CMakeLists.txt

@@ -6,8 +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 2.0.2 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

@@ -1,13 +1,5 @@
 # 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

@@ -1,9 +1,7 @@
 #include "sc_sacd.h"
 
 // Standard library includes.
-#include <array>
 #include <cmath>
-#include <span>
 #include <stdfloat>
 #include <vector>
 
@@ -62,8 +60,9 @@ 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::array<SC_SACD_Vec3, 3> SC_SACD_Get_Box_Normals(
+std::vector<SC_SACD_Vec3> 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.
@@ -86,7 +85,7 @@ std::array<SC_SACD_Vec3, 3> SC_SACD_Get_Box_Normals(
   b = b - a;
   c = c - a;
 
-  auto normal_x = SC_SACD_Cross_Product(b, c);
+  normals.push_back(SC_SACD_Cross_Product(b, c));
 
   // Facing positive y-axis.
   a.x = 0.0F;
@@ -108,7 +107,7 @@ std::array<SC_SACD_Vec3, 3> SC_SACD_Get_Box_Normals(
   b = b - a;
   c = c - a;
 
-  auto normal_y = SC_SACD_Cross_Product(b, c);
+  normals.push_back(SC_SACD_Cross_Product(b, c));
 
   // Facing positive z-axis.
   a.x = 0.0F;
@@ -130,14 +129,14 @@ std::array<SC_SACD_Vec3, 3> SC_SACD_Get_Box_Normals(
   b = b - a;
   c = c - a;
 
-  auto normal_z = SC_SACD_Cross_Product(b, c);
+  normals.push_back(SC_SACD_Cross_Product(b, c));
 
-  return {normal_x, normal_y, normal_z};
+  return normals;
 }
 
-std::array<SC_SACD_Vec3, 3> SC_SACD_Get_Box_Normals_Normalized(
+std::vector<SC_SACD_Vec3> SC_SACD_Get_Box_Normals_Normalized(
     const SC_SACD_Generic_Box *box) {
-  auto normals = SC_SACD_Get_Box_Normals(box);
+  std::vector<SC_SACD_Vec3> normals = SC_SACD_Get_Box_Normals(box);
 
   for (auto &normal : normals) {
     normal = normal / std::sqrt(SC_SACD_Dot_Product(normal, normal));
@@ -214,7 +213,7 @@ 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 std::vector<SC_SACD_Vec3> &normals) {
   std::vector<SC_SACD_MinMax> minmaxes;
 
   std::vector<SC_SACD_Vec3> corners = SC_SACD_Get_Box_Corners(box);
@@ -273,14 +272,9 @@ 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;
+  std::vector<SC_SACD_Vec3> normals = SC_SACD_Get_Box_Normals(a);
-  {
+  for (const auto &normal : SC_SACD_Get_Box_Normals(b)) {
-    for (const auto &normal : SC_SACD_Get_Box_Normals(a)) {
+    normals.push_back(normal);
-      normals.push_back(normal);
-    }
-    for (const auto &normal : SC_SACD_Get_Box_Normals(b)) {
-      normals.push_back(normal);
-    }
   }
 
   // Get all minmaxes.
@@ -350,25 +344,27 @@ 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};
-  std::array<SC_SACD_Vec3, 1> sphere_box_normal = {
+  SC_SACD_Vec3 sphere_box_normal =
-      SC_SACD_Vec3{box->x, box->y, box->z} - sphere_pos};
+      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 &&
+  if (sphere_box_normal.x < 0.0001F && sphere_box_normal.x > -0.0001F &&
-      sphere_box_normal[0].y < 0.0001F && sphere_box_normal[0].y > -0.0001F &&
+      sphere_box_normal.y < 0.0001F && sphere_box_normal.y > -0.0001F &&
-      sphere_box_normal[0].z < 0.0001F && sphere_box_normal[0].z > -0.0001F) {
+      sphere_box_normal.z < 0.0001F && sphere_box_normal.z > -0.0001F) {
     // Sphere center is box center.
     return 1;
   }
-  sphere_box_normal[0] =
+  sphere_box_normal =
-      sphere_box_normal[0] / std::sqrt(SC_SACD_Dot_Product(
+      sphere_box_normal /
-                                 sphere_box_normal[0], sphere_box_normal[0]));
+      std::sqrt(SC_SACD_Dot_Product(sphere_box_normal, sphere_box_normal));
+
+  std::vector<SC_SACD_Vec3> normals{sphere_box_normal};
 
   std::vector<SC_SACD_MinMax> box_minmaxes =
-      SC_SACD_Get_Box_MinMax(box, sphere_box_normal);
+      SC_SACD_Get_Box_MinMax(box, normals);
 
   float projected_0 = SC_SACD_Dot_Product(
-      sphere_box_normal[0], sphere_pos + sphere_box_normal[0] * sphere->radius);
+      sphere_box_normal, sphere_pos + sphere_box_normal * sphere->radius);
   float projected_1 = SC_SACD_Dot_Product(
-      sphere_box_normal[0], sphere_pos - sphere_box_normal[0] * sphere->radius);
+      sphere_box_normal, sphere_pos - sphere_box_normal * sphere->radius);
   if (projected_0 < projected_1) {
     if (box_minmaxes[0].max < projected_0 ||
         box_minmaxes[0].min > projected_1) {
@@ -381,13 +377,13 @@ 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);
+  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, normals);
-  for (unsigned int i = 0; i < box_normals.size(); ++i) {
+  for (unsigned int i = 0; i < normals.size(); ++i) {
-    projected_0 = SC_SACD_Dot_Product(
+    projected_0 = SC_SACD_Dot_Product(normals[i],
-        box_normals[i], sphere_pos + box_normals[i] * sphere->radius);
+                                      sphere_pos + normals[i] * sphere->radius);
-    projected_1 = SC_SACD_Dot_Product(
+    projected_1 = SC_SACD_Dot_Product(normals[i],
-        box_normals[i], sphere_pos - box_normals[i] * sphere->radius);
+                                      sphere_pos - normals[i] * sphere->radius);
     if (projected_0 < projected_1) {
       if (box_minmaxes[i].max < projected_0 ||
           box_minmaxes[i].min > projected_1) {
@@ -546,11 +542,6 @@ 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

@@ -119,8 +119,6 @@ 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

@@ -591,48 +591,6 @@ 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';