Added Capsule Collider, AABB Query & SimulateBody for Trajectory path prediction #402
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/****************************************************************************************
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* \file SHAABB.cpp
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* \author Diren D Bharwani, diren.dbharwani, 390002520
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* \brief Implementation for a 3-Dimensional Axis Aligned Bounding Box
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*
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* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
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* disclosure of this file or its contents without the prior written consent
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* of DigiPen Institute of Technology is prohibited.
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****************************************************************************************/
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#include <SHpch.h>
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// Primary Header
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#include "SHAABB.h"
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// Project Headers
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#include "Math/SHMathHelpers.h"
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#include "Math/SHRay.h"
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using namespace DirectX;
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namespace SHADE
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{
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/*-----------------------------------------------------------------------------------*/
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/* Constructors & Destructor Definitions */
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/*-----------------------------------------------------------------------------------*/
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SHAABB::SHAABB() noexcept
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{
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Center = SHVec3::Zero;
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Extents = SHVec3::One * 0.5f;
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}
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SHAABB::SHAABB(const SHVec3& c, const SHVec3& hE) noexcept
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{
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Center = c;
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Extents = hE;
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}
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SHAABB::SHAABB(const SHAABB& rhs) noexcept
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{
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if (this == &rhs)
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return;
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Center = rhs.Center;
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Extents = rhs.Extents;
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}
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SHAABB::SHAABB(SHAABB&& rhs) noexcept
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{
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Center = rhs.Center;
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Extents = rhs.Extents;
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}
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/*-----------------------------------------------------------------------------------*/
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/* Operator Overload Definitions */
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/*-----------------------------------------------------------------------------------*/
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SHAABB& SHAABB::operator=(const SHAABB& rhs) noexcept
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{
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Center = rhs.Center;
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Extents = rhs.Extents;
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return *this;
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}
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SHAABB& SHAABB::operator=(SHAABB&& rhs) noexcept
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{
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Center = rhs.Center;
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Extents = rhs.Extents;
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return *this;
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}
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/*-----------------------------------------------------------------------------------*/
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/* Getter Function Definitions */
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/*-----------------------------------------------------------------------------------*/
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SHVec3 SHAABB::GetCenter() const noexcept
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{
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return Center;
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}
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SHVec3 SHAABB::GetExtents() const noexcept
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{
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return Extents;
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}
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SHVec3 SHAABB::GetMin() const noexcept
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{
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return SHVec3{ Center.x - Extents.x, Center.y - Extents.y, Center.z - Extents.z };
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}
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SHVec3 SHAABB::GetMax() const noexcept
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{
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return SHVec3{ Center.x + Extents.x, Center.y + Extents.y, Center.z + Extents.z };
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}
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/*-----------------------------------------------------------------------------------*/
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/* Setter Function Definitions */
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/*-----------------------------------------------------------------------------------*/
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void SHAABB::SetCenter(const SHVec3& newCenter) noexcept
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{
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Center = newCenter;
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}
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void SHAABB::SetExtents(const SHVec3& newExtents) noexcept
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{
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Extents = newExtents;
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}
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void SHAABB::SetMin(const SHVec3& min) noexcept
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{
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const SHVec3 MAX = GetMax();
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Center = SHVec3::Lerp(min, MAX, 0.5f);
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Extents = SHVec3::Abs((MAX - min) * 0.5f);
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}
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void SHAABB::SetMax(const SHVec3& max) noexcept
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{
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const SHVec3 MIN = GetMin();
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Center = SHVec3::Lerp(MIN, max, 0.5f);
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Extents = SHVec3::Abs((max - MIN) * 0.5f);
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}
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void SHAABB::SetMinMax(const SHVec3& min, const SHVec3& max) noexcept
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{
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Center = SHVec3::Lerp(min, max, 0.5f);
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Extents = SHVec3::Abs((max - min) * 0.5f);
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}
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std::vector<SHVec3> SHAABB::GetVertices() const noexcept
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{
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std::vector<SHVec3> vertices{ 8 };
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GetCorners(vertices.data());
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return vertices;
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}
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/*-----------------------------------------------------------------------------------*/
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/* Public Function Member Definitions */
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/*-----------------------------------------------------------------------------------*/
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bool SHAABB::TestPoint(const SHVec3& point) const noexcept
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{
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return BoundingBox::Contains(point);
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}
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SHRaycastResult SHAABB::Raycast(const SHRay& ray) const noexcept
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{
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SHRaycastResult result;
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result.hit = Intersects(ray.position, ray.direction, result.distance);
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if (result.hit)
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{
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result.position = ray.position + ray.direction * result.distance;
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result.angle = SHVec3::Angle(ray.position, result.position);
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}
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return result;
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}
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bool SHAABB::Contains(const SHAABB& rhs) const noexcept
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{
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return BoundingBox::Contains(rhs) == CONTAINS;
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}
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float SHAABB::Volume() const noexcept
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{
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return 8.0f * (Extents.x * Extents.y * Extents.z);
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}
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float SHAABB::SurfaceArea() const noexcept
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{
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return 8.0f * ((Extents.x * Extents.y)
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+ (Extents.x * Extents.z)
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+ (Extents.y * Extents.z));
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}
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/*-----------------------------------------------------------------------------------*/
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/* Static Function Member Definitions */
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/*-----------------------------------------------------------------------------------*/
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SHAABB SHAABB::Combine(const SHAABB& lhs, const SHAABB& rhs) noexcept
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{
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SHAABB result;
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CreateMerged(result, lhs, rhs);
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return result;
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}
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bool SHAABB::Intersect(const SHAABB& lhs, const SHAABB& rhs) noexcept
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{
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return lhs.Intersects(rhs);
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}
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SHAABB SHAABB::BuildFromBoxes(const SHAABB* boxes, size_t numBoxes) noexcept
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{
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SHAABB result;
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for (size_t i = 1; i < numBoxes; ++i)
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CreateMerged(result, boxes[i - 1], boxes[i]);
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return result;
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}
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SHAABB SHAABB::BuildFromVertices(const SHVec3* vertices, size_t numVertices, size_t stride) noexcept
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{
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SHAABB result;
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CreateFromPoints(result, numVertices, vertices, stride);
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return result;
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}
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} // namespace SHADE
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@ -0,0 +1,172 @@
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/****************************************************************************************
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* \file SHAABB.h
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* \author Diren D Bharwani, diren.dbharwani, 390002520
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* \brief Interface for a 3-Dimensional Axis Aligned Bounding Box
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*
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* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
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* disclosure of this file or its contents without the prior written consent
|
||||
* of DigiPen Institute of Technology is prohibited.
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****************************************************************************************/
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#pragma once
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#include <DirectXCollision.h>
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// Project Headers
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#include "Math/SHRay.h"
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namespace SHADE
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{
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/*-----------------------------------------------------------------------------------*/
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/* Type Definitions */
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/*-----------------------------------------------------------------------------------*/
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/**
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* @brief
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* Encapsulates a 3D Axis-Aligned Bounding Box.
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*/
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class SH_API SHAABB : private DirectX::BoundingBox
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{
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public:
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/*---------------------------------------------------------------------------------*/
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/* Static Data Members */
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/*---------------------------------------------------------------------------------*/
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static constexpr size_t NUM_VERTICES = 8;
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/*---------------------------------------------------------------------------------*/
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/* Constructors & Destructor */
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/*---------------------------------------------------------------------------------*/
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~SHAABB () noexcept = default;
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SHAABB () noexcept;
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SHAABB (const SHVec3& center, const SHVec3& halfExtents) noexcept;
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SHAABB (const SHAABB& rhs) noexcept;
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SHAABB (SHAABB&& rhs) noexcept;
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/*---------------------------------------------------------------------------------*/
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/* Operator Overloads */
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/*---------------------------------------------------------------------------------*/
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SHAABB& operator= (const SHAABB& rhs) noexcept;
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SHAABB& operator= (SHAABB&& rhs) noexcept;
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/*---------------------------------------------------------------------------------*/
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/* Getter Functions */
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/*---------------------------------------------------------------------------------*/
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[[nodiscard]] SHVec3 GetCenter () const noexcept;
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[[nodiscard]] SHVec3 GetExtents () const noexcept;
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[[nodiscard]] SHVec3 GetMin () const noexcept;
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[[nodiscard]] SHVec3 GetMax () const noexcept;
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[[nodiscard]] std::vector<SHVec3> GetVertices () const noexcept;
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/*---------------------------------------------------------------------------------*/
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/* Setter Functions */
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/*---------------------------------------------------------------------------------*/
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void SetCenter (const SHVec3& newCenter) noexcept;
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void SetExtents (const SHVec3& newExtents) noexcept;
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void SetMin (const SHVec3& min) noexcept;
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void SetMax (const SHVec3& max) noexcept;
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void SetMinMax (const SHVec3& min, const SHVec3& max) noexcept;
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/*---------------------------------------------------------------------------------*/
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/* Member Functions */
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/*---------------------------------------------------------------------------------*/
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/**
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* @brief
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* Checks if a point is inside the aabb.
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* @param point
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* The point to check.
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* @return
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* True if the point is inside the aabb.
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*/
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[[nodiscard]] bool TestPoint (const SHVec3& point) const noexcept;
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/**
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* @brief
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* Casts a ray against the aabb.
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* @param ray
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* The ray to cast.
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* @return
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* The result of the raycast. <br/>
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* See the corresponding header for the contents of the raycast result object.
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*/
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[[nodiscard]] SHRaycastResult Raycast (const SHRay& ray) const noexcept;
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/**
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* @brief
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* Checks if an entire other aabb is contained by this aabb.
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* @param rhs
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* The aabb to check.
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* @return
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* True if the other sphere is completely contained by this aabb.
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*/
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[[nodiscard]] bool Contains (const SHAABB& rhs) const noexcept;
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/**
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* @brief
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* Calculates the volume of the aabb.
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*/
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[[nodiscard]] float Volume () const noexcept;
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/**
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* @brief
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* Calculates the surface area of the aabb.
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*/
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[[nodiscard]] float SurfaceArea () const noexcept;
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/*---------------------------------------------------------------------------------*/
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/* Static Member Functions */
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/*---------------------------------------------------------------------------------*/
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/**
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* @brief
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* Combines two aabbs to form a larger aabb.
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* If one aabb is completely contained by the other, the result is the larger aabb.
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* @return
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* The combined aabb.
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*/
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[[nodiscard]] static SHAABB Combine (const SHAABB& lhs, const SHAABB& rhs) noexcept;
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/**
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* @brief
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* Checks if two aabbs are intersecting.
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* @return
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* True if they are intersecting.
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*/
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[[nodiscard]] static bool Intersect (const SHAABB& lhs, const SHAABB& rhs) noexcept;
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/**
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* @brief
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* Builds a single aabb from multiple aabbs.
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* @param spheres
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* The set of aabbs to build from.
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* @param numSpheres
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* The number of aabbs in the set to build from.
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* @return
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* An aabb that contains all the spheres in the set.
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*/
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[[nodiscard]] static SHAABB BuildFromBoxes (const SHAABB* boxes, size_t numBoxes) noexcept;
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/**
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* @brief
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* Builds a aabb from a set of vertices.
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* @param vertices
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* The vertices to build a aabb from.
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* @param numVertices
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* The number of vertices in the set to build from.
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* @param stride
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* The stride between each vertex, in the instance there is data in between each
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* vertex that does not define the geometry of the object.
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* @return
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* An aabb that contains all the vertices in the set.
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*/
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[[nodiscard]] static SHAABB BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept;
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};
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} // namespace SHADE
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