Merge pull request #27 from orange-cpp/u/orange-cpp/unity-build-support

added unity build support

CMakeLists.txt

@@ -4,15 +4,12 @@ project(omath VERSION 1.0.1)
 
 include(CMakePackageConfigHelpers)
 
-set(CMAKE_CXX_STANDARD 26)
-
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
 
 option(OMATH_BUILD_TESTS "Build unit tests" ON)
 option(OMATH_THREAT_WARNING_AS_ERROR "Set highest level of warnings and force compiler to treat them as errors" ON)
 option(OMATH_BUILD_AS_SHARED_LIBRARY "Build Omath as .so or .dll" OFF)
 
+
 if (OMATH_BUILD_AS_SHARED_LIBRARY)
     add_library(omath SHARED source/Vector3.cpp)
 else()
@@ -22,6 +19,17 @@ else()
             include/omath/engines/OpenGL/Camera.hpp)
 endif()
 
+set_target_properties(omath PROPERTIES
+        ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+        LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+        UNITY_BUILD ON
+        UNITY_BUILD_BATCH_SIZE 20
+        CXX_STANDARD 23
+        CXX_STANDARD_REQUIRED ON)
+
+
+target_compile_features(omath PUBLIC cxx_std_23)
+
 target_compile_definitions(omath PUBLIC OMATH_EXPORT)
 
 add_subdirectory(source)

include/omath/Mat.hpp

@@ -22,6 +22,13 @@ namespace omath
         COLUMN_MAJOR
     };
 
+
+    template<typename M1, typename M2>
+    concept MatTemplateEqual =
+            (M1::rows == M2::rows) && (M1::columns == M2::columns) &&
+            std::is_same_v<typename M1::value_type, typename M2::value_type> &&
+            (M1::store_type == M2::store_type);
+
     template<size_t Rows = 0, size_t Columns = 0, class Type = float, MatStoreType StoreType = MatStoreType::ROW_MAJOR>
         requires std::is_arithmetic_v<Type>
     class Mat final

include/omath/Vector3.hpp

@@ -9,6 +9,7 @@
 #include "omath/Vector2.hpp"
 #include "omath/Angle.hpp"
 #include <expected>
+#include <immintrin.h>
 
 
 namespace omath
@@ -228,6 +229,14 @@ namespace omath
             return Angle<float, 0.f, 180.f, AngleFlags::Clamped>::FromRadians(std::acos(Dot(other) / bottom));
         }
 
+        [[nodiscard]] bool IsPerpendicular(const Vector3& other) const
+        {
+            if (const auto angle = AngleBetween(other))
+                return angle->AsDegrees() == 90.f;
+
+            return false;
+        }
+
         [[nodiscard]] constexpr float Sum2D() const
         {
             return Vector2::Sum();
@@ -235,7 +244,7 @@ namespace omath
 
         [[nodiscard]] Vector3 ViewAngleTo(const Vector3& other) const;
 
-        [[nodiscard]] std::tuple<float, float, float> AsTuple() const
+        [[nodiscard]] constexpr std::tuple<float, float, float> AsTuple() const
         {
             return std::make_tuple(x, y, z);
         }

include/omath/pathfinding/Astar.hpp

@@ -9,11 +9,17 @@
 
 namespace omath::pathfinding
 {
+    struct PathNode;
     class Astar final
     {
     public:
         [[nodiscard]]
         static std::vector<Vector3> FindPath(const Vector3& start, const Vector3& end, const NavigationMesh& navMesh);
+    private:
+        [[nodiscard]]
+        static std::vector<Vector3> ReconstructFinalPath(const std::unordered_map<Vector3, PathNode>& closedList, const Vector3& current);
 
+        [[nodiscard]]
+        static auto GetPerfectNode(const std::unordered_map<Vector3, PathNode>& openList, const Vector3& endVertex);
     };
 }

include/omath/projection/Camera.hpp

@@ -24,7 +24,7 @@ namespace omath::projection
             return m_width / m_height;
         }
     };
-    using FieldOfView = const Angle<float, 0.f, 180.f, AngleFlags::Clamped>;
+    using FieldOfView = Angle<float, 0.f, 180.f, AngleFlags::Clamped>;
 
     template<class Mat4x4Type, class ViewAnglesType>
     class Camera

source/engines/OpenGL/Camera.cpp

@@ -9,7 +9,7 @@ namespace omath::opengl
 {
 
     Camera::Camera(const Vector3& position, const ViewAngles& viewAngles, const projection::ViewPort& viewPort,
-                   const Angle<float, 0, 180, AngleFlags::Clamped>& fov, const float near, const float far) :
+                   const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, const float near, const float far) :
         projection::Camera<Mat4x4, ViewAngles>(position, viewAngles, viewPort, fov, near, far)
     {
     }

source/pathfinding/Astar.cpp

@@ -3,10 +3,10 @@
 //
 #include "omath/pathfinding/Astar.hpp"
 
+#include <algorithm>
 #include <optional>
 #include <unordered_map>
 #include <unordered_set>
-#include <algorithm>
 
 
 namespace omath::pathfinding
@@ -18,45 +18,83 @@ namespace omath::pathfinding
     };
 
 
-    std::vector<Vector3> Astar::FindPath(const Vector3 &start, const Vector3 &end, const NavigationMesh &navMesh)
+    std::vector<Vector3> Astar::ReconstructFinalPath(const std::unordered_map<Vector3, PathNode>& closedList,
+                                                     const Vector3& current)
+    {
+        std::vector<Vector3> path;
+        std::optional currentOpt = current;
+
+        while (currentOpt)
+        {
+            path.push_back(*currentOpt);
+
+            auto it = closedList.find(*currentOpt);
+
+            if (it == closedList.end())
+                break;
+
+            currentOpt = it->second.cameFrom;
+        }
+
+        std::ranges::reverse(path);
+        return path;
+    }
+    auto Astar::GetPerfectNode(const std::unordered_map<Vector3, PathNode>& openList, const Vector3& endVertex)
+    {
+        return std::ranges::min_element(openList,
+                                        [&endVertex](const auto& a, const auto& b)
+                                        {
+                                            const float fA = a.second.gCost + a.first.DistTo(endVertex);
+                                            const float fB = b.second.gCost + b.first.DistTo(endVertex);
+                                            return fA < fB;
+                                        });
+    }
+
+    std::vector<Vector3> Astar::FindPath(const Vector3& start, const Vector3& end, const NavigationMesh& navMesh)
     {
         std::unordered_map<Vector3, PathNode> closedList;
         std::unordered_map<Vector3, PathNode> openList;
 
-        const auto startVertex = navMesh.GetClosestVertex(start).value();
+        auto maybeStartVertex = navMesh.GetClosestVertex(start);
-        const auto endVertex = navMesh.GetClosestVertex(end).value();
+        auto maybeEndVertex = navMesh.GetClosestVertex(end);
+
+        if (!maybeStartVertex || !maybeEndVertex)
+            return {};
+
+        const auto startVertex = maybeStartVertex.value();
+        const auto endVertex = maybeEndVertex.value();
+
 
         openList.emplace(startVertex, PathNode{std::nullopt, 0.f});
 
         while (!openList.empty())
         {
-            const auto perfectVertex = *std::ranges::min_element(openList,
+            auto currentIt = GetPerfectNode(openList, endVertex);
-                [&endVertex](const auto& a, const auto& b) -> bool
-                {
-                    const auto aCost = a.second.gCost + a.first.DistTo(endVertex);
-                    const auto bCost = b.second.gCost + b.first.DistTo(endVertex);
-                    return aCost < bCost;
-                });
 
-            closedList.emplace(perfectVertex);
+            const auto current = currentIt->first;
-            openList.erase(perfectVertex.first);
+            const auto currentNode = currentIt->second;
 
-            for (const auto& neighbor : navMesh.GetNeighbors(perfectVertex.first))
+            if (current == endVertex)
-                if (!closedList.contains(neighbor))
+                return ReconstructFinalPath(closedList, current);
-                    openList.emplace(neighbor, PathNode{perfectVertex.first, neighbor.DistTo(perfectVertex.first) + perfectVertex.second.gCost});
 
 
-            if (perfectVertex.first != endVertex)
+            closedList.emplace(current, currentNode);
-                continue;
+            openList.erase(currentIt);
 
-            std::vector<Vector3> path = {};
+            for (const auto& neighbor: navMesh.GetNeighbors(current))
+            {
+                if (closedList.contains(neighbor))
+                    continue;
 
-            for (std::optional current = perfectVertex.first; current; current = closedList.at(*current).cameFrom )
+                const float tentativeGCost = currentNode.gCost + neighbor.DistTo(current);
-                path.push_back(current.value());
 
-            return path;
+                const auto openIt = openList.find(neighbor);
+
+                if (openIt == openList.end() || tentativeGCost < openIt->second.gCost)
+                    openList[neighbor] = PathNode{current, tentativeGCost};
+            }
         }
 
         return {};
     }
-}
+} // namespace omath::pathfinding

tests/CMakeLists.txt

@@ -1,7 +1,6 @@
 enable_testing()
 
 project(unit-tests)
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}")
 
 include(GoogleTest)
 add_executable(unit-tests
@@ -26,6 +25,15 @@ add_executable(unit-tests
 
 )
 
+set_target_properties(unit-tests PROPERTIES
+        ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+        LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/out/${CMAKE_BUILD_TYPE}"
+        UNITY_BUILD ON
+        UNITY_BUILD_BATCH_SIZE 20
+        CXX_STANDARD 23
+        CXX_STANDARD_REQUIRED ON)
+
+
 target_link_libraries(unit-tests PRIVATE gtest gtest_main omath)
 
 gtest_discover_tests(unit-tests)

tests/general/UnitTestVector3.cpp

@@ -395,6 +395,12 @@ TEST_F(UnitTestVector3, AngleBeatween)
     EXPECT_FALSE(Vector3(0.0f, 0.0f, 0.0f).AngleBetween({0.0f, 0.0f, 1.0f}).has_value());
 }
 
+TEST_F(UnitTestVector3, IsPerpendicular)
+{
+    EXPECT_EQ(Vector3(0.0f, 0.0f, 1.0f).IsPerpendicular({1, 0 ,0}), true);
+    EXPECT_EQ(Vector3(0.0f, 0.0f, 1.0f).IsPerpendicular({0.0f, 0.0f, 1.0f}), false);
+    EXPECT_FALSE(Vector3(0.0f, 0.0f, 0.0f).IsPerpendicular({0.0f, 0.0f, 1.0f}));
+}
 
 // Static assertions (compile-time checks)
 static_assert(Vector3(1.0f, 2.0f, 3.0f).LengthSqr() == 14.0f, "LengthSqr should be 14");