mrrp

.clang-format

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+#
+# You can add options here to match your desired format.
+# For reference, see the following URL:
+#     https://clang.llvm.org/docs/ClangFormatStyleOptions.html
+#
+# To start braces on a new line, you can add:
+#     BreakBeforeBraces: Allman
+#
+# To use tabs to indent, change the indent width to 8, and add:
+#     UseTab: ForIndentation
+#
+
+# Use C/C++ as the language
+Language:      Cpp
+
+# Inherit our style from LLVM
+BasedOnStyle:  LLVM
+
+# Use 4 spaces as our indent width
+IndentWidth:   8
+UseTab: ForIndentation
+
+# Reformat lines to be under 80 characters
+ColumnLimit:   120
+
+# Do not allow single-line functions (unless empty)
+AllowShortFunctionsOnASingleLine: Empty
+
+
+DerivePointerAlignment: false
+ReferenceAlignment: Left
+SpaceAfterCStyleCast: true
+

imgui.ini

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+[Window][Debug##Default]
+Pos=13,60
+Size=400,400
+
+[Window][player]
+Pos=158,170
+Size=316,183
+

src/namespaces.hpp

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+namespace rl = raylib;

src/phys.cpp

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+#include "phys.hpp"
+#include "raylib-cpp/include/Camera3D.hpp"
+#include "raylib-cpp/include/Model.hpp"
+#include "raylib-cpp/include/Vector3.hpp"
+#include <array>
+#include <cassert>
+#include <cfloat>
+#include <initializer_list>
+#include <raylib.h>
+#include <raymath.h>
+#include <vector>
+
+PointCloud::PointCloud() : Points() {
+	return;
+}
+
+PointCloud::PointCloud(const std::vector<rl::Vector3>& in) : Points(in) {
+	return;
+}
+
+RecPrism::RecPrism(rl::Vector3 v1, rl::Vector3 v2) : model(GenMeshCube(v2.x, v2.y, v2.z)) {
+	pos = v1;
+	size = v2;
+	rotation = QuaternionIdentity();
+}
+
+void RecPrism::Draw(rl::Color color) {
+	model.SetTransform(QuaternionToMatrix(rotation));
+	DrawModel(model, pos, 1.0, BLUE);
+
+	//DrawSphere(pos, 10, GREEN);
+
+	std::array<rl::Vector3, 8> vectors;
+
+	vectors[0] = (Vector3) {size.x/2, size.y/2, size.z/2};
+	vectors[1] = (Vector3) {-size.x/2, -size.y/2, -size.z/2};
+	vectors[2] = (Vector3) {-size.x/2, size.y/2, size.z/2};
+	vectors[3] = (Vector3) {size.x/2, -size.y/2, size.z/2};
+	vectors[4] = (Vector3) {size.x/2, size.y/2, -size.z/2};
+	vectors[5] = (Vector3) {-size.x/2, -size.y/2, size.z/2};
+	vectors[6] = (Vector3) {size.x/2, -size.y/2, -size.z/2};
+	vectors[7] = (Vector3) {-size.x/2, size.y/2, -size.z/2};
+
+	for (size_t i = 0; i < 8; i++) {
+		vectors[i] = pos + Vector3RotateByQuaternion(vectors[i], rotation);
+	}
+
+	for (auto v : vectors) {
+		DrawSphere(v, 10, RED);
+	}
+	
+}
+
+rl::Vector3 RecPrism::FindFurthestPoint(rl::Vector3 dir) const {
+	// Get Verts
+	if (size == Vector3Zero()) {
+		return pos;
+	}
+
+	std::array<rl::Vector3, 8> vectors;
+
+	
+	vectors[0] = (Vector3) {size.x/2, size.y/2, size.z/2};
+	vectors[1] = (Vector3) {-size.x/2, -size.y/2, -size.z/2};
+	vectors[2] = (Vector3) {-size.x/2, size.y/2, size.z/2};
+	vectors[3] = (Vector3) {size.x/2, -size.y/2, size.z/2};
+	vectors[4] = (Vector3) {size.x/2, size.y/2, -size.z/2};
+	vectors[5] = (Vector3) {-size.x/2, -size.y/2, size.z/2};
+	vectors[6] = (Vector3) {size.x/2, -size.y/2, -size.z/2};
+	vectors[7] = (Vector3) {-size.x/2, size.y/2, -size.z/2};
+
+	for (size_t i = 0; i < 8; i++) {
+		vectors[i] = pos + Vector3RotateByQuaternion(vectors[i], rotation);
+	}
+
+	rl::Vector3 maxpoint;
+	float maxdist = FLT_MIN;
+	for (auto v : vectors) {
+		float dist = v.DotProduct(dir);
+		if (dist > maxdist) {
+			maxdist = dist;
+			maxpoint = v;
+		}
+	}
+
+	return maxpoint;
+}
+
+rl::Vector3 Support(const Collider& a, const Collider& b, rl::Vector3 dir) {
+	return a.FindFurthestPoint(dir) - b.FindFurthestPoint(-dir);
+}
+
+Simplex& Simplex::operator=(std::initializer_list<rl::Vector3> list) {
+	assert(list.size() <= 4);
+	for (auto p : list) {
+		points.push_back(p);
+	}
+	return *this;
+}
+
+Simplex::Simplex() {}
+
+void Simplex::push(rl::Vector3 point) {
+	points.push_back(point);
+}
+
+rl::Vector3& Simplex::operator[](size_t i) {
+
+	return points[i];
+}
+
+
+bool GJK(const Collider& a, const Collider& b) {
+	rl::Vector3 support = Support(a, b, rl::Vector3(1,0,0));
+
+	Simplex points;
+	points.push(support);
+
+	rl::Vector3 dir = -support;
+
+	while(true) {
+		support = Support(a, b, dir);
+
+		if (support.DotProduct(dir) <= 0) {
+			return false;
+		}
+		
+	}
+}

src/phys.hpp

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+#ifndef PHYS_H
+#define PHYS_H
+
+#include "raylib-cpp/include/Color.hpp"
+#include "raylib-cpp/include/Model.hpp"
+#include "raylib-cpp/include/Vector3.hpp"
+#include "raylib-cpp/include/Vector4.hpp"
+#include <initializer_list>
+#include <raylib-cpp/include/raylib-cpp.hpp>
+#include <raylib.h>
+#include <vector>
+
+namespace rl = raylib;
+
+struct PointCloud {
+	std::vector<rl::Vector3> Points; // chosen because of fast iteration
+
+	void extracted();
+	// Generate Em
+
+	// Create from existing vector
+	PointCloud(const std::vector<rl::Vector3>& in);
+
+	PointCloud();
+};
+
+struct Collider {
+	virtual rl::Vector3 FindFurthestPoint(rl::Vector3 dir) const = 0;
+};
+
+struct RecPrism : Collider {
+	rl::Vector3 pos; //Center
+	rl::Vector3 size;
+	rl::Quaternion rotation;
+	rl::Model model;
+
+	void Draw(rl::Color color = BLUE);
+
+	RecPrism(rl::Vector3 v1, rl::Vector3 v2);
+
+	rl::Vector3 FindFurthestPoint(rl::Vector3 dir) const;
+};
+
+rl::Vector3 Support(const Collider& a, const Collider& b, rl::Vector3 dir);
+
+struct Simplex {
+
+	Simplex();
+
+	std::vector<rl::Vector3> points;
+
+	Simplex& operator=(std::initializer_list<rl::Vector3> list);
+
+	void push(rl::Vector3 point);
+
+	rl::Vector3& operator[](size_t i);
+};
+
+bool GJK(const Collider& a, const Collider& b);
+
+#endif
+
+/* TODO:
+   Fix rects (use quaternions and transform ig)
+   GJK !!
+ */