#include <glm/ext.hpp>
#include <iostream>
#include <vector>
#include <map>
#include <stack>
#include <glm/glm.hpp>

Functions
vec3	findOrthogonal (vec3 v)
	Find a vector that is orthogonal to v. More...

mat3	formOrthogonalBasis (vec3 const &v)
	Given the vector, v, generate two other orthogonal vectors thus creating a coordinate frame. More...

mat3	orthonormalizeOrientation (mat3 m)
	Normalize all vectors in the matrix, m. More...

mat3	skewSymmetric (vec3 const &v)
	Return a skew-symmetric (cross product matrix) for the vector, v. More...

vector< vec3 >	getAABBVertices (const vec3 &_min, const vec3 &_max)
	Get the 6 vertices that define the corners of the AABB defined by the min and max points. More...

float	clamp (float value, float _min, float _max)
	Clamp the value between the min and max values. More...

vec3	matrixMultiply (const mat4 &m, const vec3 &v)
	Multiply a matrix with a vec3. More...

vector< float >	getAABB (const vector< vec3 > &vertices)
	Return a vector of floats representing the min and max values (minX, minY, minZ, maxX, maxY, maxZ) of the input vertices. More...

bool	AABBOverlap (const vec3 &_min1, const vec3 &_max1, const vec3 &_min2, const vec3 &_max2)
	AABB collision detection. More...

float	pointLineIntersection (const vec3 &p3, const vec3 &p1, const vec3 &p2)
	Point and line collision,. More...

float	distPointToTriangle (const vec3 &point, const vec3 &v1, const vec3 &v2, const vec3 &v3)
	Distance from a point to a triangle. More...

vec2	lineSegmentIntersection (const vec3 &p1, const vec3 &p2, const vec3 &p3, const vec3 &p4)
	Collision detection between two line segments, returns t1,t2, where the closest points on each line are p1 + t1 * p2, p3 + t2 * p4. More...

vec2	closestPointsOnLineSegments (const vec3 &p1, const vec3 &p2, const vec3 &p3, const vec3 &p4)
	Collision detection between two line segments, returns t1,t2, where the closest points on each line are p1 + t1 * p2, p3 + t2 * p4. More...

float	pointPlaneDistance (const vec3 &point, const vec3 &planePosition, const vec3 &planeNormal)
	Distance between a point and a plane. More...

vec3	pointLineSegmentIntersection (vec3 p, vec3 l1, vec3 l2)
	Closest point on a line segment to a point. More...

vec3	pointQuadIntersection (vec3 pt, vec3 t1, vec3 t2, vec3 t3, vec3 t4)
	Closest point on a quad to a point. More...

vec3	pointTriangleIntersection (vec3 pt, vec3 t1, vec3 t2, vec3 t3, unsigned int &type)
	Closest point on a triangle to a point. More...

bool	clipPolygonToPlane (vector< vec3 > &polygon, const vec3 &plane_pos, const vec3 &plane_normal, vector< vector< int > > &contactIDs, unsigned int planeIndex)
	Sutherland-Hodgeman clipping algorithm. More...

bool	buildMinkowskiFace (const vec3 &a, const vec3 &b, const vec3 &b_x_a, const vec3 &c, const vec3 &d, const vec3 &d_x_c)
	Minkowski difference to early out some checks in SAT. More...

vec3	closestPointOnCircle (vec3 p, vec3 plane_position, vec3 plane_normal, float r)
	Return closest point on a circle to a point, p. More...

float	spherePlaneCollision (vec3 sphereCentre, vec3 planeNormal, vec3 pointOnPlane)
	Sphere plane collision detection. More...

bool	rayTriangleCollision (vec3 planeIntersection, vec3 planeNormal, vec3 v1, vec3 v2, vec3 v3)
	Ray triangle collision detection. More...

vec3	closestPointOnLineSegment (vec3 A, vec3 B, vec3 point)
	closest point on line segment, A, B, to point. More...

vec3	closestPointOnOBB (vec3 point, float box_dX2, float box_dY2, float box_dZ2, vec3 box_position, mat3 box_orientation)
	Returns closest point on OBB, from point. More...

mat3	parallelAxis (vec3 r)
	Parallel Axis Theorem (Nyguen-Steiner) More...

vec3	getPos (mat4 m)
	Get position from a model matrix. More...

Function Documentation

◆ AABBOverlap()

bool AABBOverlap	(	const vec3 &	_min1,
		const vec3 &	_max1,
		const vec3 &	_min2,
		const vec3 &	_max2
	)

AABB collision detection.

◆ buildMinkowskiFace()

bool buildMinkowskiFace	(	const vec3 &	a,
		const vec3 &	b,
		const vec3 &	b_x_a,
		const vec3 &	c,
		const vec3 &	d,
		const vec3 &	d_x_c
	)

Minkowski difference to early out some checks in SAT.

◆ clamp()

float clamp	(	float	value,
		float	_min,
		float	_max
	)

Clamp the value between the min and max values.

◆ clipPolygonToPlane()

bool clipPolygonToPlane	(	vector< vec3 > &	polygon,
		const vec3 &	plane_pos,
		const vec3 &	plane_normal,
		vector< vector< int > > &	contactIDs,
		unsigned int	planeIndex
	)

Sutherland-Hodgeman clipping algorithm.

◆ closestPointOnCircle()

vec3 closestPointOnCircle	(	vec3	p,
		vec3	plane_position,
		vec3	plane_normal,
		float	r
	)

Return closest point on a circle to a point, p.

◆ closestPointOnLineSegment()

vec3 closestPointOnLineSegment	(	vec3	A,
		vec3	B,
		vec3	point
	)

closest point on line segment, A, B, to point.

◆ closestPointOnOBB()

vec3 closestPointOnOBB	(	vec3	point,
		float	box_dX2,
		float	box_dY2,
		float	box_dZ2,
		vec3	box_position,
		mat3	box_orientation
	)

Returns closest point on OBB, from point.

◆ closestPointsOnLineSegments()

vec2 closestPointsOnLineSegments	(	const vec3 &	p1,
		const vec3 &	p2,
		const vec3 &	p3,
		const vec3 &	p4
	)

Collision detection between two line segments, returns t1,t2, where the closest points on each line are p1 + t1 * p2, p3 + t2 * p4.

◆ distPointToTriangle()

float distPointToTriangle	(	const vec3 &	point,
		const vec3 &	v1,
		const vec3 &	v2,
		const vec3 &	v3
	)

Distance from a point to a triangle.

◆ findOrthogonal()

vec3 findOrthogonal ( vec3 v )

Find a vector that is orthogonal to v.

◆ formOrthogonalBasis()

mat3 formOrthogonalBasis ( vec3 const & v )

Given the vector, v, generate two other orthogonal vectors thus creating a coordinate frame.

◆ getAABB()

vector<float> getAABB ( const vector< vec3 > & vertices )

Return a vector of floats representing the min and max values (minX, minY, minZ, maxX, maxY, maxZ) of the input vertices.

◆ getAABBVertices()

vector<vec3> getAABBVertices	(	const vec3 &	_min,
		const vec3 &	_max
	)

Get the 6 vertices that define the corners of the AABB defined by the min and max points.

◆ getPos()

vec3 getPos ( mat4 m )

Get position from a model matrix.

◆ lineSegmentIntersection()

vec2 lineSegmentIntersection	(	const vec3 &	p1,
		const vec3 &	p2,
		const vec3 &	p3,
		const vec3 &	p4
	)

Collision detection between two line segments, returns t1,t2, where the closest points on each line are p1 + t1 * p2, p3 + t2 * p4.

◆ matrixMultiply()

vec3 matrixMultiply	(	const mat4 &	m,
		const vec3 &	v
	)

Multiply a matrix with a vec3.

◆ orthonormalizeOrientation()

mat3 orthonormalizeOrientation ( mat3 m )

Normalize all vectors in the matrix, m.

◆ parallelAxis()

mat3 parallelAxis ( vec3 r )

Parallel Axis Theorem (Nyguen-Steiner)

◆ pointLineIntersection()

float pointLineIntersection	(	const vec3 &	p3,
		const vec3 &	p1,
		const vec3 &	p2
	)

Point and line collision,.

Todo:: what does this do?

◆ pointLineSegmentIntersection()

vec3 pointLineSegmentIntersection	(	vec3	p,
		vec3	l1,
		vec3	l2
	)

Closest point on a line segment to a point.

◆ pointPlaneDistance()

float pointPlaneDistance	(	const vec3 &	point,
		const vec3 &	planePosition,
		const vec3 &	planeNormal
	)

Distance between a point and a plane.

◆ pointQuadIntersection()

vec3 pointQuadIntersection	(	vec3	pt,
		vec3	t1,
		vec3	t2,
		vec3	t3,
		vec3	t4
	)

Closest point on a quad to a point.

◆ pointTriangleIntersection()

vec3 pointTriangleIntersection	(	vec3	pt,
		vec3	t1,
		vec3	t2,
		vec3	t3,
		unsigned int &	type
	)

Closest point on a triangle to a point.

◆ rayTriangleCollision()

bool rayTriangleCollision	(	vec3	planeIntersection,
		vec3	planeNormal,
		vec3	v1,
		vec3	v2,
		vec3	v3
	)

Ray triangle collision detection.

◆ skewSymmetric()

mat3 skewSymmetric ( vec3 const & v )

Return a skew-symmetric (cross product matrix) for the vector, v.

◆ spherePlaneCollision()

float spherePlaneCollision	(	vec3	sphereCentre,
		vec3	planeNormal,
		vec3	pointOnPlane
	)

Sphere plane collision detection.

Functions