Implement Mat4x4 Translate, Transform, FromTranslation

include/J3ML/Geometry/AABB.h

@@ -37,21 +37,75 @@ namespace Geometry
 
     class AABB
     {
-        static AABB FromCenterAndSize(const Vector3 FromSize);
-        float MinX();
-        // Returns the smallest sphere that contains this AABB.
-        // This function computes the minimal volume sphere that contains all the points inside this AABB
-        Sphere MinimalEnclosingSphere() const;
-        // Returns the largest sphere that can fit inside this AABB
+    public:
+        Vector3 minPoint;
+        Vector3 maxPoint;
+
+        static int NumFaces() { return 6; }
+        static int NumEdges() { return 12;}
+        static int NumVertices() { return 8;}
+
+        static AABB FromCenterAndSize(const Vector3& center, const Vector3& size)
+        {
+            Vector3 halfSize =  size * 0.5f;
+            return {center - halfSize, center + halfSize};
+        }
+        float MinX() const { return minPoint.x; }
+        float MinY() const { return minPoint.y; }
+        float MinZ() const { return minPoint.z; }
+
+        float MaxX() const { return maxPoint.x; }
+        float MaxY() const { return maxPoint.y; }
+        float MaxZ() const { return maxPoint.z; }
+
+
+        /// Returns the smallest sphere that contains this AABB.
+        /// This function computes the minimal volume sphere that contains all the points inside this AABB
+        Sphere MinimalEnclosingSphere() const
+        {
+            return Sphere(Centroid(), Size().Length()*0.5f);
+        }
+
+        Vector3 HalfSize() const {
+            return this->Size()/2.f;
+        }
+
+// Returns the largest sphere that can fit inside this AABB
         // This function computes the largest sphere that can fit inside this AABB.
-        Sphere MaximalContainedSphere() const;
-        Vector3 GetCentroid() const;
+        Sphere MaximalContainedSphere() const
+        {
+            Vector3 halfSize = HalfSize();
+            return Sphere(Centroid(), std::min(halfSize.x, std::min(halfSize.y, halfSize.z)));
+        }
+        bool IsFinite() const
+        {
+            return minPoint.IsFinite() && maxPoint.IsFinite();
+        }
+        Vector3 Centroid() const
+        {
+            return (minPoint+maxPoint) * 0.5f;
+        }
+        Vector3 Size() const
+        {
+            return this->maxPoint - this->minPoint;
+        }
         // Quickly returns an arbitrary point inside this AABB
         Vector3 AnyPointFast() const;
 
-        Vector3 PointInside(float x, float y, float z) const;
+        Vector3 PointInside(float x, float y, float z) const
+        {
+            Vector3 d = maxPoint - minPoint;
+            return minPoint + d.Mul({x, y, z});
+        }
         // Returns an edge of this AABB
-        LineSegment Edge(int edgeIndex) const;
+        LineSegment Edge(int edgeIndex) const
+        {
+            switch(edgeIndex)
+            {
+                default:
+                case 0: return LineSegment(minPoint, {minPoint.x, minPoint.y, maxPoint.z});
+            }
+        }
         Vector3 CornerPoint(int cornerIndex);
         Vector3 ExtremePoint(const Vector3& direction) const;
         Vector3 ExtremePoint(const Vector3& direction, float projectionDistance);
@@ -61,7 +115,6 @@ namespace Geometry
         Vector3 FaceNormal(int faceIndex) const;
         Plane FacePlane(int faceIndex);
         static AABB MinimalEnclosingAABB(const Vector3* pointArray, int numPoints);
-        Vector3 GetSize();
         Vector3 GetVolume();
         float GetVolumeCubed();
         float GetSurfaceArea();

include/J3ML/Geometry/Capsule.h

@@ -13,7 +13,7 @@ namespace Geometry
         // Specifies the radius of this capsule
         float r;
 
-        Capsule() {}
+        Capsule();
         Capsule(const LineSegment& endPoints, float radius);
         Capsule(const Vector3& bottomPt, const Vector3& topPt, float radius);
         bool IsDegenerate()const;

include/J3ML/Geometry/LineSegment.h

@@ -7,6 +7,9 @@ namespace Geometry
     using LinearAlgebra::Vector3;
     class LineSegment
     {
+    public:
+        LineSegment();
+        LineSegment(const Vector3& a, const Vector3& b);
         Vector3 A;
         Vector3 B;
     };

include/J3ML/Geometry/Sphere.h

@@ -1,9 +1,15 @@
 #pragma once
 
+#include "J3ML/Geometry.h"
+
 namespace Geometry
 {
     class Sphere
     {
+    public:
+        Sphere(const Vector3& pos, float radius)
+        {
 
+        }
     };
 }