overhauled physics engine

src/Engine/Component/AABB.h

@@ -2,16 +2,64 @@
 #include "Math/Vector.h"
 #include "Math/Matrix.h"
 #include "Containers/Array.h"
-
+#include "Graphics/DebugVertex.h"
 namespace Seele
 {
 struct AABB
 {
-    Math::Vector min = Math::Vector(std::numeric_limits<float>::max());
-    Math::Vector max = Math::Vector(std::numeric_limits<float>::min());
+    Vector min = Vector(std::numeric_limits<float>::max());
+    Vector max = Vector(std::numeric_limits<float>::lowest());// cause of reasons
+    void visualize(Array<DebugVertex>& vertices) const
+    {
+        StaticArray<DebugVertex, 8> corners;
+        corners[0] = DebugVertex { .position = Vector(min.x, min.y, min.z), .color = Vector(0, 1, 0) };
+        corners[1] = DebugVertex { .position = Vector(min.x, min.y, max.z), .color = Vector(0, 1, 0) };
+        corners[2] = DebugVertex { .position = Vector(min.x, max.y, min.z), .color = Vector(0, 1, 0) };
+        corners[3] = DebugVertex { .position = Vector(min.x, max.y, max.z), .color = Vector(0, 1, 0) };
+        corners[4] = DebugVertex { .position = Vector(max.x, min.y, min.z), .color = Vector(0, 1, 0) };
+        corners[5] = DebugVertex { .position = Vector(max.x, min.y, max.z), .color = Vector(0, 1, 0) };
+        corners[6] = DebugVertex { .position = Vector(max.x, max.y, min.z), .color = Vector(0, 1, 0) };
+        corners[7] = DebugVertex { .position = Vector(max.x, max.y, max.z), .color = Vector(0, 1, 0) };
+
+        vertices.add(corners[0]);
+        vertices.add(corners[1]);
+
+        vertices.add(corners[1]);
+        vertices.add(corners[3]);
+
+        vertices.add(corners[2]);
+        vertices.add(corners[3]);
+
+        vertices.add(corners[0]);
+        vertices.add(corners[2]);
+        
+        vertices.add(corners[0]);
+        vertices.add(corners[4]);
+
+        vertices.add(corners[1]);
+        vertices.add(corners[5]);
+
+        vertices.add(corners[2]);
+        vertices.add(corners[6]);
+
+        vertices.add(corners[3]);
+        vertices.add(corners[7]);
+        
+        vertices.add(corners[4]);
+        vertices.add(corners[5]);
+
+        vertices.add(corners[5]);
+        vertices.add(corners[7]);
+
+        vertices.add(corners[6]);
+        vertices.add(corners[7]);
+
+        vertices.add(corners[4]);
+        vertices.add(corners[6]);
+    }
     float surfaceArea() const
     {
-        Math::Vector d = max - min;
+        Vector d = max - min;
         return 2.0f * (d.x * d.y + d.y * d.z + d.z * d.x);
     }
     bool intersects(const AABB& other) const
@@ -52,31 +100,31 @@ struct AABB
         }
         return true;
     }
-    AABB getTransformedBox(const Math::Matrix4& matrix) const
+    AABB getTransformedBox(const Matrix4& matrix) const
     {
-        StaticArray<Math::Vector, 8> corners;
-        corners[0] = Math::Vector(min.x, min.y, min.z);
-        corners[1] = Math::Vector(min.x, min.y, max.z);
-        corners[2] = Math::Vector(min.x, max.y, min.z);
-        corners[3] = Math::Vector(min.x, max.y, max.z);
-        corners[4] = Math::Vector(max.x, min.y, min.z);
-        corners[5] = Math::Vector(max.x, min.y, max.z);
-        corners[6] = Math::Vector(max.x, max.y, min.z);
-        corners[7] = Math::Vector(max.x, max.y, max.z);
-        Math::Vector tmin = Math::Vector(1, 1, 1) * std::numeric_limits<float>::max();
-        Math::Vector tmax = Math::Vector(1, 1, 1) * std::numeric_limits<float>::min();
+        StaticArray<Vector, 8> corners;
+        corners[0] = Vector(min.x, min.y, min.z);
+        corners[1] = Vector(min.x, min.y, max.z);
+        corners[2] = Vector(min.x, max.y, min.z);
+        corners[3] = Vector(min.x, max.y, max.z);
+        corners[4] = Vector(max.x, min.y, min.z);
+        corners[5] = Vector(max.x, min.y, max.z);
+        corners[6] = Vector(max.x, max.y, min.z);
+        corners[7] = Vector(max.x, max.y, max.z);
+        Vector tmin = Vector(1, 1, 1) * std::numeric_limits<float>::max();
+        Vector tmax = Vector(1, 1, 1) * std::numeric_limits<float>::lowest();
         for(int i = 0; i < 8; ++i)
         {
-            Math::Vector transformed = matrix * Math::Vector4(corners[i], 1.0f);
-            tmin = Math::Vector(std::min(tmin.x, transformed.x), std::min(tmin.y, transformed.y), std::min(tmin.z, transformed.z));
-            tmax = Math::Vector(std::max(tmax.x, transformed.x), std::max(tmax.y, transformed.y), std::max(tmax.z, transformed.z));
+            Vector transformed = matrix * Vector4(corners[i], 1.0f);
+            tmin = Vector(std::min(tmin.x, transformed.x), std::min(tmin.y, transformed.y), std::min(tmin.z, transformed.z));
+            tmax = Vector(std::max(tmax.x, transformed.x), std::max(tmax.y, transformed.y), std::max(tmax.z, transformed.z));
         }
         return AABB {
             .min = tmin,
             .max = tmax,
         };
     }
-    void adjust(const Math::Vector vertex)
+    void adjust(const Vector vertex)
     {
         min.x = std::min(min.x, vertex.x);
         min.y = std::min(min.y, vertex.y);
@@ -89,12 +137,12 @@ struct AABB
     AABB combine(const AABB& other) const
     {
         return AABB {
-            .min = Math::Vector(
+            .min = Vector(
                 std::min(min.x, other.min.x),
                 std::min(min.y, other.min.y),
                 std::min(min.z, other.min.z)
             ),
-            .max = Math::Vector (
+            .max = Vector (
                 std::max(max.x, other.max.x),
                 std::max(max.y, other.max.y),
                 std::max(max.z, other.max.z)