213,7 +214,7 @@ 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 std::span<SC_SACD_Vec3> normals) {
   std::vector<SC_SACD_MinMax> minmaxes;
 
   std::vector<SC_SACD_Vec3> corners = SC_SACD_Get_Box_Corners(box);
@@ -272,10 +273,15 @@ 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);
@@ -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<SC_SACD_Vec3, 1> 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<SC_SACD_Vec3> 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<SC_SACD_MinMax> 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) {

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,

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';