math_3d.hpp

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

using glm::vec2;
using glm::vec3;
using glm::vec4;
using glm::ivec2;
using glm::ivec3;
using glm::ivec4;
using glm::mat2;
using glm::mat4;
using glm::mat3;
using glm::dot;
using glm::cross;
using glm::translate;
using glm::rotate;
using glm::scale;
using glm::ortho;
using glm::perspective;
using glm::degrees;
using glm::radians;

using std::vector;
using std::endl;
using std::cout;
using std::string;
using std::numeric_limits;
using std::stringstream;
using std::pair;
using std::make_pair;
using std::map;
using std::min;
using std::max;
using std::stack;

vec3 findOrthogonal(vec3 v);
mat3 formOrthogonalBasis(vec3 const &v);
mat3 orthonormalizeOrientation(mat3 m);
mat3 skewSymmetric(vec3 const &v);
vector<vec3> getAABBVertices(const vec3 &_min, const vec3 &_max);
float clamp(float value, float _min, float _max);
vec3 matrixMultiply(const mat4 &m, const vec3 &v);
vector<float> getAABB(const vector<vec3> &vertices);
bool AABBOverlap(const vec3 &_min1, const vec3 &_max1, const vec3 &_min2, const vec3 &_max2);
float pointLineIntersection(const vec3 &p3, const vec3 &p1, const vec3 &p2);
float distPointToTriangle(const vec3 &point, const vec3 &v1, const vec3 &v2, const vec3 &v3);
vec2 lineSegmentIntersection(const vec3 &p1, const vec3 &p2, const vec3 &p3, const vec3 &p4);
vec2 closestPointsOnLineSegments(const vec3 &p1, const vec3 &p2, const vec3 &p3, const vec3 &p4);
float pointPlaneDistance(const vec3 &point, const vec3 &planePosition, const vec3 &planeNormal);
vec3 pointLineSegmentIntersection(vec3 p, vec3 l1, vec3 l2);
vec3 pointQuadIntersection(vec3 pt, vec3 t1, vec3 t2, vec3 t3, vec3 t4);
vec3 pointTriangleIntersection(vec3 pt, vec3 t1, vec3 t2, vec3 t3, unsigned int &type);
bool clipPolygonToPlane(vector<vec3> &polygon, const vec3 &plane_pos, const vec3 &plane_normal, vector<vector<int> > &contactIDs, unsigned int planeIndex);
bool buildMinkowskiFace(const vec3 &a, const vec3 &b, const vec3 &b_x_a, const vec3 &c, const vec3 &d, const vec3 &d_x_c);
vec3 closestPointOnCircle(vec3 p, vec3 plane_position, vec3 plane_normal, float r);
float spherePlaneCollision(vec3 sphereCentre, vec3 planeNormal, vec3 pointOnPlane);
bool rayTriangleCollision(vec3 planeIntersection, vec3 planeNormal, vec3 v1, vec3 v2, vec3 v3);
vec3 closestPointOnLineSegment(vec3 A, vec3 B, vec3 point);
vec3 closestPointOnOBB(vec3 point, float box_dX2, float box_dY2, float box_dZ2, vec3 box_position, mat3 box_orientation);
mat3 parallelAxis(vec3 r);
vec3 getPos(mat4 m);