Actually have matrixed cubes working

src/dawn/physics/3d/Ray3D.cpp

@@ -7,16 +7,6 @@
 
 using namespace Dawn;
 
-struct Ray3D {
-  glm::vec3 origin;
-  glm::vec3 direction;
-};
-
-struct PhysicsSphere {
-  glm::vec3 center;
-  float_t radius;
-};
-
 bool_t Dawn::raytestSphere(
   struct Ray3D ray,
   struct PhysicsSphere sphere,
@@ -140,5 +130,32 @@ bool_t Dawn::raytestAABB(
   }
 
   // The ray intersects the box
+  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;
 }

src/dawn/physics/3d/Ray3D.hpp

@@ -38,4 +38,13 @@ namespace Dawn {
     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
+  );
+}