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added mesh class, added mesh trair

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This commit is contained in:
Orange
2025-11-09 22:10:56 +03:00
parent e5d8e1c953
commit 6da44a5a51
8 changed files with 102 additions and 60 deletions
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19
include/omath/3d_primitives/mesh.hpp
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@@ -10,9 +10,13 @@
namespace omath::primitives
{
template<class Mat4X4, class RotationAngles, class MeshTypeTrait, class NumericType = float>
template<class Mat4X4, class RotationAngles, class MeshTypeTrait, class Type = float>
class Mesh final
{
public:
using NumericType = Type;
private:
using Vbo = std::vector<Vector3<NumericType>>;
using Vao = std::vector<Vector3<std::size_t>>;
@@ -20,9 +24,9 @@ namespace omath::primitives
Vbo m_vertex_buffer;
Vao m_vertex_array_object;
Mesh(Vbo vbo, Vao vao): m_vertex_buffer(std::move(vbo)), m_vertex_array_object(std::move(vao))
Mesh(Vbo vbo, Vao vao, const Vector3<NumericType> scale = {1, 1, 1,})
: m_vertex_buffer(std::move(vbo)), m_vertex_array_object(std::move(vao)), m_scale(scale)
{
}
void set_origin(const Vector3<NumericType>& new_origin)
{
@@ -78,12 +82,13 @@ namespace omath::primitives
return {abs_vec.at(0, 0), abs_vec.at(1, 0), abs_vec.at(2, 0)};
}
[[nodiscard]]
Triangle<Vector3<float>> make_face_in_world_space(const Vao::const_iterator index) const
Triangle<Vector3<float>> make_face_in_world_space(const Vao::const_iterator vao_iterator) const
{
return {vertex_to_world_space(m_vertex_buffer.at(index->x)),
vertex_to_world_space(m_vertex_buffer.at(index->y)),
vertex_to_world_space(m_vertex_buffer.at(index->z))};
return {vertex_to_world_space(m_vertex_buffer.at(vao_iterator->x)),
vertex_to_world_space(m_vertex_buffer.at(vao_iterator->y)),
vertex_to_world_space(m_vertex_buffer.at(vao_iterator->z))};
}
private:

2
include/omath/collision/gjk_algorithm.hpp
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@@ -9,7 +9,7 @@
namespace omath::collision
{
template<class ColliderType = MeshCollider<>>
template<class ColliderType>
class GjkAlgorithm final
{
public:

37
include/omath/collision/mesh_collider.hpp
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@@ -5,52 +5,39 @@
#pragma once
#include "omath/engines/source_engine/traits/pred_engine_trait.hpp"
#include "omath/linear_algebra/vector3.hpp"
#include <omath/3d_primitives/mesh.hpp>
#include <vector>
namespace omath::collision
{
template<class NumericType = float>
template<class MeshType>
class MeshCollider
{
public:
using NumericType = MeshType::NumericType;
using VertexType = Vector3<NumericType>;
MeshCollider(const std::vector<VertexType>& vertexes, const VertexType& origin,
const VertexType& scale = {1.f, 1.f, 1.f})
: m_vertexes(vertexes), m_scale(scale), m_origin(origin)
explicit MeshCollider(MeshType mesh): m_mesh(std::move(mesh))
{
if (m_vertexes.empty())
throw std::runtime_error("Collider cannot have 0 vertexes");
}
std::vector<Vector3<float>> m_vertexes;
Vector3<float> m_scale;
Vector3<float> m_origin;
source_engine::ViewAngles m_rotation;
[[nodiscard]]
source_engine::Mat4X4 to_world() const
{
return mat_translation(m_origin) * mat_scale(m_scale) * source_engine::rotation_matrix(m_rotation);
}
[[nodiscard]]
const Vector3<float>& find_furthest_vertex(const Vector3<float>& direction) const
{
return *std::ranges::max_element(m_vertexes, [&direction](const auto& first, const auto& second)
{ return first.dot(direction) < second.dot(direction); });
return *std::ranges::max_element(m_mesh.m_vertex_buffer, [&direction](const auto& first, const auto& second)
{
return first.dot(direction) < second.dot(direction);
});
}
[[nodiscard]]
Vector3<float> find_abs_furthest_vertex(const Vector3<float>& direction) const
{
return vertex_to_world_space(find_furthest_vertex(direction));
return m_mesh.vertex_to_world_space(find_furthest_vertex(direction));
}
[[nodiscard]] Vector3<float> vertex_to_world_space(const Vector3<float>& local_vertex) const
{
auto abs_vec = to_world() * mat_column_from_vector(local_vertex);
return {abs_vec.at(0, 0), abs_vec.at(1, 0), abs_vec.at(2, 0)};
}
private:
MeshType m_mesh;
};
} // namespace omath::collision

13
include/omath/engines/source_engine/collider.hpp Normal file
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@@ -0,0 +1,13 @@
//
// Created by Vladislav on 09.11.2025.
//
#pragma once
#include "mesh.hpp"
#include "omath/3d_primitives/mesh.hpp"
#include "omath/collision/mesh_collider.hpp"
namespace omath::source_engine
{
using MeshCollider = collision::MeshCollider<Mesh>;
}

12
include/omath/engines/source_engine/mesh.hpp Normal file
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@@ -0,0 +1,12 @@
//
// Created by Vladislav on 09.11.2025.
//
#pragma once
#include "constants.hpp"
#include "omath/3d_primitives/mesh.hpp"
#include "traits/mesh_trait.hpp"
namespace omath::source_engine
{
using Mesh = primitives::Mesh<Mat4X4, ViewAngles, MeshTrait, float>;
}

18
include/omath/engines/source_engine/traits/mesh_trait.hpp Normal file
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@@ -0,0 +1,18 @@
//
// Created by Vladislav on 09.11.2025.
//
#pragma once
#include <omath/engines/source_engine/constants.hpp>
#include <omath/engines/source_engine/formulas.hpp>
namespace omath::source_engine
{
class MeshTrait final
{
public:
[[nodiscard]]
static Mat4X4 rotation_matrix(const ViewAngles& rotation)
{
return source_engine::rotation_matrix(rotation);
}
};
}

13
tests/general/unit_test_colider.cpp
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@@ -1,16 +1,15 @@
//
// Created by Vlad on 11/9/2025.
//
#include "omath/engines/source_engine/collider.hpp"
#include <gtest/gtest.h>
#include <omath/collision/mesh_collider.hpp>
TEST(UnitTestColider, CheckToWorld)
{
const std::vector<omath::Vector3<float>> mesh = {{1.f, 1.f, 1.f}, {-1.f, -1.f, -1.f}};
const omath::collision::MeshCollider collider(mesh, {0.f, 2.f, 0.f});
omath::source_engine::Mesh mesh = {std::vector<omath::Vector3<float>>{{1.f, 1.f, 1.f}, {-1.f, -1.f, -1.f}}, {}};
mesh.set_origin({0, 2, 0});
const omath::source_engine::MeshCollider collider(mesh);
const auto vertex = collider.find_abs_furthest_vertex({1.f, 0.f, 0.f});
@@ -19,8 +18,8 @@ TEST(UnitTestColider, CheckToWorld)
TEST(UnitTestColider, FindFurthestVertex)
{
const std::vector<omath::Vector3<float>> mesh = {{1.f, 1.f, 1.f}, {-1.f, -1.f, -1.f}};
const omath::collision::MeshCollider collider(mesh, {0.f, 0.f, 0.f});
const omath::source_engine::Mesh mesh = {{{1.f, 1.f, 1.f}, {-1.f, -1.f, -1.f}}, {}};
const omath::source_engine::MeshCollider collider(mesh);
const auto vertex = collider.find_furthest_vertex({1.f, 0.f, 0.f});
EXPECT_EQ(vertex, omath::Vector3<float>(1.f, 1.f, 1.f));
}

48
tests/general/unit_test_gjk.cpp
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@@ -1,47 +1,55 @@
//
// Created by Vlad on 11/9/2025.
//
#include "omath/engines/source_engine/collider.hpp"
#include <gtest/gtest.h>
#include <omath/collision/gjk_algorithm.hpp>
#include <omath/engines/source_engine/mesh.hpp>
namespace
{
const std::vector<omath::Vector3<float>> mesh = {
{-1.f, -1.f, -1.f},
{-1.f, -1.f, 1.f},
{-1.f, 1.f, -1.f},
{-1.f, 1.f, 1.f},
{ 1.f, 1.f, 1.f}, // x = +1 vertices (put {1,1,1} first in case your support breaks ties by first-hit)
{ 1.f, 1.f, -1.f},
{ 1.f, -1.f, 1.f},
{ 1.f, -1.f, -1.f}
};
const omath::source_engine::Mesh mesh = {
{{-1.f, -1.f, -1.f},
{-1.f, -1.f, 1.f},
{-1.f, 1.f, -1.f},
{-1.f, 1.f, 1.f},
{1.f, 1.f, 1.f}, // x = +1 vertices (put {1,1,1} first in case your support breaks ties by first-hit)
{1.f, 1.f, -1.f},
{1.f, -1.f, 1.f},
{1.f, -1.f, -1.f}},
{}};
}
TEST(UnitTestGjk, TestCollisionTrue)
{
const omath::collision::MeshCollider collider_a(mesh, {0.f, 0.f, 0.f});
const omath::collision::MeshCollider collider_b(mesh, {0.f, 0.5f, 0.f});
const auto result = omath::collision::GjkAlgorithm<>::is_collide(collider_a, collider_b);
const omath::source_engine::MeshCollider collider_a(mesh);
auto mesh_b = mesh;
mesh_b.set_origin({0.f, 0.5f, 0.f});
const omath::source_engine::MeshCollider collider_b(mesh_b);
const auto result =
omath::collision::GjkAlgorithm<omath::source_engine::MeshCollider>::is_collide(collider_a, collider_b);
EXPECT_TRUE(result);
}
TEST(UnitTestGjk, TestCollisionFalse)
{
const omath::collision::MeshCollider collider_a(mesh, {0.f, 0.f, 0.f});
const omath::collision::MeshCollider collider_b(mesh, {0.f, 2.1f, 0.f});
const omath::source_engine::MeshCollider collider_a(mesh);
auto mesh_b = mesh;
mesh_b.set_origin({0.f, 2.1f, 0.f});
const omath::source_engine::MeshCollider collider_b(mesh_b);
const auto result = omath::collision::GjkAlgorithm<>::is_collide(collider_a, collider_b);
const auto result = omath::collision::GjkAlgorithm<omath::source_engine::MeshCollider>::is_collide(collider_a, collider_b);
EXPECT_FALSE(result);
}
TEST(UnitTestGjk, TestCollisionEqualOrigin)
{
const omath::collision::MeshCollider collider_a(mesh, {0.f, 0.f, 0.f});
const omath::collision::MeshCollider collider_b(mesh, {0.f, 0.f, 0.f});
const omath::source_engine::MeshCollider collider_a(mesh);
const omath::source_engine::MeshCollider collider_b(mesh);
const auto result = omath::collision::GjkAlgorithm<>::is_collide(collider_a, collider_b);
const auto result = omath::collision::GjkAlgorithm<omath::source_engine::MeshCollider>::is_collide(collider_a, collider_b);
EXPECT_TRUE(result);
}