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Tweeker Commit (Have Fun Reviewing This)

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josh
2024-04-05 12:15:01 -04:00
parent 815e914c7f
commit 0aff68b63e
30 changed files with 2261 additions and 44 deletions
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4
include/J3ML/Geometry/AABB.h
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@@ -30,6 +30,8 @@ namespace J3ML::Geometry
AABB(const Vector3& min, const Vector3& max);
Vector3 HalfDiagonal() const { return HalfSize(); }
static int NumFaces() { return 6; }
static int NumEdges() { return 12; }
@@ -90,6 +92,8 @@ namespace J3ML::Geometry
Plane FacePlane(int faceIndex) const;
void ProjectToAxis(const Vector3 &direction, float &outMin, float &outMax) const;
static AABB MinimalEnclosingAABB(const Vector3 *pointArray, int numPoints);
float GetVolume() const;
float GetSurfaceArea() const;

35
include/J3ML/Geometry/Capsule.h
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@@ -7,6 +7,15 @@
namespace J3ML::Geometry
{
// TODO: Move to separate math lib, find duplicates!
template <typename T>
void Swap(T &a, T &b)
{
T temp = std::move(a);
a = std::move(b);
b = std::move(temp);
}
using namespace LinearAlgebra;
class Capsule : public Shape
{
@@ -27,5 +36,31 @@ namespace J3ML::Geometry
Vector3 Centroid() const;
Vector3 ExtremePoint(const Vector3& direction);
AABB MinimalEnclosingAABB() const;
void ProjectToAxis(const Vector3 &direction, float &outMin, float &outMax) const;
bool Intersects(const Plane &plane) const;
bool Intersects(const Ray &ray) const;
bool Intersects(const Line &line) const;
bool Intersects(const LineSegment &lineSegment) const;
bool Intersects(const AABB &aabb) const;
bool Intersects(const OBB &obb) const;
bool Intersects(const Sphere &sphere) const;
bool Intersects(const Capsule &capsule) const;
bool Intersects(const Triangle &triangle) const;
bool Intersects(const Polygon &polygon) const;
bool Intersects(const Frustum &frustum) const;
bool Intersects(const Polyhedron &polyhedron) const;
};
}

1
include/J3ML/Geometry/Common.h
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@@ -10,6 +10,7 @@ namespace J3ML::Geometry
class Capsule;
class Frustum;
class LineSegment;
class Line;
class OBB;
class Plane;
class Polygon;

4
include/J3ML/Geometry/Frustum.h
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@@ -207,5 +207,9 @@ namespace J3ML::Geometry
bool Intersects(const Capsule& obb) const;
bool Intersects(const Frustum& plane) const;
bool Intersects(const Polyhedron& triangle) const;
void ProjectToAxis(const Vector3 &direction, float &outMin, float &outMax) const;
void GetCornerPoints(Vector3 *outPointArray) const;
};
}

14
include/J3ML/Geometry/Line.h
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@@ -1,10 +1,24 @@
#pragma once
#include "LineSegment.h"
namespace J3ML::Geometry
{
class Line
{
public:
Vector3 Position; /// Specifies the origin of this line.
Vector3 Direction; /// The normalized direction vector of this ray.
public:
static void
ClosestPointLineLine(const Vector3 &v0, const Vector3 &v10, const Vector3 &v2, const Vector3 &v32, float &d,
float &d2);
Vector3 ClosestPoint(const J3ML::Geometry::LineSegment &other, float &d, float &d2) const;
Vector3 GetPoint(float d) const;
Vector3 ClosestPoint(const Vector3 &targetPoint, float &d) const;
};
}

47
include/J3ML/Geometry/LineSegment.h
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@@ -1,9 +1,26 @@
#pragma once
#include <J3ML/LinearAlgebra/Vector3.h>
#include "Plane.h"
#include <J3ML/Geometry/Common.h>
namespace J3ML::Geometry
{
/// Clamps the given input value to the range [min, max].
/** @see Clamp01(), Min(), Max(). */
template<typename T>
T Clamp(const T &val, const T &floor, const T &ceil)
{
assert(floor <= ceil);
return val <= ceil ? (val >= floor ? val : floor) : ceil;
}
/// Clamps the given input value to the range [0, 1].
/** @see Clamp(), Min(), Max(). */
template<typename T>
T Clamp01(const T &val) { return Clamp(val, T(0), T(1)); }
using LinearAlgebra::Vector3;
class LineSegment
{
@@ -13,5 +30,35 @@ namespace J3ML::Geometry
Vector3 A;
Vector3 B;
bool Contains(const Vector3&) const;
void ProjectToAxis(const Vector3 &direction, float &outMin, float &outMax) const;
Vector3 GetPoint(float d) const;
Vector3 ClosestPoint(const Vector3 &point, float &d) const;
Vector3 ClosestPoint(const Ray &other, float &d, float &d2) const;
float Distance(const Vector3 &point) const;
float DistanceSq(const Vector3& point) const;
float Distance(const Vector3 &point, float &d) const;
float Distance(const Ray &other) const;
float Distance(const Ray &other, float &d) const;
float Distance(const Ray &other, float &d, float &d2) const;
float Distance(const Line &other) const;
float Distance(const Line &other, float &d) const;
float Distance(const Line &other, float &d, float &d2) const;
float Distance(const LineSegment &other) const;
float Distance(const LineSegment &other, float &d) const;
float Distance(const LineSegment &other, float &d, float &d2) const;
float Distance(const Plane& other) const;
Vector3 Dir() const;
float Length() const;
float LengthSq() const;
float DistanceSq(const LineSegment &other) const;
Vector3 ClosestPoint(const LineSegment &other, float &d, float &d2) const;
Vector3 ClosestPoint(const Line &other, float &d, float &d2) const;
};
}

2
include/J3ML/Geometry/OBB.h
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@@ -94,5 +94,7 @@ namespace J3ML::Geometry {
void SetFrom(const AABB &aabb, const Matrix4x4 &transform);
void SetFrom(const AABB &aabb, const Quaternion &transform);
bool Intersects(const Plane& plane) const;
};
}

74
include/J3ML/Geometry/Plane.h
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@@ -11,22 +11,74 @@ namespace J3ML::Geometry
class Plane : public Shape
{
public:
Plane() : Shape() {}
Plane(const Vector3& v1, const Vector3 &v2, const Vector3& v3)
{
Set(v1, v2, v3);
}
Plane(const Vector3& pos, const Vector3& norm)
: Shape(), Position(pos), Normal(norm) {}
Vector3 Position;
Vector3 Normal;
float distance = 0.f;
public:
Plane() : Shape() {}
Plane(const Vector3& v1, const Vector3 &v2, const Vector3& v3);
Plane(const Vector3& pos, const Vector3& norm);
Plane(const Line &line, const Vector3 &normal);
void Set(const Vector3& v1, const Vector3& v2, const Vector3& v3)
{
void Set(const Vector3& v1, const Vector3& v2, const Vector3& v3);
}
void Set(const Vector3 &point, const Vector3 &normal_);
bool Intersects(J3ML::Geometry::Ray ray, float *pDouble);
bool Intersects(J3ML::Geometry::Ray ray, float *dist) const;
/// Tests if the given point lies on the positive side of this plane.
/** A plane divides the space in three sets: the negative halfspace, the plane itself, and the positive halfspace.
The normal vector of the plane points towards the positive halfspace.
@return This function returns true if the given point lies either on this plane itself, or in the positive
halfspace of this plane.
@see IsInPositiveDirection, AreOnSameSide(), Distance(), SignedDistance(). */
bool IsOnPositiveSide(const Vector3 &point) const;
float SignedDistance(const Vector3 &point) const;
float SignedDistance(const AABB &aabb) const;
float SignedDistance(const OBB &obb) const;
float SignedDistance(const Capsule &capsule) const;
//float Plane::SignedDistance(const Circle &circle) const { return Plane_SignedDistance(*this, circle); }
float SignedDistance(const Frustum &frustum) const;
//float SignedDistance(const Line &line) const { return Plane_SignedDistance(*this, line); }
float SignedDistance(const LineSegment &lineSegment) const;
float SignedDistance(const Ray &ray) const;
//float Plane::SignedDistance(const Plane &plane) const { return Plane_SignedDistance(*this, plane); }
float SignedDistance(const Polygon &polygon) const;
float SignedDistance(const Polyhedron &polyhedron) const;
float SignedDistance(const Sphere &sphere) const;
float SignedDistance(const Triangle &triangle) const;
static bool
IntersectLinePlane(const Vector3 &planeNormal, float planeD, const Vector3 &linePos, const Vector3 &lineDir,
float &t);
float Distance(const Vector3 &) const;
float Distance(const LineSegment &lineSegment) const;
float Distance(const Sphere &sphere) const;
float Distance(const Capsule &capsule) const;
bool Intersects(const Line &line, float *dist) const;
bool Intersects(const LineSegment &lineSegment, float *dist) const;
bool Intersects(const Sphere &sphere) const;
bool Intersects(const Capsule &capsule) const;
bool Intersects(const AABB &aabb) const;
bool Intersects(const OBB &obb) const;
bool Intersects(const Triangle &triangle) const;
bool Intersects(const Frustum &frustum) const;
bool Intersects(const Polyhedron &polyhedron) const;
LineSegment Project(const LineSegment &segment);
};
}

57
include/J3ML/Geometry/Polygon.h
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@@ -12,17 +12,52 @@ namespace J3ML::Geometry {
public:
std::vector<Vector3> vertices;
AABB MinimalEnclosingAABB() const;
int NumVertices() const
{
return (int)vertices.size();
}
Vector3 Vertex(int vertexIndex) const
{
assert(vertexIndex >= 0);
assert(vertexIndex < (int) vertices.size());
return vertices[vertexIndex];
}
int NumVertices() const;
Vector3 Vertex(int vertexIndex) const;
Vector3 ExtremePoint(const Vector3 &direction, float &projectionDistance) const;
Vector3 ExtremePoint(const Vector3 &direction) const;
void ProjectToAxis(const Vector3 &direction, float &outMin, float &outMax) const;
bool Intersects(const Capsule &capsule) const;
bool Intersects(const Line &line) const;
bool Intersects(const Ray &ray) const;
bool Intersects(const LineSegment &lineSegment) const;
bool Intersects(const Plane &plane) const;
bool Intersects(const AABB &aabb) const;
bool Intersects(const OBB &obb) const;
bool Intersects(const Triangle &triangle, float polygonThickness = 1e-3f) const;
bool Intersects(const Polygon &polygon, float polygonThickness = 1e-3f) const;
bool Intersects(const Frustum &frustum) const;
bool Intersects(const Polyhedron &polyhedron) const;
bool Intersects(const Sphere &sphere) const;
protected:
private:
std::vector<Triangle> Triangulate() const;
/// Tests if this polygon is planar.
/** A polygon is planar if all its vertices lie on the same plane.
@note Almost all functions in this class require that the polygon is planar. While you can store vertices of
non-planar polygons in this class, they are better avoided. Read the member function documentation carefully
to avoid calling for non-planar polygons any functions which assume planarity.
@see IsConvex(), IsSimple(), IsNull(), IsFinite(), IsDegenerate(). */
bool IsPlanar(float epsilonSq = 1e-4f) const;
Vector2 MapTo2D(int i) const;
Vector2 MapTo2D(const Vector3 &point) const;
Vector3 BasisU() const;
Vector3 BasisV() const;
Plane PlaneCCW() const;
bool Contains(const Polygon &worldSpacePolygon, float polygonThickness) const;
bool Contains(const Vector3 &worldSpacePoint, float polygonThicknessSq) const;
bool Contains(const LineSegment &worldSpaceLineSegment, float polygonThickness) const;
};
}

23
include/J3ML/Geometry/Polyhedron.h
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@@ -40,7 +40,7 @@ namespace J3ML::Geometry
Vector3 Vertex(int vertexIndex) const;
bool Intersects(const LineSegment&) const;
bool Contains(const Vector3&) const;
bool Contains(const LineSegment&) const;
@@ -55,6 +55,8 @@ namespace J3ML::Geometry
bool ContainsConvex(const LineSegment&) const;
bool ContainsConvex(const Triangle&) const;
bool Intersects(const Line&) const;
bool Intersects(const LineSegment&) const;
bool Intersects(const Ray&) const;
bool Intersects(const Plane&) const;
bool Intersects(const Polyhedron&) const;
@@ -84,9 +86,28 @@ namespace J3ML::Geometry
Polygon FacePolygon(int faceIndex) const;
Vector3 FaceNormal(int faceIndex) const;
bool IsConvex() const;
Vector3 ApproximateConvexCentroid() const;
int ExtremeVertex(const Vector3 &direction) const;
Vector3 ExtremePoint(const Vector3 &direction) const;
/// Tests if the given face of this Polyhedron contains the given point.
bool FaceContains(int faceIndex, const Vector3 &worldSpacePoint, float polygonThickness = 1e-3f) const;
/// A helper for Contains() and FaceContains() tests: Returns a positive value if the given point is contained in the given face,
/// and a negative value if the given point is outside the face. The magnitude of the return value reports a pseudo-distance
/// from the point to the nearest edge of the face polygon. This is used as a robustness/stability criterion to estimate how
/// numerically believable the result is.
float FaceContainmentDistance2D(int faceIndex, const Vector3 &worldSpacePoint, float polygonThickness) const;
void ProjectToAxis(const Vector3 &direction, float &outMin, float &outMax) const;
protected:
private:
};
}

6
include/J3ML/Geometry/Ray.h
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@@ -56,5 +56,11 @@ namespace J3ML::Geometry
// the surface intersection point,
// and the surface normal at the point of intersection.
RaycastResult Cast(std::vector<Shape> shapes, float maxDistance = 99999999);
void ProjectToAxis(const Vector3 &direction, float &outMin, float &outMax) const;
Vector3 ClosestPoint(const LineSegment&, float &d, float &d2) const;
Vector3 ClosestPoint(const Vector3 &targetPoint, float &d) const;
};
}

6
include/J3ML/Geometry/Sphere.h
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@@ -60,12 +60,10 @@ namespace J3ML::Geometry
{
return Position.DistanceSquared(point) <= Radius*Radius + epsilon;
}
bool Contains(const LineSegment& lineseg) const
{
}
bool Contains(const LineSegment& lineseg) const;
TriangleMesh GenerateUVSphere() const {}
TriangleMesh GenerateIcososphere() const {}
void ProjectToAxis(const Vector3 &direction, float &outMin, float &outMax) const;
};
}

70
include/J3ML/Geometry/Triangle.h
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@@ -13,9 +13,79 @@ namespace J3ML::Geometry
Vector3 V2;
bool Intersects(const AABB& aabb) const;
bool Intersects(const Capsule& capsule) const;
AABB BoundingAABB() const;
bool Contains(const Vector3&) const;
void ProjectToAxis(const Vector3 &axis, float &dMin, float &dMax) const;
static float IntersectLineTri(const Vector3 &linePos, const Vector3 &lineDir, const Vector3 &v0, const Vector3 &v1,
const Vector3 &v2, float &u, float &v);
/// Computes the closest point on the edge of this triangle to the given object.
/** @param outU [out] If specified, receives the barycentric U coordinate of the returned point (in the UV convention).
This pointer may be null.
@param outV [out] If specified, receives the barycentric V coordinate of the returned point (in the UV convention).
This pointer may be null.
@param outD [out] If specified, receives the distance along the line of the closest point on the line to the edge of this triangle.
@return The closest point on the edge of this triangle to the given object.
@todo Add ClosestPointToTriangleEdge(Point/Ray/Triangle/Plane/Polygon/Circle/Disk/AABB/OBB/Sphere/Capsule/Frustum/Polyhedron).
@see Distance(), Contains(), Intersects(), ClosestPointToTriangleEdge(), Line::GetPoint. */
Vector3 ClosestPointToTriangleEdge(const Line &line, float *outU, float *outV, float *outD) const;
Vector3 ClosestPointToTriangleEdge(const LineSegment &lineSegment, float *outU, float *outV, float *outD) const;
Vector3 ClosestPoint(const LineSegment &lineSegment, Vector3 *otherPt = 0) const;
/// Returns the point at the given barycentric coordinates.
/** This function computes the vector space point at the given barycentric coordinates.
@param uvw The barycentric UVW coordinate triplet. The condition u+v+w == 1 should hold for the input coordinate.
If 0 <= u,v,w <= 1, the returned point lies inside this triangle.
@return u*a + v*b + w*c. */
Vector3 Point(const Vector3 &uvw) const;
Vector3 Point(float u, float v, float w) const;
/** These functions are an alternate form of Point(u,v,w) for the case when the barycentric coordinates are
represented as a (u,v) pair and not as a (u,v,w) triplet. This function is provided for convenience
and effectively just computes Point(1-u-v, u, v).
@param uv The barycentric UV coordinates. If 0 <= u,v <= 1 and u+v <= 1, then the returned point lies inside
this triangle.
@return a + (b-a)*u + (c-a)*v.
@see BarycentricUV(), BarycentricUVW(), BarycentricInsideTriangle(). */
Vector3 Point(const Vector2 &uv) const;
Vector3 Point(float u, float v) const;
/// Expresses the given point in barycentric (u,v,w) coordinates.
/** @note There are two different conventions for representing barycentric coordinates. One uses
a (u,v,w) triplet with the equation pt == u*a + v*b + w*c, and the other uses a (u,v) pair
with the equation pt == a + u*(b-a) + v*(c-a). These two are equivalent. Use the mappings
(u,v) -> (1-u-v, u, v) and (u,v,w)->(v,w) to convert between these two representations.
@param point The point of the vector space to express in barycentric coordinates. This point should
lie in the plane formed by this triangle.
@return The factors (u,v,w) that satisfy the weighted sum equation point == u*a + v*b + w*c.
@see BarycentricUV(), BarycentricInsideTriangle(), Point(), http://mathworld.wolfram.com/BarycentricCoordinates.html */
Vector3 BarycentricUVW(const Vector3 &point) const;
/// Expresses the given point in barycentric (u,v) coordinates.
/** @note There are two different conventions for representing barycentric coordinates. One uses
a (u,v,w) triplet with the equation pt == u*a + v*b + w*c, and the other uses a (u,v) pair
with the equation pt == a + u*(b-a) + v*(c-a). These two are equivalent. Use the mappings
(u,v) -> (1-u-v, u, v) and (u,v,w)->(v,w) to convert between these two representations.
@param point The point to express in barycentric coordinates. This point should lie in the plane
formed by this triangle.
@return The factors (u,v) that satisfy the weighted sum equation point == a + u*(b-a) + v*(c-a).
@see BarycentricUVW(), BarycentricInsideTriangle(), Point(). */
Vector2 BarycentricUV(const Vector3 &point) const;
Vector3 ClosestPoint(const Vector3 &p) const;
Plane PlaneCCW() const;
Plane PlaneCW() const;
Vector3 Vertex(int i) const;
LineSegment Edge(int i) const;
};