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Merged
orange-cpp merged 5 commits into from
May 14, 2026
Merged

Feature/more obb tests #190

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c73afa9
update
orange-cpp May 13, 2026
5ebba4a
added constexpr
orange-cpp May 13, 2026
b6f41ed
improved naming
orange-cpp May 13, 2026
7a2ac25
fixed inconsistant types
orange-cpp May 13, 2026
bdef596
added more tests
orange-cpp May 13, 2026
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2 changes: 1 addition & 1 deletion include/omath/engines/cry_engine/constants.hpp
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Expand Up @@ -15,7 +15,7 @@ namespace omath::cry_engine
constexpr Vector3<float> k_abs_forward = {0, 1, 0};

using Mat4X4 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
using Mat3X3 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
using Mat3X3 = Mat<3, 3, float, MatStoreType::ROW_MAJOR>;
using Mat1X3 = Mat<1, 3, float, MatStoreType::ROW_MAJOR>;
using PitchAngle = Angle<float, -90.f, 90.f, AngleFlags::Clamped>;
using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
Expand Down
2 changes: 1 addition & 1 deletion include/omath/engines/cry_engine/formulas.hpp
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Expand Up @@ -23,7 +23,7 @@ namespace omath::cry_engine

[[nodiscard]]
Mat4X4 calc_perspective_projection_matrix(float field_of_view, float aspect_ratio, float near, float far,
NDCDepthRange ndc_depth_range = NDCDepthRange::NEGATIVE_ONE_TO_ONE) noexcept;
NDCDepthRange ndc_depth_range = NDCDepthRange::ZERO_TO_ONE) noexcept;

template<class FloatingType>
requires std::is_floating_point_v<FloatingType>
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8 changes: 4 additions & 4 deletions include/omath/linear_algebra/mat.hpp
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Expand Up @@ -667,7 +667,7 @@ namespace omath
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
[[nodiscard]]
Mat<4, 4, Type, St> mat_perspective_left_handed(const Type field_of_view, const Type aspect_ratio,
Mat<4, 4, Type, St> mat_perspective_left_handed_vertical_fov(const Type field_of_view, const Type aspect_ratio,
const Type near, const Type far) noexcept
{
const auto fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / Type{2});
Expand All @@ -689,7 +689,7 @@ namespace omath
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR,
NDCDepthRange DepthRange = NDCDepthRange::NEGATIVE_ONE_TO_ONE>
[[nodiscard]]
Mat<4, 4, Type, St> mat_perspective_right_handed(const Type field_of_view, const Type aspect_ratio,
Mat<4, 4, Type, St> mat_perspective_right_handed_vertical_fov(const Type field_of_view, const Type aspect_ratio,
const Type near, const Type far) noexcept
{
const auto fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / Type{2});
Expand Down Expand Up @@ -730,7 +730,7 @@ namespace omath
else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
return {{x_axis, Type{0}, Type{0}, Type{0}},
{Type{0}, y_axis, Type{0}, Type{0}},
{Type{0}, Type{0}, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
{Type{0}, Type{0}, (far + near) / (far - near), -(Type{2} * near * far) / (far - near)},
{Type{0}, Type{0}, Type{1}, Type{0}}};
else
std::unreachable();
Expand All @@ -755,7 +755,7 @@ namespace omath
else if constexpr (DepthRange == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
return {{x_axis, Type{0}, Type{0}, Type{0}},
{Type{0}, y_axis, Type{0}, Type{0}},
{Type{0}, Type{0}, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
{Type{0}, Type{0}, -(far + near) / (far - near), -(Type{2} * near * far) / (far - near)},
{Type{0}, Type{0}, -Type{1}, Type{0}}};
else
std::unreachable();
Expand Down
6 changes: 3 additions & 3 deletions source/engines/cry_engine/formulas.cpp
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Expand Up @@ -38,12 +38,12 @@ namespace omath::cry_engine
const float far, const NDCDepthRange ndc_depth_range) noexcept
{
if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
field_of_view, aspect_ratio, near, far);

if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
field_of_view, aspect_ratio, near, far);
std::unreachable();
}
} // namespace omath::unity_engine
} // namespace omath::cry_engine
2 changes: 1 addition & 1 deletion source/engines/cry_engine/traits/camera_trait.cpp
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Expand Up @@ -24,4 +24,4 @@ namespace omath::cry_engine
return calc_perspective_projection_matrix(fov.as_degrees(), view_port.aspect_ratio(), near, far,
ndc_depth_range);
}
} // namespace omath::unity_engine
} // namespace omath::cry_engine
4 changes: 2 additions & 2 deletions source/engines/frostbite_engine/formulas.cpp
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Expand Up @@ -38,11 +38,11 @@ namespace omath::frostbite_engine
const float far, const NDCDepthRange ndc_depth_range) noexcept
{
if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
field_of_view, aspect_ratio, near, far);

if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
return mat_perspective_left_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
return mat_perspective_left_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
field_of_view, aspect_ratio, near, far);

std::unreachable();
Expand Down
4 changes: 2 additions & 2 deletions source/engines/iw_engine/formulas.cpp
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Expand Up @@ -47,11 +47,11 @@ namespace omath::iw_engine
const auto vertical_fov = angles::horizontal_fov_to_vertical(field_of_view, k_source_reference_aspect);

if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
return mat_perspective_left_handed<
return mat_perspective_left_handed_vertical_fov<
float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
vertical_fov, aspect_ratio, near, far);
if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
return mat_perspective_left_handed<
return mat_perspective_left_handed_vertical_fov<
float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
vertical_fov, aspect_ratio, near, far);
std::unreachable();
Expand Down
4 changes: 2 additions & 2 deletions source/engines/opengl_engine/formulas.cpp
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Expand Up @@ -40,11 +40,11 @@ namespace omath::opengl_engine
const float far, const NDCDepthRange ndc_depth_range) noexcept
{
if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
return mat_perspective_right_handed<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
return mat_perspective_right_handed_vertical_fov<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
field_of_view, aspect_ratio, near, far);

if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
return mat_perspective_right_handed<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
return mat_perspective_right_handed_vertical_fov<float, MatStoreType::COLUMN_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
field_of_view, aspect_ratio, near, far);

std::unreachable();
Expand Down
4 changes: 2 additions & 2 deletions source/engines/source_engine/formulas.cpp
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Expand Up @@ -47,11 +47,11 @@ namespace omath::source_engine
const auto vertical_fov = angles::horizontal_fov_to_vertical(field_of_view, k_source_reference_aspect);

if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
return mat_perspective_left_handed<
return mat_perspective_left_handed_vertical_fov<
float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
vertical_fov, aspect_ratio, near, far);
if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
return mat_perspective_left_handed<
return mat_perspective_left_handed_vertical_fov<
float, MatStoreType::ROW_MAJOR, NDCDepthRange::NEGATIVE_ONE_TO_ONE>(
vertical_fov, aspect_ratio, near, far);
std::unreachable();
Expand Down
4 changes: 2 additions & 2 deletions source/engines/unity_engine/formulas.cpp
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Expand Up @@ -38,10 +38,10 @@ namespace omath::unity_engine
const float far, const NDCDepthRange ndc_depth_range) noexcept
{
if (ndc_depth_range == NDCDepthRange::ZERO_TO_ONE)
return omath::mat_perspective_right_handed<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
return omath::mat_perspective_right_handed_vertical_fov<float, MatStoreType::ROW_MAJOR, NDCDepthRange::ZERO_TO_ONE>(
field_of_view, aspect_ratio, near, far);
if (ndc_depth_range == NDCDepthRange::NEGATIVE_ONE_TO_ONE)
return omath::mat_perspective_right_handed<float, MatStoreType::ROW_MAJOR,
return omath::mat_perspective_right_handed_vertical_fov<float, MatStoreType::ROW_MAJOR,
NDCDepthRange::NEGATIVE_ONE_TO_ONE>(field_of_view, aspect_ratio,
near, far);
std::unreachable();
Expand Down
4 changes: 2 additions & 2 deletions tests/engines/unit_test_cry_engine.cpp
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Expand Up @@ -29,11 +29,11 @@ TEST(unit_test_cry_engine, look_at_right)
}
TEST(unit_test_cry_engine, look_at_up)
{
const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, cry_engine::k_abs_right);
const auto angles = cry_engine::CameraTrait::calc_look_at_angle({}, cry_engine::k_abs_up);

// ReSharper disable once CppTooWideScopeInitStatement
const auto dir_vector = cry_engine::forward_vector(angles);
for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), cry_engine::k_abs_right.as_array()))
for (const auto& [result, etalon] : std::views::zip(dir_vector.as_array(), cry_engine::k_abs_up.as_array()))
EXPECT_NEAR(result, etalon, 0.0001f);
}

Expand Down
56 changes: 56 additions & 0 deletions tests/general/unit_test_line_tracer_obb.cpp
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Expand Up @@ -34,6 +34,13 @@ namespace
const auto s = std::sin(radians);
return OBB{center, {c, s, 0.f}, {-s, c, 0.f}, {0.f, 0.f, 1.f}, half_extents};
}

OBB rotated_around_y(const Vec3& center, const Vec3& half_extents, const float radians) noexcept
{
const auto c = std::cos(radians);
const auto s = std::sin(radians);
return OBB{center, {c, 0.f, -s}, {0.f, 1.f, 0.f}, {s, 0.f, c}, half_extents};
}
} // namespace

// --- axis-aligned OBB behaves like AABB ---
Expand Down Expand Up @@ -126,6 +133,18 @@ TEST(LineTracerOBBTests, RotatedBoxHitOnRotatedFace)
EXPECT_NEAR(hit.z, 0.f, 1e-4f);
}

TEST(LineTracerOBBTests, RotatedAroundYBoxHitOnRotatedFace)
{
const auto box = rotated_around_y({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}, std::numbers::pi_v<float> / 4.f);
const auto ray = make_ray({0.f, 0.f, 5.f}, {0.f, 0.f, -5.f});

const auto hit = LineTracer::get_ray_hit_point(ray, box);
EXPECT_NE(hit, ray.end);
EXPECT_NEAR(hit.x, 0.f, 1e-4f);
EXPECT_NEAR(hit.y, 0.f, 1e-4f);
EXPECT_NEAR(hit.z, std::numbers::sqrt2_v<float>, 1e-4f);
}

TEST(LineTracerOBBTests, RotatedBoxMissesWhereAabbWouldHit)
{
// A unit cube rotated 45° around Z has an XY footprint that is a diamond reaching
Expand Down Expand Up @@ -170,6 +189,43 @@ TEST(LineTracerOBBTests, RotatedAndTranslatedBoxHit)
EXPECT_NEAR(hit.y, 5.f, 1e-4f);
}

TEST(LineTracerOBBTests, RayStartsInsideRotatedBox)
{
const auto box = rotated_around_z({2.f, 3.f, 0.f}, {2.f, 1.f, 1.f}, std::numbers::pi_v<float> / 6.f);
const auto ray = make_ray({2.f, 3.f, 0.f}, {10.f, 3.f, 0.f});

const auto hit = LineTracer::get_ray_hit_point(ray, box);
EXPECT_NE(hit, ray.end);
EXPECT_NEAR(hit.x, 2.f, 1e-4f);
EXPECT_NEAR(hit.y, 3.f, 1e-4f);
EXPECT_NEAR(hit.z, 0.f, 1e-4f);
}

TEST(LineTracerOBBTests, TangentRayHitsRotatedBox)
{
const auto box = rotated_around_z({0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}, std::numbers::pi_v<float> / 4.f);
const auto ray = make_ray({-5.f, std::numbers::sqrt2_v<float>, 0.f},
{5.f, std::numbers::sqrt2_v<float>, 0.f});

const auto hit = LineTracer::get_ray_hit_point(ray, box);
EXPECT_NE(hit, ray.end);
EXPECT_NEAR(hit.x, 0.f, 1e-4f);
EXPECT_NEAR(hit.y, std::numbers::sqrt2_v<float>, 1e-4f);
EXPECT_NEAR(hit.z, 0.f, 1e-4f);
}

TEST(LineTracerOBBTests, DegeneratePlaneBoxCanBeHit)
{
const auto box = axis_aligned_obb({0.f, 0.f, 0.f}, {1.f, 1.f, 0.f});
const auto ray = make_ray({0.f, 0.f, -5.f}, {0.f, 0.f, 5.f});

const auto hit = LineTracer::get_ray_hit_point(ray, box);
EXPECT_NE(hit, ray.end);
EXPECT_NEAR(hit.x, 0.f, 1e-4f);
EXPECT_NEAR(hit.y, 0.f, 1e-4f);
EXPECT_NEAR(hit.z, 0.f, 1e-4f);
}

TEST(LineTracerOBBTests, ParallelRayOutsideMisses)
{
// Ray runs parallel to a slab face, completely outside the slab.
Expand Down
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