added obb

2026-06-09 16:54:35 +00:00 · 2026-05-07 05:04:35 +03:00
parent 6b637f6267
commit fbc35391c4
4 changed files with 407 additions and 41 deletions
@@ -0,0 +1,37 @@
+//
+// Created by Vladislav on 07.05.2026.
+//
+
+#pragma once
+#include "omath/linear_algebra/vector3.hpp"
+#include <array>
+#include <type_traits>
+
+namespace omath::primitives
+{
+    // Oriented bounding box: a rectangular cuboid defined by a center, three
+    // orthonormal local axes, and the half-size along each of those axes.
+    template<class Type>
+    requires std::is_floating_point_v<Type>
+    struct Obb final
+    {
+        Vector3<Type> center;
+        Vector3<Type> axis_x;
+        Vector3<Type> axis_y;
+        Vector3<Type> axis_z;
+        Vector3<Type> half_extents;
+
+        [[nodiscard]]
+        constexpr std::array<Vector3<Type>, 8> vertices() const noexcept
+        {
+            const auto ex = axis_x * half_extents.x;
+            const auto ey = axis_y * half_extents.y;
+            const auto ez = axis_z * half_extents.z;
+
+            return {
+                    center - ex - ey - ez, center + ex - ey - ez, center - ex + ey - ez, center + ex + ey - ez,
+                    center - ex - ey + ez, center + ex - ey + ez, center - ex + ey + ez, center + ex + ey + ez,
+            };
+        }
+    };
+} // namespace omath::primitives