Merge branch 'template-types'

6 files changed, 135 insertions, 74 deletions

diff --git a/lib/basicShapes.h b/lib/basicShapes.h
new file mode 100644
index 0000000..183863e
--- /dev/null
+++ b/lib/basicShapes.h
@@ -0,0 +1,19 @@
+#pragma once
+#include <array>
+#include <glm/vec3.hpp>
+
+template<typename T, glm::qualifier Q = glm::defaultp>
+constexpr std::array<glm::vec<3, T, Q>, 8>
+cuboidCorners(T lx, T ux, T ly, T uy, T lz, T uz)
+{
+	return {{
+			{lx, uy, lz}, // LFB
+			{ux, uy, lz}, // RFB
+			{lx, uy, uz}, // LFT
+			{ux, uy, uz}, // RFT
+			{lx, ly, lz}, // LBB
+			{ux, ly, lz}, // RBB
+			{lx, ly, uz}, // LBT
+			{ux, ly, uz}, // RBT
+	}};
+}
diff --git a/lib/geometricPlane.cpp b/lib/geometricPlane.cpp
index 567f98a..7aadf6a 100644
--- a/lib/geometricPlane.cpp
+++ b/lib/geometricPlane.cpp
@@ -1,14 +1,4 @@
 #include "geometricPlane.h"
-#include "ray.h"
-#include <glm/geometric.hpp>
-#include <glm/gtx/intersect.hpp>
-
-GeometricPlane::PlaneRelation
-GeometricPlane::getRelation(Position3D p) const
-{
-	const auto d = glm::dot(normal, p - origin);
-	return d < 0.F ? PlaneRelation::Below : d > 0.F ? PlaneRelation::Above : PlaneRelation::On;
-}
 
 bool
 GeometricPlane::isIntersect(PlaneRelation a, PlaneRelation b)
@@ -16,13 +6,3 @@ GeometricPlane::isIntersect(PlaneRelation a, PlaneRelation b)
 	return ((a == PlaneRelation::Above && b == PlaneRelation::Below)
 			|| (a == PlaneRelation::Below && b == PlaneRelation::Above));
 }
-
-std::optional<GeometricPlane::DistAndPosition>
-GeometricPlane::getRayIntersectPosition(const Ray & ray) const
-{
-	float dist {};
-	if (!glm::intersectRayPlane(ray.start, ray.direction, origin, normal, dist)) {
-		return {};
-	}
-	return DistAndPosition {dist, ray.start + (ray.direction * dist)};
-}
diff --git a/lib/geometricPlane.h b/lib/geometricPlane.h
index c74beff..3f95d3c 100644
--- a/lib/geometricPlane.h
+++ b/lib/geometricPlane.h
@@ -1,24 +1,43 @@
 #pragma once
 
 #include "config/types.h"
+#include "ray.h"
+#include <glm/geometric.hpp>
+#include <glm/gtx/intersect.hpp>
 #include <glm/vec3.hpp>
 #include <optional>
 
-class Ray;
-
 class GeometricPlane {
 public:
+	enum class PlaneRelation { Above, Below, On };
+
+	static bool isIntersect(PlaneRelation a, PlaneRelation b);
+};
+
+template<typename PositionType> class GeometricPlaneT : public GeometricPlane {
+public:
 	struct DistAndPosition {
-		float dist;
-		Position3D position;
+		PositionType::value_type dist;
+		PositionType position;
 	};
-	enum class PlaneRelation { Above, Below, On };
 
-	Position3D origin;
+	PositionType origin;
 	Normal3D normal;
 
-	[[nodiscard]] PlaneRelation getRelation(Position3D point) const;
-	[[nodiscard]] std::optional<DistAndPosition> getRayIntersectPosition(const Ray &) const;
+	[[nodiscard]] inline PlaneRelation
+	getRelation(PositionType point) const
+	{
+		const auto d = glm::dot(normal, point - origin);
+		return d < 0.F ? PlaneRelation::Below : d > 0.F ? PlaneRelation::Above : PlaneRelation::On;
+	}
 
-	static bool isIntersect(PlaneRelation a, PlaneRelation b);
+	[[nodiscard]] inline std::optional<DistAndPosition>
+	getRayIntersectPosition(const Ray<PositionType> & ray) const
+	{
+		float dist {};
+		if (!glm::intersectRayPlane(ray.start, ray.direction, origin, normal, dist)) {
+			return {};
+		}
+		return DistAndPosition {dist, ray.start + (ray.direction * dist)};
+	}
 };
diff --git a/lib/maths.h b/lib/maths.h
index c1bf61a..b5af9ca 100644
--- a/lib/maths.h
+++ b/lib/maths.h
@@ -68,9 +68,9 @@ sq(T v)
 	return v * v;
 }
 
-template<std::integral T, glm::qualifier Q>
-inline constexpr glm::vec<3, T, Q>
-crossInt(const glm::vec<3, T, Q> a, const glm::vec<3, T, Q> b)
+template<glm::qualifier Q>
+inline constexpr glm::vec<3, int64_t, Q>
+crossProduct(const glm::vec<3, int64_t, Q> a, const glm::vec<3, int64_t, Q> b)
 {
 	return {
 			(a.y * b.z) - (a.z * b.y),
@@ -79,6 +79,20 @@ crossInt(const glm::vec<3, T, Q> a, const glm::vec<3, T, Q> b)
 	};
 }
 
+template<std::integral T, glm::qualifier Q>
+inline constexpr glm::vec<3, T, Q>
+crossProduct(const glm::vec<3, T, Q> a, const glm::vec<3, T, Q> b)
+{
+	return crossProduct<int64_t, Q>(a, b);
+}
+
+template<std::floating_point T, glm::qualifier Q>
+inline constexpr glm::vec<3, T, Q>
+crossProduct(const glm::vec<3, T, Q> a, const glm::vec<3, T, Q> b)
+{
+	return glm::cross(a, b);
+}
+
 template<typename R = float, typename Ta, typename Tb>
 inline constexpr auto
 ratio(Ta a, Tb b)
diff --git a/lib/ray.cpp b/lib/ray.cpp
deleted file mode 100644
index 9fb3648..0000000
--- a/lib/ray.cpp
+++ /dev/null
@@ -1,35 +0,0 @@
-#include "ray.h"
-#include <algorithm>
-
-Ray
-Ray::fromPoints(Position3D start, Position3D p)
-{
-	return {start, glm::normalize(p - start)};
-}
-
-float
-Ray::distanceToLine(const Position3D & p1, const Position3D & e1) const
-{
-	// https://en.wikipedia.org/wiki/Skew_lines
-	const auto diff = p1 - e1;
-	const auto d1 = glm::normalize(diff);
-	const auto &p2 = start, &d2 = direction;
-	const auto n = glm::cross(d1, d2);
-	const auto n2 = glm::cross(d2, n);
-	const auto c1 = p1 + (glm::dot((p2 - p1), n2) / glm::dot(d1, n2)) * d1;
-	const auto difflength = glm::length(diff);
-	if (glm::length(c1 - p1) > difflength || glm::length(c1 - e1) > difflength) {
-		return std::numeric_limits<float>::infinity();
-	}
-	return glm::abs(glm::dot(n, p1 - p2));
-}
-
-bool
-Ray::passesCloseToEdges(const std::span<const Position3D> positions, float distance) const
-{
-	return std::adjacent_find(positions.begin(), positions.end(),
-				   [this, distance](const Position3D & a, const Position3D & b) {
-					   return distanceToLine(a, b) <= distance;
-				   })
-			!= positions.end();
-}
diff --git a/lib/ray.h b/lib/ray.h
index bc70c74..e1f43c3 100644
--- a/lib/ray.h
+++ b/lib/ray.h
@@ -1,20 +1,84 @@
 #pragma once
 
 #include "config/types.h"
+#include "maths.h"
+
+#include <algorithm>
 #include <glm/glm.hpp>
+#include <glm/gtx/intersect.hpp>
 #include <span>
 
-class Ray {
+template<typename PositionType> class Ray {
 public:
 #ifndef __cpp_aggregate_paren_init
-	Ray(Position3D start, Direction3D direction) : start {start}, direction {direction} { }
+	Ray(PositionType start, Direction3D direction) : start {start}, direction {direction} { }
 #endif
 
-	static Ray fromPoints(Position3D, Position3D);
-
-	Position3D start;
+	PositionType start;
 	Direction3D direction;
 
-	[[nodiscard]] float distanceToLine(const Position3D & a, const Position3D & b) const;
-	[[nodiscard]] bool passesCloseToEdges(const std::span<const Position3D> positions, float distance) const;
+	[[nodiscard]] PositionType::value_type
+	distanceToLine(const PositionType & p1, const PositionType & e1) const
+	{
+		// https://en.wikipedia.org/wiki/Skew_lines
+		const RelativePosition3D diff = p1 - e1;
+		const auto d1 = glm::normalize(diff);
+		const auto n = crossProduct(d1, direction);
+		const auto n2 = crossProduct(direction, n);
+		const auto c1 = p1 + PositionType((glm::dot(RelativePosition3D(start - p1), n2) / glm::dot(d1, n2)) * d1);
+		const auto difflength = glm::length(diff);
+		if (glm::length(RelativePosition3D(c1 - p1)) > difflength
+				|| glm::length(RelativePosition3D(c1 - e1)) > difflength) {
+			return std::numeric_limits<typename PositionType::value_type>::infinity();
+		}
+		return static_cast<PositionType::value_type>(glm::abs(glm::dot(n, RelativePosition3D(p1 - start))));
+	}
+
+	[[nodiscard]] bool
+	passesCloseToEdges(const std::span<const PositionType> positions, const PositionType::value_type distance) const
+	{
+		return std::adjacent_find(positions.begin(), positions.end(), [this, distance](const auto & a, const auto & b) {
+			return distanceToLine(a, b) <= distance;
+		}) != positions.end();
+	}
+
+	bool
+	intersectTriangle(const PositionType t0, const PositionType t1, const PositionType t2, BaryPosition & bary,
+			RelativeDistance & distance) const
+	{
+		if constexpr (std::is_floating_point_v<typename PositionType::value_type>) {
+			return glm::intersectRayTriangle(start, direction, t0, t1, t2, bary, distance);
+		}
+		else {
+			const RelativePosition3D t0r = t0 - start, t1r = t1 - start, t2r = t2 - start;
+			return glm::intersectRayTriangle({}, direction, t0r, t1r, t2r, bary, distance);
+		}
+	}
+
+	bool
+	intersectSphere(const PositionType centre, const PositionType::value_type size, PositionType & position,
+			Normal3D & normal) const
+	{
+		if constexpr (std::is_floating_point_v<typename PositionType::value_type>) {
+			return glm::intersectRaySphere(start, direction, centre, size, position, normal);
+		}
+		else {
+			const RelativePosition3D cr = centre - start;
+			RelativePosition3D positionF {};
+			const auto r = glm::intersectRaySphere(
+					{}, direction, cr, static_cast<RelativeDistance>(size), positionF, normal);
+			position = GlobalPosition3D(positionF) + start;
+			return r;
+		}
+	}
+};
+
+class RayFactory {
+public:
+	template<typename PositionType>
+	static Ray<PositionType>
+	fromPoints(PositionType start, PositionType p)
+	{
+		return {start, glm::normalize(p - start)};
+	}
 };