Merge branch 'dev', version 2.1.0

Version minor bump due to new feature SC_SACD_Scale_Mat4.

CMakeLists.txt

@@ -6,7 +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 2.0.2 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 "")

Changelog.md

@@ -1,11 +1,13 @@
 # Changelog
 
-## Upcoming Changes
+## 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

@@ -350,25 +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 =
+  std::array<SC_SACD_Vec3, 1> 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.x < 0.0001F && sphere_box_normal.x > -0.0001F &&
+  if (sphere_box_normal[0].x < 0.0001F && sphere_box_normal[0].x > -0.0001F &&
-      sphere_box_normal.y < 0.0001F && sphere_box_normal.y > -0.0001F &&
+      sphere_box_normal[0].y < 0.0001F && sphere_box_normal[0].y > -0.0001F &&
-      sphere_box_normal.z < 0.0001F && sphere_box_normal.z > -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[0] =
-      sphere_box_normal /
+      sphere_box_normal[0] / std::sqrt(SC_SACD_Dot_Product(
-      std::sqrt(SC_SACD_Dot_Product(sphere_box_normal, sphere_box_normal));
+                                 sphere_box_normal[0], sphere_box_normal[0]));
 
   std::vector<SC_SACD_MinMax> box_minmaxes =
-      SC_SACD_Get_Box_MinMax(box, {&sphere_box_normal, 1});
+      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) {
@@ -546,6 +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';