Some cleanup and comments

ECS/Systems/CollisionSystem.h

@@ -28,7 +28,8 @@ class CollisionSystem : public EntitySystem {
 
                 std::map<Vector, Point *> triangle_map;
 
-                // TODO: Iterate over vertices, add triangles by also iterating over indices
+                // We iterate over the index array and add the resulting triangles to a hash map of
+                // vertices. That way, each vertex holds a list of all triangles it is involved in.
                 for (int i = 0; i < mesh->vertex_count; i += 3) {
                     // Build vertices from this triangle
                     float v0p0 = vertices[indices[i + 0] * 14 + 0];
@@ -90,9 +91,7 @@ class CollisionSystem : public EntitySystem {
             // TODO
         });
 
-        std::cout << "Start building kdtree with " << points.size() << " points" << std::endl;
         kdtree = new KDTree(points);
-        std::cout << "Done" << std::endl;
     }
 
     void tick(World *pWorld, float deltaTime) override {

Util/geometry.h

@@ -22,6 +22,7 @@ struct Vector {
         return Vector(c[0] - other.c[0], c[1] - other.c[1], c[2] - other.c[2]);
     }
 
+    // Arbitrary but functional definition of '<', primarily for use in an std::map.
     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; }
@@ -30,6 +31,7 @@ struct Vector {
         return false;
     }
 
+    // Component-wise multiplication with a scalar
     Vector operator*(float scalar) const {
         return Vector(c[0] * scalar, c[1] * scalar, c[2] * scalar);
     }

Util/kdtree.h

@@ -1,3 +1,5 @@
+#pragma once
+
 #include "geometry.h"
 #include <algorithm>
 #include <chrono>
@@ -9,7 +11,7 @@
 class KDTree {
   public:
     KDTree(std::vector<Point *> points) {
-        std::cout << "Starting to build tree with " << points.size() << " points took ";
+        std::cout << "Building tree with " << points.size() << " points took ";
         auto start = std::chrono::high_resolution_clock::now();
         root = build(points, 0);
         auto end = std::chrono::high_resolution_clock::now();
@@ -109,13 +111,17 @@ class KDTree {
 
     void intersect_ray_recurse(const Triangle *&nearest_triangle, Vector &result, Ray ray,
                                Node *node, int depth, float &nearest) {
-        // Exit condition: There was no collision
+        // Exit condition: This node was iterated towards, but does not exist
         if (node == nullptr) { return; }
 
         // Check for a collision here
+        // Iterate over all Triangles which this Point is involved in
         for (const Triangle *triangle : node->point->triangles) {
             Vector current_result(0, 0, 0);
             float current_distance;
+
+            // If we have a collision, and it is closer to the ray origin than the closest previous
+            // collision, remember it
             if (ray.intersects_triangle(triangle, current_result, current_distance)) {
                 if (current_distance < nearest) {
                     nearest = current_distance;
@@ -125,14 +131,16 @@ class KDTree {
             }
         }
 
-        // Is the left or right child node closer to this point?
+        // Is the ray origin within the left or right child node bounding box?
         Node *near =
             ray.origin[node->axis] > node->point->pos[node->axis] ? node->right : node->left;
         Node *far = near == node->right ? node->left : node->right;
 
         if (ray.direction[node->axis] == 0.0) {
+            // The ray is parallel to the splitting axis, so we only need to check within this box.
             intersect_ray_recurse(nearest_triangle, result, ray, near, depth + 1, nearest);
         } else {
+            // Calculate the distance from the ray origin to the splitting axis
             float t =
                 (node->point->pos[node->axis] - ray.origin[node->axis]) / ray.direction[node->axis];
 

main.cpp

@@ -204,11 +204,11 @@ int main(int argc, char **argv) {
     Entity *sun = world->create();
     sun->assign<DirectionalLight>(glm::normalize(glm::vec3(1.0, 1.0, 1.0)));
 
-    Entity *kdtree_vis = world->create();
-
     // We're done loading geometry -> build the collision structure
     collision_system->build();
 
+    // Save the visualized kdtree as another entity
+    Entity *kdtree_vis = world->create();
     kdtree_vis->assign<Lines>(collision_system->kdtree->get_lines());
 
     Shader defaultShader("Shaders/default-vertex.vs", "Shaders/default-fragment.fs");
@@ -229,15 +229,16 @@ int main(int argc, char **argv) {
         world->tick(delta);
         renderSystem->render(world, defaultShader, shadowShader, debugShader, lineShader);
 
+        // Animations
         /*         ring->get<Transform>()->rotate(delta * 100.0, glm::vec3(0.0, 1.0, 0.0));
                 sun->get<DirectionalLight>()->direction = glm::normalize(glm::vec3(
                     glm::rotate(glm::mat4(1), (float)elapsed_time * 0.5f, glm::vec3(0.0, 1.0, 0.0))
            * glm::vec4(1.0, 1.0, 1.0, 0.0))); */
 
-        /* Swap front and back buffers */
+        // Swap front and back buffers
         glfwSwapBuffers(window);
 
-        /* Poll for and process events */
+        // Poll for and process events
         glfwPollEvents();
     }