Implement Geometric Types

CMakeLists.txt

@@ -30,7 +30,25 @@ include_directories("include")
 
 add_library(J3ML SHARED ${J3ML_SRC}
         src/J3ML/LinearAlgebra/AxisAngle.cpp
-        include/J3ML/LinearAlgebra/Vector.h)
+        include/J3ML/LinearAlgebra/Vector.h
+        include/J3ML/Geometry/Plane.h
+        include/J3ML/Geometry/AABB.h
+        include/J3ML/Geometry/Frustum.h
+        include/J3ML/Geometry/OBB.h
+        include/J3ML/Geometry/Capsule.h
+        include/J3ML/Geometry/Sphere.h
+        include/J3ML/Geometry/Ray.h
+        include/J3ML/Geometry/QuadTree.h
+        include/J3ML/Geometry/LineSegment.h
+        include/J3ML/Geometry/TriangleMesh.h
+        include/J3ML/Geometry/Polygon.h
+        include/J3ML/Geometry/Triangle.h
+        include/J3ML/Geometry/Triangle2D.h
+        src/J3ML/Geometry/AABB.cpp
+        src/J3ML/Geometry/Plane.cpp
+        src/J3ML/Geometry/Sphere.cpp
+        src/J3ML/Geometry/Frustum.cpp
+        src/J3ML/Geometry/OBB.cpp)
 set_target_properties(J3ML PROPERTIES LINKER_LANGUAGE CXX)
 
 install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})

include/J3ML/Geometry.h

@@ -20,12 +20,21 @@ namespace Geometry {
     class Triangle2D;
     class Polygon2D;
 
+    class Sphere;
+    class LineSegment
+    {
+        Vector3 A;
+        Vector3 B;
+    };
+
     struct IntersectionResult2D {};
 
     bool Intersects2D(LineSegment2D seg, Rectangle rect);
     IntersectionResult2D GetIntersection2D(LineSegment2D seg, Rectangle rect);
 
 
+    class OBB;
+
     // A 3D axis-aligned bounding box
     // This data structure can be used to represent coarse bounds of objects, in situations where detailed triangle-level
     // computations can be avoided. In physics systems, bounding boxes are used as an efficient early-out test for geometry
@@ -34,38 +43,19 @@ namespace Geometry {
     // axes of the world space coordinate system. This makes computation involving AABB's very fast, since AABB's cannot
     // be arbitrarily oriented in the space with respect to each other.
     // If you need to represent a box in 3D space with arbitrary orientation, see the class OBB. */
-    class AABB;
+
     class Capsule;
     class Line;
-    class LineSegment
+
-    {
-        Vector3 A;
-        Vector3 B;
-    };
     class Ray
     {
         Vector3 Origin;
         Vector3 Direction;
     };
 
-    class OBB;
-    class Plane
-    {
-    public:
-        Vector3 Position;
-        Vector3 Normal;
-        float distance = 0.f;
 
-    };
+
-    class Frustum {
+
-    public:
-        Plane TopFace;
-        Plane BottomFace;
-        Plane RightFace;
-        Plane LeftFace;
-        Plane FarFace;
-        Plane NearFace;
-    };
 
     class Camera {
     public:
@@ -75,28 +65,13 @@ namespace Geometry {
         Vector3 Up;
     };
 
-    static Frustum CreateFrustumFromCamera(const Camera& cam, float aspect, float fovY, float zNear, float zFar)
-    {
-        Frustum frustum;
-        const float halfVSide = zFar * tanf(fovY * 0.5f);
-        const float halfHSide = halfVSide * aspect;
 
-        const Vector3 frontMultFar = cam.Front * zFar;
-
-        frustum.NearFace  = Plane{cam.Position + cam.Front * zNear, cam.Front};
-        frustum.FarFace   = Plane{cam.Position + frontMultFar, -cam.Front};
-        frustum.RightFace = Plane{cam.Position, Vector3::Cross(frontMultFar - cam.Right * halfHSide, cam.Up)};
-        frustum.LeftFace  = Plane{cam.Position, Vector3::Cross(cam.Up, frontMultFar+cam.Right*halfHSide)};
-        frustum.TopFace   = Plane{cam.Position, Vector3::Cross(cam.Right, frontMultFar - cam.Up * halfVSide)};
-        frustum.BottomFace   = Plane{cam.Position, Vector3::Cross(frontMultFar + cam.Up * halfVSide, cam.Right)};
-        return frustum;
-    }
 
     class Polygon;
     class Polyhedron;
     class QuadTree;
     class OctTree;
-    class Sphere;
+
     class Triangle;
     class TriangleMesh;
 }

include/J3ML/Geometry/AABB.h

@@ -0,0 +1,62 @@
+#pragma once
+
+#include <J3ML/LinearAlgebra/Vector3.h>
+#include "Plane.h"
+#include "Sphere.h"
+
+using namespace LinearAlgebra;
+
+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
+        // This function computes the largest sphere that can fit inside this AABB.
+        Sphere MaximalContainedSphere() const;
+        Vector3 GetCentroid() const;
+        // Quickly returns an arbitrary point inside this AABB
+        Vector3 AnyPointFast() const;
+
+        Vector3 PointInside(float x, float y, float z) const;
+        // Returns an edge of this AABB
+        LineSegment Edge(int edgeIndex) const;
+        Vector3 CornerPoint(int cornerIndex);
+        Vector3 ExtremePoint(const Vector3& direction) const;
+        Vector3 ExtremePoint(const Vector3& direction, float projectionDistance);
+        Vector3 PointOnEdge(int edgeIndex, float u) const;
+        Vector3 FaceCenterPoint(int faceIndex) const;
+        Vector3 FacePoint(int faceIndex, float u, float v) const;
+        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();
+        Vector3 GetRandomPointInside();
+        Vector3 GetRandomPointOnSurface();
+        Vector3 GetRandomPointOnEdge();
+        Vector3 GetRandomCornerPoint();
+        AABB Translated(const Vector3& offset) const;
+        AABB TransformAABB(const Matrix3x3& transform);
+        AABB TransformAABB(const Matrix4x4& transform);
+        AABB TransformAABB(const Quaternion& transform);
+        OBB Transform(const Matrix3x3& transform);
+        OBB Transform(const Matrix4x4& transform);
+        OBB Transform(const Quaternion& transform);
+
+        bool Contains(const Vector3& point) const;
+        bool Contains(const LineSegment& lineSegment) const;
+        bool Contains(const AABB& aabb) const;
+        bool Contains(const OBB& obb) const;
+        bool Contains(const Sphere& sphere) const;
+        bool C
+    };
+}

include/J3ML/Geometry/Capsule.h

@@ -0,0 +1,8 @@
+//
+// Created by dawsh on 1/25/24.
+//
+
+#ifndef J3ML_CAPSULE_H
+#define J3ML_CAPSULE_H
+
+#endif //J3ML_CAPSULE_H

include/J3ML/Geometry/Frustum.h

@@ -0,0 +1,38 @@
+//
+// Created by dawsh on 1/25/24.
+//
+#pragma once
+
+#include "Plane.h"
+
+namespace Geometry
+{
+    class Frustum {
+    public:
+        Plane TopFace;
+        Plane BottomFace;
+        Plane RightFace;
+        Plane LeftFace;
+        Plane FarFace;
+        Plane NearFace;
+        static Frustum CreateFrustumFromCamera(const Camera& cam, float aspect, float fovY, float zNear, float zFar);
+
+    };
+
+    Frustum Frustum::CreateFrustumFromCamera(const Camera &cam, float aspect, float fovY, float zNear, float zFar) {
+        Frustum frustum;
+        const float halfVSide = zFar * tanf(fovY * 0.5f);
+        const float halfHSide = halfVSide * aspect;
+
+        const Vector3 frontMultFar = cam.Front * zFar;
+
+        frustum.NearFace  = Plane{cam.Position + cam.Front * zNear, cam.Front};
+        frustum.FarFace   = Plane{cam.Position + frontMultFar, -cam.Front};
+        frustum.RightFace = Plane{cam.Position, Vector3::Cross(frontMultFar - cam.Right * halfHSide, cam.Up)};
+        frustum.LeftFace  = Plane{cam.Position, Vector3::Cross(cam.Up, frontMultFar+cam.Right*halfHSide)};
+        frustum.TopFace   = Plane{cam.Position, Vector3::Cross(cam.Right, frontMultFar - cam.Up * halfVSide)};
+        frustum.BottomFace   = Plane{cam.Position, Vector3::Cross(frontMultFar + cam.Up * halfVSide, cam.Right)};
+        return frustum;
+    }
+
+}

include/J3ML/Geometry/LineSegment.h

@@ -0,0 +1,8 @@
+//
+// Created by dawsh on 1/25/24.
+//
+
+#ifndef J3ML_LINESEGMENT_H
+#define J3ML_LINESEGMENT_H
+
+#endif //J3ML_LINESEGMENT_H

include/J3ML/Geometry/OBB.h

@@ -0,0 +1,8 @@
+//
+// Created by dawsh on 1/25/24.
+//
+
+#ifndef J3ML_OBB_H
+#define J3ML_OBB_H
+
+#endif //J3ML_OBB_H

include/J3ML/Geometry/Plane.h

@@ -0,0 +1,13 @@
+#pragma once
+#include <J3ML/LinearAlgebra/Vector3.h>
+
+using namespace LinearAlgebra;
+
+class Plane
+{
+public:
+    Vector3 Position;
+    Vector3 Normal;
+    float distance = 0.f;
+
+};

include/J3ML/Geometry/Polygon.h

@@ -0,0 +1,8 @@
+//
+// Created by dawsh on 1/25/24.
+//
+
+#ifndef J3ML_POLYGON_H
+#define J3ML_POLYGON_H
+
+#endif //J3ML_POLYGON_H

include/J3ML/Geometry/QuadTree.h

@@ -0,0 +1,8 @@
+//
+// Created by dawsh on 1/25/24.
+//
+
+#ifndef J3ML_QUADTREE_H
+#define J3ML_QUADTREE_H
+
+#endif //J3ML_QUADTREE_H

include/J3ML/Geometry/Ray.h

@@ -0,0 +1,8 @@
+//
+// Created by dawsh on 1/25/24.
+//
+
+#ifndef J3ML_RAY_H
+#define J3ML_RAY_H
+
+#endif //J3ML_RAY_H

include/J3ML/Geometry/Sphere.h

@@ -0,0 +1,9 @@
+#pragma once
+
+namespace Geometry
+{
+    class Sphere
+    {
+
+    };
+}

include/J3ML/Geometry/Triangle.h

@@ -0,0 +1,8 @@
+//
+// Created by dawsh on 1/25/24.
+//
+
+#ifndef J3ML_TRIANGLE_H
+#define J3ML_TRIANGLE_H
+
+#endif //J3ML_TRIANGLE_H

include/J3ML/Geometry/Triangle2D.h

@@ -0,0 +1,8 @@
+//
+// Created by dawsh on 1/25/24.
+//
+
+#ifndef J3ML_TRIANGLE2D_H
+#define J3ML_TRIANGLE2D_H
+
+#endif //J3ML_TRIANGLE2D_H

include/J3ML/Geometry/TriangleMesh.h

@@ -0,0 +1,8 @@
+//
+// Created by dawsh on 1/25/24.
+//
+
+#ifndef J3ML_TRIANGLEMESH_H
+#define J3ML_TRIANGLEMESH_H
+
+#endif //J3ML_TRIANGLEMESH_H

src/J3ML/Geometry/AABB.cpp

@@ -0,0 +1 @@
+#include <J3ML/Geometry/AABB.h>

src/J3ML/Geometry/Frustum.cpp

@@ -0,0 +1 @@
+#include <J3ML/Geometry/Frustum.h>

src/J3ML/Geometry/OBB.cpp

@@ -0,0 +1,3 @@
+//
+// Created by dawsh on 1/25/24.
+//

src/J3ML/Geometry/Plane.cpp

@@ -0,0 +1 @@
+#include <J3ML/Geometry/Plane.h>

src/J3ML/Geometry/Sphere.cpp

@@ -0,0 +1 @@
+#include <J3ML/Geometry/Sphere.h>