ecsgame/Util/geometry.h

#pragma once

#include <list>
#include <vector>

// Forward declarations
struct Triangle;

struct Vector {
    Vector(float coordinates[3]) : c(coordinates) {}
    Vector(float x, float y, float z) : c(new float[3]{x, y, z}) {}

    // Avoid having to write vector.c[index], instead allow vector[index]
    float operator[](int i) const { return c[i]; }
    float &operator[](int i) { return c[i]; }

    Vector operator+(const Vector &other) const {
        return Vector(c[0] + other.c[0], c[1] + other.c[1], c[2] + other.c[2]);
    }

    Vector operator-(const Vector &other) const {
        return Vector(c[0] - other.c[0], c[1] - other.c[1], c[2] - other.c[2]);
    }

    bool operator<(const Vector &other) const {
        if ((c[2] < other.c[2])) { return true; }
        if ((c[2] == other.c[2]) && (c[1] < other.c[1])) { return true; }
        if ((c[2] == other.c[2]) && (c[1] == other.c[1]) && (c[0] < other.c[0])) { return true; }

        return false;
    }

    Vector operator*(float scalar) const {
        return Vector(c[0] * scalar, c[1] * scalar, c[2] * scalar);
    }

    Vector cross(const Vector &other) {
        return Vector(c[1] * other[2] - c[2] * other[1], c[2] * other[0] - c[0] * other[2],
                      c[0] * other[1] - c[1] * other[0]);
    }

    float dot(const Vector &other) { return c[0] * other[0] + c[1] * other[1] + c[2] * other[2]; }

    float *c;
};

struct Point {
    Point(Vector pos) : pos(pos) {}

    Point(Vector pos, std::list<Triangle *> triangles) : pos(pos), triangles(triangles) {}

    Vector pos;

    std::list<Triangle *> triangles;
};

struct Triangle {
    Triangle(Vector p1, Vector p2, Vector p3) : p1(p1), p2(p2), p3(p3) {}

    std::vector<Point *> create_point_objects() {
        return std::vector<Point *>{new Point(p1, std::list<Triangle *>{this}),
                                    new Point(p2, std::list<Triangle *>{this}),
                                    new Point(p3, std::list<Triangle *>{this})};
    }

    Vector p1;
    Vector p2;
    Vector p3;
};

struct Node {
    Node(int axis, Point *point, Node *left, Node *right)
        : axis(axis), point(point), left(left), right(right) {}

    int axis;

    Point *point;

    Node *left;
    Node *right;
};

struct Ray {
    Ray(Vector origin, Vector direction) : origin(origin), direction(direction) {}

    Vector origin;

    Vector direction;

    bool intersects_triangle(const Triangle *triangle, Vector &result, float &t) {
        // Ray-triangle-intersection with the Möller–Trumbore algorithm
        // https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
        const float EPSILON = 0.0000001;

        Vector p1 = triangle->p1;
        Vector p2 = triangle->p2;
        Vector p3 = triangle->p3;

        Vector edge1 = p2 - p1;
        Vector edge2 = p3 - p1;

        Vector h = direction.cross(edge2);
        float a = edge1.dot(h);

        if (a > -EPSILON && a < EPSILON) return false; // This ray is parallel to this triangle.

        float f = 1.0 / a;
        Vector s = origin - p1;
        float u = f * s.dot(h);

        if (u < 0.0 || u > 1.0) return false;

        Vector q = s.cross(edge1);
        float v = f * direction.dot(q);
        if (v < 0.0 || u + v > 1.0) return false;

        // At this stage we can compute t to find out where the intersection point is on the
        // line.
        t = f * edge2.dot(q);
        if (t > EPSILON) {
            result = origin + direction * t;
            return true;
        } else {
            // This means that there is a line intersection but not a ray intersection.
            return false;
        }
    }
};