SHADE_Engine/src/Math/Geometry/SHBoundingBox.cpp

@@ -201,6 +201,11 @@ namespace SHADE
     return true;
   }
 
+  bool SHBoundingBox::Raycast(const SHVec3& SHRay, float& distance) noexcept
+  {
+    return false;
+  }
+
   bool SHBoundingBox::Contains(const SHBoundingBox& rhs) const noexcept
   {
     const SHVec3 V = SHVec3::Abs(rhs.center - center);

SHADE_Engine/src/Math/Geometry/SHBoundingBox.h

@@ -64,7 +64,8 @@ namespace SHADE
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] bool    TestPoint   (const SHVec3& point)       noexcept override;
+    [[nodiscard]] bool    TestPoint   (const SHVec3& point)                   noexcept override;
+    [[nodiscard]] bool    Raycast     (const SHVec3& SHRay, float& distance)  noexcept override;
 
     [[nodiscard]] bool    Contains    (const SHBoundingBox& rhs)  const noexcept;
     [[nodiscard]] float   Volume      ()                          const noexcept;

SHADE_Engine/src/Math/Geometry/SHShape.h

@@ -11,8 +11,10 @@
 #pragma once
 
 // Project Headers
-#include "Math/Transform/SHTransform.h"
 #include "SH_API.h"
+#include "Math/Transform/SHTransform.h"
+#include "Math/SHRay.h"
+
 
 namespace SHADE
 {
@@ -69,7 +71,8 @@ namespace SHADE
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] virtual bool  TestPoint (const SHVec3& point)     noexcept = 0;
+    [[nodiscard]] virtual bool  TestPoint (const SHVec3& point)                   noexcept = 0;
+    [[nodiscard]] virtual bool  Raycast   (const SHVec3& SHRay, float& distance)  noexcept = 0;
 
   protected:
     /*---------------------------------------------------------------------------------*/

SHADE_Engine/src/Math/SHMatrix.cpp

@@ -334,6 +334,39 @@ namespace SHADE
     return ss.str();
   }
 
+  bool SHMatrix::Decompose(SHVec3& translation, SHVec3& rotation, SHVec3& scale) const noexcept
+  {
+    XMVECTOR s, r, t;
+    const XMMATRIX M = XMLoadFloat4x4(this);
+
+    if (!XMMatrixDecompose(&s, &r, &t, M))
+        return false;
+
+    SHQuaternion orientation;
+    
+    XMStoreFloat3(&scale, s);
+    XMStoreFloat4(&orientation, r);
+    XMStoreFloat3(&translation, t);
+
+    rotation = orientation.ToEuler();
+
+    return true;
+  }
+
+  bool SHMatrix::Decompose(SHVec3& translation, SHQuaternion& orientation, SHVec3& scale) const noexcept
+  {
+    XMVECTOR s, r, t;
+    const XMMATRIX M = XMLoadFloat4x4(this);
+
+    if (!XMMatrixDecompose(&s, &r, &t, M))
+        return false;
+
+    XMStoreFloat3(&scale, s);
+    XMStoreFloat4(&orientation, r);
+    XMStoreFloat3(&translation, t);
+
+    return true;
+  }
 
   /*-----------------------------------------------------------------------------------*/
   /* Static Function Member Definitions                                                */

SHADE_Engine/src/Math/SHMatrix.h

@@ -16,7 +16,6 @@
 // Project Headers
 #include "SH_API.h"
 #include "Vector/SHVec4.h"
-#include "SH_API.h"
 
 namespace SHADE
 {
@@ -25,7 +24,6 @@ namespace SHADE
   /*-----------------------------------------------------------------------------------*/
   class SHVec2;
   class SHVec3;
-  class SHVec4;
   class SHQuaternion;
 
   /*-----------------------------------------------------------------------------------*/
@@ -109,6 +107,24 @@ namespace SHADE
     [[nodiscard]] float       Determinant       ()  const noexcept;
     [[nodiscard]] std::string ToString          ()  const noexcept;
 
+    /**
+     * @brief Decomposes a transformation matrix into translation, euler angles and scale.
+     * @param[out] scale        The scaling factor of the matrix.
+     * @param[out] rotation     The euler angles of the matrix.
+     * @param[out] translation  The translation of the matrix.
+     * @return True if decomposition was successful.
+    */
+    bool                      Decompose         (SHVec3& translation, SHVec3& rotation, SHVec3& scale)          const noexcept;
+
+    /**
+     * @brief Decomposes a transformation matrix into translation, orientation and scale.
+     * @param[out] scale        The scaling factor of the matrix.
+     * @param[out] orientation  The orientation of the matrix.
+     * @param[out] translation  The translation of the matrix.
+     * @return True if decomposition was successful.
+    */
+    bool                      Decompose         (SHVec3& translation, SHQuaternion& orientation, SHVec3& scale) const noexcept;
+
     /*---------------------------------------------------------------------------------*/
     /* Static Function Members                                                         */
     /*---------------------------------------------------------------------------------*/

SHADE_Engine/src/Math/SHRay.cpp

@@ -0,0 +1,60 @@
+/****************************************************************************************
+ * \file      SHRay.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for a Ray.
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#include <SHpch.h>
+
+// Primary Header
+#include "SHRay.h"
+
+using namespace DirectX;
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Constructors & Destructor Definitions                                             */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHRay::SHRay() noexcept
+  : direction { 0.0f, 0.0f, 1.0f }
+  {}
+
+  SHRay::SHRay(const SHVec3& pos, const SHVec3& dir) noexcept
+  : position  { pos }
+  , direction { dir }
+  {}
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Operator Overload Definitions                                                     */
+  /*-----------------------------------------------------------------------------------*/
+
+  bool SHRay::operator==(const SHRay& rhs) noexcept
+  {
+    const XMVECTOR LHS_POS = XMLoadFloat3(&position);
+    const XMVECTOR RHS_POS = XMLoadFloat3(&rhs.position);
+
+    const XMVECTOR LHS_DIR = XMLoadFloat3(&direction);
+    const XMVECTOR RHS_DIR = XMLoadFloat3(&rhs.direction);
+
+    return XMVector3Equal(LHS_POS, RHS_POS) && XMVector3NotEqual(LHS_DIR, RHS_DIR);
+  }
+
+  bool SHRay::operator!=(const SHRay& rhs) noexcept
+  {
+    const XMVECTOR LHS_POS = XMLoadFloat3(&position);
+    const XMVECTOR RHS_POS = XMLoadFloat3(&rhs.position);
+
+    const XMVECTOR LHS_DIR = XMLoadFloat3(&direction);
+    const XMVECTOR RHS_DIR = XMLoadFloat3(&rhs.direction);
+
+    return XMVector3NotEqual(LHS_POS, RHS_POS) || XMVector3NotEqual(LHS_DIR, RHS_DIR);
+  }
+
+
+} // namespace SHADE

SHADE_Engine/src/Math/SHRay.h

@@ -0,0 +1,54 @@
+/****************************************************************************************
+ * \file      SHRay.h
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Interface for a Ray.
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#pragma once
+
+#include <DirectXMath.h>
+
+// Project Headers
+#include "SH_API.h"
+#include "Vector/SHVec3.h"
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Type Definitions                                                                  */
+  /*-----------------------------------------------------------------------------------*/
+
+  struct SH_API SHRay
+  {
+  public:
+    /*---------------------------------------------------------------------------------*/
+    /* Data Members                                                                    */
+    /*---------------------------------------------------------------------------------*/
+
+    SHVec3  position;
+    SHVec3  direction;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Constructors & Destructor                                                       */
+    /*---------------------------------------------------------------------------------*/
+
+    SHRay()                                     noexcept;
+    SHRay(const SHVec3& pos, const SHVec3& dir) noexcept;
+    SHRay(const SHRay& rhs)                     noexcept = default;
+    SHRay(SHRay&& rhs)                          noexcept = default;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Operator Overloads                                                              */
+    /*---------------------------------------------------------------------------------*/
+
+    SHRay& operator= (const SHRay& rhs) noexcept = default;
+    SHRay& operator= (SHRay&& rhs)      noexcept = default;
+
+    [[nodiscard]] bool operator==(const SHRay& rhs) noexcept;
+    [[nodiscard]] bool operator!=(const SHRay& rhs) noexcept;
+  };
+} // namespace SHADE