About to implement physics

src/dawn/physics/3d/AABB3D.cpp

@@ -15,18 +15,18 @@ bool_t Dawn::aabb3dIntersect(struct AABB3D cube1, struct AABB3D cube2) {
   );
 }
 
-bool aabbSweep(
-  const glm::vec3& pos1, const glm::vec3& size1, const glm::vec3& vel1,
-  const glm::vec3& pos2, const glm::vec3& size2, const glm::vec3& vel2,
-  float& fraction
+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
-  i (glm::length2(relVel) == 0.0f) {
-      fraction = 0.0f;
-      return true;
+  if(glm::length2(relVel) == 0.0f) {
+    fraction = 0.0f;
+    return true;
   }
 
   // Expand the size of the cubes by the magnitude of the relative velocity
@@ -34,29 +34,29 @@ bool aabbSweep(
   glm::vec3 size2exp = size2 + glm::abs(relVel);
 
   // Compute the times at which the cubes first and last overlap on each axis
-  float tminx = (size1exp.x + size2exp.x - glm::abs(relPos.x)) / glm::abs(relVel.x);
-  float tmaxx = (size1.x + size2.x - glm::abs(relPos.x)) / glm::abs(relVel.x);
-  float tminy = (size1exp.y + size2exp.y - glm::abs(relPos.y)) / glm::abs(relVel.y);
-  float tmaxy = (size1.y + size2.y - glm::abs(relPos.y)) / glm::abs(relVel.y);
-  float tminz = (size1exp.z + size2exp.z - glm::abs(relPos.z)) / glm::abs(relVel.z);
-  float tmaxz = (size1.z + size2.z - glm::abs(relPos.z)) / glm::abs(relVel.z);
+  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 tmin = glm::max(glm::max(glm::min(tminx, tmaxx), glm::min(tminy, tmaxy)), glm::min(tminz, tmaxz));
-  float tmax = glm::min(glm::min(glm::max(tminx, tmaxx), glm::max(tminy, tmaxy)), glm::max(tminz, tmaxz));
+  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;
+    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;
+  if(tmax <= 0.0f) {
+    fraction = 0.0f;
+    return true;
   }
 
   // Compute the fraction of the timestep at which the collision occurs

src/dawn/physics/3d/AABB3D.hpp

@@ -22,4 +22,9 @@ namespace Dawn {
   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
+  );
 }

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

@@ -29,7 +29,6 @@ bool_t Dawn::raytestSphere(
   *normal = glm::normalize(*hit - sphere.center);
   *distance = t0;
 
-
   return true;
 }