Removed physics for now.

archive/physics/2d/Box.cpp

@@ -0,0 +1,97 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#include "Box.hpp"
+
+using namespace Dawn;
+
+bool_t boxIsPointInside(glm::vec2 point, glm::vec2 min, glm::vec2 max) {
+  return (
+    point.x >= min.x && point.x <= max.x &&
+    point.y >= min.y && point.y <= max.y
+  );
+}
+
+bool_t Dawn::boxCheckCollision(
+  glm::vec2 posA, glm::vec2 minA, glm::vec2 maxA,
+  glm::vec2 posB, glm::vec2 minB, glm::vec2 maxB,
+  glm::vec2 velocity,
+  glm::vec2 &normal,
+  float_t &entryTime,
+  float_t &exitTime,
+  glm::vec2 &entryPoint,
+  glm::vec2 &exitPoint
+) {
+  // Calculate the time intervals of overlap in the x and y axes
+  glm::vec2 invEntry = glm::vec2(0.0f);
+  glm::vec2 invExit = glm::vec2(0.0f);
+
+  if (velocity.x >= 0.0f) {
+    invEntry.x = ((minB.x + posB.x) - (maxA.x + posA.x)) / velocity.x;
+    invExit.x = ((maxB.x + posB.x) - (minA.x + posA.x)) / velocity.x;
+  } else {
+    invEntry.x = ((maxB.x + posB.x) - (minA.x + posA.x)) / velocity.x;
+    invExit.x = ((minB.x + posB.x) - (maxA.x + posA.x)) / velocity.x;
+  }
+
+
+  if (velocity.y >= 0.0f) {
+    invEntry.y = ((minB.y + posB.y) - (maxA.y + posA.y)) / velocity.y;
+    invExit.y = ((maxB.y + posB.y) - (minA.y + posA.y)) / velocity.y;
+  } else {
+    invEntry.y = ((maxB.y + posB.y) - (minA.y + posA.y)) / velocity.y;
+    invExit.y = ((minB.y + posB.y) - (maxA.y + posA.y)) / velocity.y;
+  }
+
+  // Calculate the time of entry and exit for each axis
+  glm::vec2 entry = glm::max(invEntry, glm::vec2(0.0f));
+  glm::vec2 exit = glm::min(invExit, glm::vec2(1.0f));
+
+  // Find the time of entry and exit
+  entryTime = glm::max(entry.x, entry.y);
+  exitTime = glm::min(exit.x, exit.y);
+
+  // If there is no overlap in either axis, there is no collision
+  if (entryTime > exitTime || entry.x < 0.0f && entry.y < 0.0f || entry.x > 1.0f || entry.y > 1.0f) {
+    return false;
+  }
+
+  // Calculate the normal of the collision
+  if (entry.x > entry.y) {
+    if (invEntry.x < 0.0f) {
+      normal = glm::vec2(1.0f, 0.0f);
+    } else {
+      normal = glm::vec2(-1.0f, 0.0f);
+    }
+  } else {
+    if (invEntry.y < 0.0f) {
+      normal = glm::vec2(0.0f, 1.0f);
+    } else {
+      normal = glm::vec2(0.0f, -1.0f);
+    }
+  }
+
+  // Calculate the entry and exit points
+  entryPoint = posA + velocity * entryTime;
+  exitPoint = posA + velocity * exitTime;
+
+  return true;
+}
+
+bool_t Dawn::boxIsBoxColliding(
+  glm::vec2 posA, glm::vec2 minA, glm::vec2 maxA,
+  glm::vec2 posB, glm::vec2 minB, glm::vec2 maxB
+) {
+  // Check for no overlap in X axis
+  if (posA.x + maxA.x < posB.x + minB.x || posB.x + maxB.x < posA.x + minA.x) {
+    return false;
+  }
+
+  // Check for no overlap in Y axis
+  if (posA.y + maxA.y < posB.y + minB.y || posB.y + maxB.y < posA.y + minA.y) {
+    return false;
+  }
+  return true;
+}

archive/physics/2d/Box.hpp

@@ -0,0 +1,48 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#pragma once
+#include "dawnlibs.hpp"
+#include "assert/assert.hpp"
+#include "util/mathutils.hpp"
+
+namespace Dawn {
+  bool_t boxCheckCollision(
+    glm::vec2 posA, glm::vec2 minA, glm::vec2 maxA,
+    glm::vec2 posB, glm::vec2 minB, glm::vec2 maxB,
+    glm::vec2 velocity,
+    glm::vec2 &normal,
+    float_t &entryTime,
+    float_t &exitTime,
+    glm::vec2 &entryPoint,
+    glm::vec2 &exitPoint
+  );
+
+  /**
+   * Checks if two boxes are colliding.
+   * 
+   * @param posA Position of the first box.
+   * @param minA Minimum point on the first box.
+   * @param maxA Maximum point on the first box.
+   * @param posB Position of the second box.
+   * @param minB Minimum point on the second box.
+   * @param maxB Maximum point on the second box.
+   * @return True if the boxes are colliding with each other, false otherwise.
+   */
+  bool_t boxIsBoxColliding(
+    glm::vec2 posA, glm::vec2 minA, glm::vec2 maxA,
+    glm::vec2 posB, glm::vec2 minB, glm::vec2 maxB
+  );
+
+  /**
+   * Checks if a given point is within the 2D Boundaries of an object.
+   * 
+   * @param point Point to test.
+   * @param min Minimum point on the box.
+   * @param max Maximum point on the box.
+   * @return True if the point is within the box.
+   */
+  static bool_t boxIsPointInside(glm::vec2 point, glm::vec2 min, glm::vec2 max);
+}

archive/physics/2d/CMakeLists.txt

@@ -0,0 +1,11 @@
+# Copyright (c) 2023 Dominic Masters
+# 
+# This software is released under the MIT License.
+# https://opensource.org/licenses/MIT
+
+# Sources
+target_sources(${DAWN_TARGET_NAME}
+  PRIVATE
+    Box.cpp
+    Ray2D.cpp
+)

archive/physics/2d/Circle.hpp

@@ -0,0 +1,12 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#pragma once
+#include "dawnlibs.hpp"
+#include "assert/assert.hpp
+
+namespace Dawn {
+  
+}

archive/physics/2d/Physics2D.hpp

@@ -0,0 +1,13 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#pragma once
+#include "dawnlibs.hpp"
+
+namespace Dawn {
+  static inline glm::vec2 physics3Dto2D(glm::vec3 v) {
+    return glm::vec2(v.x, v.z);
+  }
+}

archive/physics/2d/Ray2D.cpp

@@ -0,0 +1,27 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#include "Ray2D.hpp"
+
+using namespace Dawn;
+
+Ray2D::Ray2D(glm::vec2 pos, glm::vec2 dir) :
+  position(pos),
+  direction(dir)
+{
+}
+
+bool_t Ray2D::intersects(struct Ray2D ray, glm::vec2 *out) {
+  glm::vec2 j = this->position - ray.position;
+  float_t f = -ray.direction.x * direction.y + direction.x * ray.direction.y;
+  float_t s = (-direction.y * j.x + direction.x * j.y) / f;
+  float_t t = (ray.direction.x * j.y - ray.direction.y * j.x) / f;
+  if(s >= 0 && s <= 1 && t >= 0 && t <= 1) {
+    *out = position + (t * direction);
+    return true;
+  }
+
+  return false;
+}

archive/physics/2d/Ray2D.hpp

@@ -0,0 +1,31 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#pragma once
+#include "dawnlibs.hpp"
+
+namespace Dawn {
+  struct Ray2D {
+    const glm::vec2 position;
+    const glm::vec2 direction;
+
+    /**
+     * Constructs a new Ray 2D.
+     * 
+     * @param position Position of this ray in 2D space.
+     * @param direction Direction from the origin in 2D space of this ray.
+     */
+    Ray2D(glm::vec2 position, glm::vec2 direction);
+
+    /**
+     * Checks whether one ray is intersecting with another ray.
+     * 
+     * @param ray The ray to check if this ray is intersecting.
+     * @param out The point in space where the two rays intersect.
+     * @return True if they intersect, otherwise false.
+     */
+    bool_t intersects(struct Ray2D ray, glm::vec2 *out);
+  };
+}

archive/physics/3d/AABB3D.cpp

@@ -0,0 +1,71 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#include "AABB3D.hpp"
+
+using namespace Dawn;
+
+bool_t Dawn::aabb3dIntersect(struct AABB3D cube1, struct AABB3D cube2) {
+  return (
+    (cube1.min.x <= cube2.max.x && cube1.max.x >= cube2.min.x) &&
+    (cube1.min.y <= cube2.max.y && cube1.max.y >= cube2.min.y) &&
+    (cube1.min.z <= cube2.max.z && cube1.max.z >= cube2.min.z)
+  );
+}
+
+bool_t aabb3dSweep(
+  struct AABB3D cube1, glm::vec3 velocity1,
+  struct AABB3D cube2, glm::vec3 velocity2,
+  glm::vec3 *normal
+) {
+  glm::vec3 relVel = vel1 - vel2;
+  glm::vec3 relPos = pos1 - pos2;
+
+  // If the relative velocity is zero, the cubes are already intersecting
+  if(glm::length2(relVel) == 0.0f) {
+    fraction = 0.0f;
+    return true;
+  }
+
+  // Expand the size of the cubes by the magnitude of the relative velocity
+  glm::vec3 size1exp = size1 + glm::abs(relVel);
+  glm::vec3 size2exp = size2 + glm::abs(relVel);
+
+  // Compute the times at which the cubes first and last overlap on each axis
+  float_t tminx = (size1exp.x + size2exp.x - glm::abs(relPos.x)) / glm::abs(relVel.x);
+  float_t tmaxx = (size1.x + size2.x - glm::abs(relPos.x)) / glm::abs(relVel.x);
+  float_t tminy = (size1exp.y + size2exp.y - glm::abs(relPos.y)) / glm::abs(relVel.y);
+  float_t tmaxy = (size1.y + size2.y - glm::abs(relPos.y)) / glm::abs(relVel.y);
+  float_t tminz = (size1exp.z + size2exp.z - glm::abs(relPos.z)) / glm::abs(relVel.z);
+  float_t tmaxz = (size1.z + size2.z - glm::abs(relPos.z)) / glm::abs(relVel.z);
+
+  // Find the earliest and latest times of overlap
+  float_t tmin = glm::max(glm::max(glm::min(tminx, tmaxx), glm::min(tminy, tmaxy)), glm::min(tminz, tmaxz));
+  float_t tmax = glm::min(glm::min(glm::max(tminx, tmaxx), glm::max(tminy, tmaxy)), glm::max(tminz, tmaxz));
+
+  // If the earliest time of overlap is greater than the length of the timestep, the cubes
+  // will not collide during the timestep
+  if(tmin > 1.0f) {
+    fraction = 1.0f;
+    return false;
+  }
+
+  // If the latest time of overlap is less than or equal to zero, the cubes are already
+  // colliding and will collide throughout the timestep
+  if(tmax <= 0.0f) {
+    fraction = 0.0f;
+    return true;
+  }
+
+  // Compute the fraction of the timestep at which the collision occurs
+  fraction = glm::clamp(tmin, 0.0f, 1.0f);
+
+  // Check if the two AABB cubes are intersecting at the time of collision
+  glm::vec3 min1 = pos1 + vel1 * fraction - size1 / 2.0f;
+  glm::vec3 max1 = pos1 + vel1 * fraction + size1 / 2.0f;
+  glm::vec3 min2 = pos2 + vel2 * fraction - size2 / 2.0f;
+  glm::vec3 max2 = pos2 + vel2 * fraction + size2 / 2.0f;
+  return aabbIntersect(min1, max1, min2, max2);
+}

archive/physics/3d/AABB3D.hpp

@@ -0,0 +1,30 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#pragma once
+#include "dawnlibs.hpp"
+
+namespace Dawn {
+  struct AABB3D {
+    glm::vec3 min;
+    glm::vec3 max;
+  };
+
+  /**
+   * Checks whether two 3D AABB are intersecting or not.
+   * 
+   * @param cube1 First cube.
+   * @param cube2 Second cube.
+   * @return True if the two cubes are intersecting, otherwise false.
+   */
+  bool_t aabb3dIntersect(struct AABB3D cube1, struct AABB3D cube2);
+
+  
+  bool_t aabb3dSweep(
+    glm::vec3 pos1, glm::vec3 size1, glm::vec3 vel1,
+    glm::vec3 pos2, glm::vec3 size2, glm::vec3 vel2,
+    float_t& fraction
+  );
+}

archive/physics/3d/CMakeLists.txt

@@ -0,0 +1,10 @@
+# Copyright (c) 2023 Dominic Masters
+# 
+# This software is released under the MIT License.
+# https://opensource.org/licenses/MIT
+
+# Sources
+target_sources(${DAWN_TARGET_NAME}
+  PRIVATE
+    Ray3D.cpp
+)

archive/physics/3d/PhysicsCapsule.hpp

@@ -0,0 +1,15 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#pragma once
+#include "dawnlibs.hpp"
+
+namespace Dawn {
+  struct PhysicsCapsule {
+    float_t height;
+    float_t radius;
+    glm::vec3 origin;
+  };
+}

archive/physics/3d/PhysicsSphere.hpp

@@ -0,0 +1,14 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#pragma once
+#include "dawnlibs.hpp"
+
+namespace Dawn {
+  struct PhysicsSphere {
+    glm::vec3 center;
+    float_t radius;
+  };
+}

archive/physics/3d/PhysicsTriangle.hpp

@@ -0,0 +1,15 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#pragma once
+#include "dawnlibs.hpp"
+
+namespace Dawn {
+  struct PhysicsTriangle {
+    glm::vec3 v0;
+    glm::vec3 v1;
+    glm::vec3 v2;
+  };
+}

archive/physics/3d/Ray3D.cpp

@@ -0,0 +1,257 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#include "Ray3D.hpp"
+
+using namespace Dawn;
+
+bool_t Dawn::raytestSphere(
+  struct Ray3D ray,
+  struct PhysicsSphere sphere,
+  glm::vec3 *hit,
+  glm::vec3 *normal,
+  float_t *distance
+) {
+  float_t a = glm::dot(ray.direction, ray.direction);
+  float_t b = 2.0f * glm::dot(ray.direction, ray.origin - sphere.center);
+  float_t c = glm::dot(ray.origin - sphere.center, ray.origin - sphere.center);
+  c -= sphere.radius * sphere.radius;
+
+  float_t dt = b * b - 4.0f * a * c;
+  if(dt < 0.0f) return false;
+
+  float_t t0 = (-b - sqrtf(dt)) / (a * 2.0f);
+  if(t0 < 0.0f) return false;
+
+  *hit = ray.origin + t0 * ray.direction;
+  *normal = glm::normalize(*hit - sphere.center);
+  *distance = t0;
+
+  return true;
+}
+
+bool_t Dawn::raytestTriangle(
+  struct Ray3D ray,
+  struct PhysicsTriangle triangle,
+  glm::vec3 *hitPoint,
+  glm::vec3 *hitNormal,
+  float_t *hitDistance
+) {
+  assertNotNull(hitPoint, "Ray3D::raytestTriangle: hitPoint cannot be null");
+  assertNotNull(hitNormal, "Ray3D::raytestTriangle: hitNormal cannot be null");
+  assertNotNull(hitDistance, "Ray3D::raytestTriangle: hitDistance cannot be null");
+
+  // Calculate the normal of the triangle
+  glm::vec3 e0 = triangle.v1 - triangle.v0;
+  glm::vec3 e1 = triangle.v2 - triangle.v0;
+  glm::vec3 normal = glm::normalize(glm::cross(e0, e1));
+
+  // Calculate the denominator of the ray-triangle intersection formula
+  float_t denominator = glm::dot(normal, ray.direction);
+
+  // If the denominator is zero, the ray and triangle are parallel and there is no intersection
+  if(denominator == 0) return -1;
+
+  // Calculate the distance from the ray origin to the plane of the triangle
+  float_t d = glm::dot(triangle.v0 - ray.origin, normal) / denominator;
+
+  // If the distance is negative, the intersection point is behind the ray origin and there is no intersection
+  if(d < 0) return -1;
+
+  // Calculate the intersection point
+  glm::vec3 intersectionPoint = ray.origin + d * ray.direction;
+
+  // Check if the intersection point is inside the triangle
+  glm::vec3 edge0 = triangle.v1 - triangle.v0;
+  glm::vec3 edge1 = triangle.v2 - triangle.v1;
+  glm::vec3 edge2 = triangle.v0 - triangle.v2;
+  glm::vec3 c0 = intersectionPoint - triangle.v0;
+  glm::vec3 c1 = intersectionPoint - triangle.v1;
+  glm::vec3 c2 = intersectionPoint - triangle.v2;
+  glm::vec3 n0 = glm::cross(edge0, c0);
+  glm::vec3 n1 = glm::cross(edge1, c1);
+  glm::vec3 n2 = glm::cross(edge2, c2);
+  if(glm::dot(n0, normal) >= 0 && glm::dot(n1, normal) >= 0 && glm::dot(n2, normal) >= 0) {
+    // If the intersection point is inside the triangle, set the hit point, normal and distance
+    *hitPoint = intersectionPoint;
+    *hitNormal = normal;
+    *hitDistance = d;
+    return true;
+  }
+
+  // If the intersection point is outside the triangle, there is no intersection
+  return false;
+}
+
+bool_t Dawn::raytestAABB(
+  struct Ray3D ray,
+  struct AABB3D box,
+  glm::vec3 *point,
+  glm::vec3 *normal,
+  float_t *distance
+) {
+  assertNotNull(point, "Ray3D::raytestAABB: point cannot be null");
+  assertNotNull(normal, "Ray3D::raytestAABB: normal cannot be null");
+  assertNotNull(distance, "Ray3D::raytestAABB: distance cannot be null");
+
+  // Compute the inverse direction of the ray, for numerical stability
+  glm::vec3 invDir(1.0f / ray.direction.x, 1.0f / ray.direction.y, 1.0f / ray.direction.z);
+
+  // Compute the t-values for the two intersection candidates
+  glm::vec3 tMin = (box.min - ray.origin) * invDir;
+  glm::vec3 tMax = (box.max - ray.origin) * invDir;
+
+  // Make sure tMin is less than or equal to tMax for all components
+  glm::vec3 t1 = glm::min(tMin, tMax);
+  glm::vec3 t2 = glm::max(tMin, tMax);
+  float tNear = glm::compMax(t1);
+  float tFar = glm::compMin(t2);
+
+  // If tNear is greater than or equal to tFar, there is no intersection
+  if(tNear >= tFar) return false;
+
+  // If tFar is negative, the ray is pointing away from the box
+  if(tFar < 0.0f) return false;
+
+  // Compute the hit point and normal
+  glm::vec3 hitPoint = ray.origin + tNear * ray.direction;
+
+  *point = hitPoint;
+  *distance = tNear;
+
+  // Small value to account for floating point imprecision
+  const float epsilon = 0.001f; 
+  if(std::abs(hitPoint.x - box.min.x) < epsilon) {
+    *normal = glm::vec3(-1, 0, 0);
+  } else if(std::abs(hitPoint.x - box.max.x) < epsilon) {
+    *normal = glm::vec3(1, 0, 0);
+  } else if(std::abs(hitPoint.y - box.min.y) < epsilon) {
+    *normal = glm::vec3(0, -1, 0);
+  } else if(std::abs(hitPoint.y - box.max.y) < epsilon) {
+    *normal = glm::vec3(0, 1, 0);
+  } else if(std::abs(hitPoint.z - box.min.z) < epsilon) {
+    *normal = glm::vec3(0, 0, -1);
+  } else if(std::abs(hitPoint.z - box.max.z) < epsilon) {
+    *normal = glm::vec3(0, 0, 1);
+  }
+
+  return true;
+}
+
+bool_t Dawn::raytestCube(
+  struct Ray3D ray,
+  struct AABB3D box,
+  glm::mat4 transform,
+  glm::vec3 *point,
+  glm::vec3 *normal,
+  float_t *distance
+) {
+  // Compute the inverse transformation matrix
+  glm::mat4 inverseTransform = glm::inverse(transform);
+
+  // Transform the ray into model space
+  struct Ray3D localRay;
+  localRay.origin = glm::vec3(inverseTransform * glm::vec4(ray.origin, 1.0f));
+  localRay.direction = glm::normalize(glm::vec3(inverseTransform * glm::vec4(ray.direction, 0.0f)));
+
+  // Call raytestAABB with the transformed ray and cube
+  bool_t hit = raytestAABB(localRay, box, point, normal, distance);
+  if(!hit) return false;
+
+  // Transform the hit point and normal back into world space
+  *point = glm::vec3(transform * glm::vec4(*point, 1.0f));
+  *normal = glm::normalize(glm::vec3(glm::transpose(inverseTransform) * glm::vec4(*normal, 0.0f)));
+
+  return true;
+}
+
+bool_t Dawn::raytestQuad(
+  struct Ray3D ray,
+  glm::vec2 min,
+  glm::vec2 max,
+  glm::mat4 transform,
+  glm::vec3 *point,
+  glm::vec3 *normal,
+  float_t *distance
+) {
+  assertNotNull(point, "Ray3D::raytestQuad: point cannot be null");
+  assertNotNull(normal, "Ray3D::raytestQuad: normal cannot be null");
+  assertNotNull(distance, "Ray3D::raytestQuad: distance cannot be null");
+  
+  // transform ray into local space of the quad
+  glm::mat4 inverseTransform = glm::inverse(transform);
+  glm::vec3 localRayOrigin = glm::vec3(inverseTransform * glm::vec4(ray.origin, 1.0f));
+  glm::vec3 localRayDirection = glm::vec3(inverseTransform * glm::vec4(ray.direction, 0.0f));
+
+  // perform ray-quad intersection test
+  float_t t = -localRayOrigin.z / localRayDirection.z; // intersection distance along ray
+  if(t < 0) return false; // intersection is behind the ray origin
+  glm::vec2 intersectionPoint = glm::vec2(localRayOrigin) + t * glm::vec2(localRayDirection);
+  if(
+    glm::any(glm::lessThan(intersectionPoint, min)) ||
+    glm::any(glm::greaterThan(intersectionPoint, max))
+  ) {
+    return false; // intersection is outside the quad
+  }
+  *distance = t;
+
+  // compute point and normal of intersection in world space
+  glm::vec3 localIntersectionPoint = glm::vec3(intersectionPoint, 0.0f);
+  *point = glm::vec3(transform * glm::vec4(localIntersectionPoint, 1.0f));
+  *normal = glm::normalize(glm::vec3(transform * glm::vec4(0.0f, 0.0f, 1.0f, 0.0f)));
+
+  return true; // intersection found
+}
+
+bool_t Dawn::raytestCapsule(
+  struct Ray3D ray,
+  struct PhysicsCapsule capsule,
+  glm::vec3 *point,
+  glm::vec3 *normal,
+  float_t *distance
+) {
+  // Calculate the axis of the capsule
+  glm::vec3 capsuleAxis = glm::normalize(ray.direction);
+  glm::vec3 capsuleP0 = capsule.origin;
+  glm::vec3 capsuleP1 = capsule.origin + capsule.height * capsuleAxis;
+
+  // Calculate the sphere centers and radii of the capsule end-caps
+  glm::vec3 sphereP0 = capsule.origin;
+  glm::vec3 sphereP1 = capsule.origin + capsule.height * capsuleAxis;
+  float_t sphereR = capsule.radius;
+
+  // Calculate the closest points on the capsule axis and the ray
+  glm::vec3 closestPointRay, closestPointAxis;
+  if(glm::distance(ray.origin, capsuleP0) < glm::distance(ray.origin, capsuleP1)) {
+    closestPointAxis = glm::clamp(glm::dot(ray.origin - capsuleP0, capsuleAxis), 0.0f, capsule.height) * capsuleAxis + capsuleP0;
+  } else {
+    closestPointAxis = glm::clamp(glm::dot(ray.origin - capsuleP1, -capsuleAxis), 0.0f, capsule.height) * -capsuleAxis + capsuleP1;
+  }
+
+  closestPointRay = glm::clamp(
+    glm::dot(closestPointAxis - ray.origin, ray.direction),
+    0.0f, glm::length(ray.direction)
+  ) * ray.direction + ray.origin;
+
+  // Calculate the distance between the closest points on the ray and the axis
+  glm::vec3 temp = (closestPointRay - closestPointAxis);
+  float_t distanceSquared = glm::dot(temp, temp);
+
+  // Check if the ray intersects the end-caps of the capsule
+  if(
+    raytestSphere(ray, { .center = sphereP0, .radius = sphereR }, point, normal, distance) ||
+    raytestSphere(ray, { .center = sphereP1, .radius = sphereR }, point, normal, distance)
+  ) {
+    *normal = glm::normalize(*point - sphereP0);
+    return true;
+  }
+
+  // Check if the ray intersects the cylinder part of the capsule
+  if(distanceSquared > sphereR * sphereR) return false;
+  *distance = glm::distance(ray.origin, closestPointRay);
+  *point = closestPointRay;
+  *normal = glm::normalize(*point - closestPointAxis);
+  return true;
+}

archive/physics/3d/Ray3D.hpp

@@ -0,0 +1,70 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#pragma once
+#include "dawnlibs.hpp"
+#include "assert/assert.hpp"
+#include "PhysicsTriangle.hpp"
+#include "PhysicsSphere.hpp"
+#include "PhysicsCapsule.hpp"
+#include "AABB3D.hpp"
+
+namespace Dawn {
+  struct Ray3D {
+    glm::vec3 origin;
+    glm::vec3 direction;
+  };
+
+  bool_t raytestSphere(
+    struct Ray3D ray,
+    struct PhysicsSphere sphere,
+    glm::vec3 *hit,
+    glm::vec3 *normal,
+    float_t *distance
+  );
+
+  bool_t raytestTriangle(
+    struct Ray3D ray,
+    struct PhysicsTriangle triangle,
+    glm::vec3 *hitPoint,
+    glm::vec3 *hitNormal,
+    float_t *hitDistance
+  );
+
+  bool_t raytestAABB(
+    struct Ray3D ray,
+    struct AABB3D box,
+    glm::vec3 *point,
+    glm::vec3 *normal,
+    float_t *distance
+  );
+
+  bool_t raytestCube(
+    struct Ray3D ray,
+    struct AABB3D box,
+    glm::mat4 transform,
+    glm::vec3 *point,
+    glm::vec3 *normal,
+    float_t *distance
+  );
+
+  bool_t raytestQuad(
+    struct Ray3D ray,
+    glm::vec2 min,
+    glm::vec2 max,
+    glm::mat4 transform,
+    glm::vec3 *point,
+    glm::vec3 *normal,
+    float_t *distance
+  );
+
+  bool_t raytestCapsule(
+    struct Ray3D ray,
+    struct PhysicsCapsule capsule,
+    glm::vec3 *point,
+    glm::vec3 *normal,
+    float_t *distance
+  );
+}

archive/physics/CMakeLists.txt

@@ -0,0 +1,14 @@
+# Copyright (c) 2023 Dominic Masters
+# 
+# This software is released under the MIT License.
+# https://opensource.org/licenses/MIT
+
+# Sources
+target_sources(${DAWN_TARGET_NAME}
+  PRIVATE
+    ScenePhysicsManager.cpp
+)
+
+# Subdirs
+add_subdirectory(2d)
+add_subdirectory(3d)

archive/physics/ScenePhysicsManager.cpp

@@ -0,0 +1,36 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#include "ScenePhysicsManager.hpp"
+#include "scene/Scene.hpp"
+#include "scene/components/physics/3d/Collider3D.hpp"
+
+using namespace Dawn;
+
+ScenePhysicsManager::ScenePhysicsManager(Scene *scene) {
+  this->scene = scene;
+}
+
+void ScenePhysicsManager::update() {
+  
+}
+
+std::vector<struct Collider3DRayResult> ScenePhysicsManager::raycast3DAll(
+  struct Ray3D ray
+) {
+  // TODO: Optimize the crap out of this.
+  struct Collider3DRayResult result;
+  auto colliders = scene->findComponents<Collider3D>();
+  std::vector<struct Collider3DRayResult> results;
+  auto itCollider = colliders.begin();
+  while(itCollider != colliders.end()) {
+    if((*itCollider)->raycast(&result, ray)) {
+      results.push_back(result);
+    }
+    ++itCollider;
+  }
+
+  return results;
+}

archive/physics/ScenePhysicsManager.hpp

@@ -0,0 +1,34 @@
+// Copyright (c) 2023 Dominic Masters
+// 
+// This software is released under the MIT License.
+// https://opensource.org/licenses/MIT
+
+#pragma once
+#include "dawnlibs.hpp"
+#include "physics/3d/Ray3D.hpp"
+
+typedef int64_t scenechunk_t;
+
+#define SCENE_CHUNK_SIZE_2D 512
+
+namespace Dawn {
+  class Scene;
+  class Collider3D;
+  struct Collider3DRayResult;
+
+  class ScenePhysicsManager {
+    protected:
+      Scene *scene;
+      // std::map<scenechunk_t, std::vector<SceneItem*>> chunkItems;
+      // std::map<SceneItem*, std::vector<scenechunk_t>> itemChunks;
+
+    public:
+      ScenePhysicsManager(Scene *scene);
+
+      void update();
+
+      std::vector<struct Collider3DRayResult> raycast3DAll(struct Ray3D ray);
+
+      friend class Scene;
+  };
+}