Merge branch 'master' of https://github.com/AxioDL/zeus

include/zeus/CAABox.hpp

@@ -100,11 +100,44 @@ public:
         bool z2 = (min[2] < other.max[2]);
         return x1 && x2 && y1 && y2 && z1 && z2;
     }
+
     bool intersects(const CSphere& other) const
     {
         return distanceFromPointSquared(other.position) <= other.radius * other.radius;
     }
 
+    inline CAABox booleanIntersection(const CAABox& other) const
+    {
+        CVector3f minVec = CVector3f::skZero;
+        CVector3f maxVec = CVector3f::skZero;
+
+        for (int i = 0; i < 3; ++i)
+        {
+            if (min[i] <= other.min[i] && max[i] >= other.max[i])
+            {
+                minVec[i] = other.min[i];
+                maxVec[i] = other.max[i];
+            }
+            else if (other.min[i] <= min[i] && other.max[i] >= max[i])
+            {
+                minVec[i] = min[i];
+                maxVec[i] = max[i];
+            }
+            else if (other.min[i] <= min[i] && other.max[i] >= min[i])
+            {
+                minVec[i] = min[i];
+                maxVec[i] = other.max[i];
+            }
+            else if (other.min[i] <= max[i] && other.max[i] >= max[i])
+            {
+                minVec[i] = other.min[i];
+                maxVec[i] = max[i];
+            }
+        }
+
+        return {minVec, maxVec};
+    }
+
     inline bool inside(const CAABox& other) const
     {
         bool x = min[0] >= other.min[0] && max[0] <= other.max[0];
@@ -157,7 +190,9 @@ public:
 
     CVector3f center() const { return (min + max) * 0.5f; }
 
-    CVector3f volume() const { return (max - min) * 0.5f; }
+    CVector3f extents() const { return (max - min) * 0.5f; }
+
+    float volume() const { return (max.x - min.x) * (max.y - min.y) * (max.z - min.z); }
 
     inline CLineSeg getEdge(EBoxEdgeId id)
     {
@@ -312,8 +347,14 @@ public:
     inline bool invalid() { return (max.x < min.x || max.y < min.y || max.z < min.z); }
 };
 
-inline bool operator==(const CAABox& left, const CAABox& right) { return (left.min == right.min && left.max == right.max); }
-inline bool operator!=(const CAABox& left, const CAABox& right) { return (left.min != right.min || left.max != right.max); }
+inline bool operator==(const CAABox& left, const CAABox& right)
+{
+    return (left.min == right.min && left.max == right.max);
+}
+inline bool operator!=(const CAABox& left, const CAABox& right)
+{
+    return (left.min != right.min || left.max != right.max);
+}
 }
 
 #endif // CAABOX_HPP

include/zeus/COBBox.hpp

@@ -32,7 +32,7 @@ public:
 
     COBBox() {}
 
-    COBBox(const CAABox& aabb) : extents(aabb.volume()) { transform.origin = aabb.center(); }
+    COBBox(const CAABox& aabb) : extents(aabb.extents()) { transform.origin = aabb.center(); }
 
     COBBox(const CTransform& xf, const CVector3f& extents) : transform(xf), extents(extents) {}
 

include/zeus/CQuaternion.hpp

@@ -205,7 +205,8 @@ public:
             targetCpy.normalize();
             upCpy.normalize();
 
-            CRelAngle angleBetween = normalize_angle(std::atan2(targetCpy.x, targetCpy.y) - std::atan2(upCpy.x, upCpy.y));
+            CRelAngle angleBetween =
+                normalize_angle(std::atan2(targetCpy.x, targetCpy.y) - std::atan2(upCpy.x, upCpy.y));
             CRelAngle realAngle = zeus::clamp<CRelAngle>(-c, angleBetween, c);
             CQuaternion tmpQ;
             tmpQ.rotateZ(realAngle);
@@ -233,6 +234,7 @@ public:
     CQuaternion exp() const;
 
     inline CTransform toTransform() const { return CTransform(CMatrix3f(*this)); }
+    inline CTransform toTransform(const zeus::CVector3f& origin) const { return CTransform(CMatrix3f(*this), origin); }
     float dot(const CQuaternion& quat) const;
 
     static CQuaternion lerp(const CQuaternion& a, const CQuaternion& b, double t);
@@ -248,7 +250,8 @@ public:
     inline float& operator[](size_t idx) { return (&w)[idx]; }
     inline const float& operator[](size_t idx) const { return (&w)[idx]; }
 
-    union {
+    union
+    {
         __m128 mVec128;
         struct
         {
@@ -263,17 +266,9 @@ class alignas(16) CNUQuaternion : public CQuaternion
 {
 public:
     CNUQuaternion() = default;
-    CNUQuaternion(const CMatrix3f& mtx)
-    : CQuaternion(mtx)
-    {
-        normalize();
-    }
+    CNUQuaternion(const CMatrix3f& mtx) : CQuaternion(mtx) { normalize(); }
 
-    CNUQuaternion(const CQuaternion& other)
-    : CQuaternion(other)
-    {
-        normalize();
-    }
+    CNUQuaternion(const CQuaternion& other) : CQuaternion(other) { normalize(); }
 };
 
 CQuaternion operator+(float lhs, const CQuaternion& rhs);

include/zeus/CVector3f.hpp

@@ -253,6 +253,7 @@ public:
 #endif
         return *this;
     }
+
     inline void normalize()
     {
         float mag = magnitude();

include/zeus/Math.hpp

@@ -51,21 +51,24 @@ class CVector2f;
 class CTransform;
 
 template <typename T>
-inline T min(T a, T b)
+inline T min(const T& a, const T& b)
 {
     return a < b ? a : b;
 }
 template <typename T>
-inline T max(T a, T b)
+inline T max(const T& a, const T& b)
 {
     return a > b ? a : b;
 }
+template <> CVector3f min(const CVector3f& a, const CVector3f& b);
+template <> CVector3f max(const CVector3f& a, const CVector3f& b);
 
 template <typename T>
-inline T clamp(T a, T val, T b)
+inline T clamp(const T& a, const T& val, const T& b)
 {
     return max<T>(a, min<T>(b, val));
 }
+
 inline float radToDeg(float rad) { return rad * (180.f / M_PIF); }
 inline float degToRad(float deg) { return deg * (M_PIF / 180.f); }
 inline double radToDeg(double rad) { return rad * (180.0 / M_PI); }

src/Math.cpp

@@ -327,4 +327,14 @@ bool close_enough(const CVector2f& a, const CVector2f& b, float epsilon)
         return true;
     return false;
 }
+
+template <> CVector3f min(const CVector3f& a, const CVector3f& b)
+{
+    return {min(a.x, b.x), min(a.y, b.y), min(a.z, b.z)};
+}
+
+template <> CVector3f max(const CVector3f& a, const CVector3f& b)
+{
+    return {max(a.x, b.x), max(a.y, b.y), max(a.z, b.z)};
+}
 }

test/main.cpp

@@ -33,6 +33,16 @@ int main()
     CVector3f point(-90, 67, -105);
     CVector3f closestPoint = test.closestPointAlongVector(point);
     CVector3d doubleVec(100, -100, -200);
+    zeus::CAABox aabb1{208.9f, -83.9f, 17.7f, 211.9f, -80.9f, 25.7f};
+    zeus::CVector3f center1 = aabb1.center();
+    zeus::CVector3f extents1 = aabb1.extents() * 2.f;
+    zeus::CAABox aabb2{211.8f, -81.4f, 22.3f, 212.8f, -80.4f, 25.0f};
+    zeus::CVector3f center2 = aabb2.center();
+    zeus::CVector3f extents2 = aabb2.extents() * 2.f;
+
+    zeus::CAABox diffAABB = aabb1.booleanIntersection(aabb2);
+    zeus::CVector3f centerDiff = aabb2.center();
+    zeus::CVector3f extentsDiff = aabb2.extents() * 2.f;
 
     assert(t.isEqu(t));
     assert(test.inside(test));