Add mouse direction getter for CollisionSystem

The global origin wasn't taken into account, and the output had an issue.

.clang-format

@@ -0,0 +1,13 @@
+---
+BasedOnStyle: LLVM
+AllowShortBlocksOnASingleLine: 'true'
+AllowShortCaseLabelsOnASingleLine: 'true'
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortIfStatementsOnASingleLine: WithoutElse
+AllowShortLambdasOnASingleLine: Inline
+AllowShortLoopsOnASingleLine: 'false'
+AlwaysBreakBeforeMultilineStrings: 'true'
+IndentWidth: '4'
+ColumnLimit: 100
+
+...

ECS/Components/Camera.h

@@ -9,13 +9,14 @@
 #include <glm/gtc/matrix_transform.hpp>
 
 struct Camera {
-    /// Create a camera with a field of view (in degrees), width and height (in any unit) and near and far distances
-    Camera(float fov, float width, float height, float near, float far) : projection(
-            glm::perspective(glm::radians(fov), width / height, near, far)) {}
+    /// Create a camera with a field of view (in degrees), width and height (in any unit) and near
+    /// and far distances
+    Camera(float fov, float width, float height, float near, float far)
+        : projection(glm::perspective(glm::radians(fov), width / height, near, far)) {}
 
     glm::mat4 projection;
 
     glm::mat4 view;
 };
 
-#endif //ECSGAME_CAMERA_H
+#endif // ECSGAME_CAMERA_H

ECS/Components/DirectionalLight.h

@@ -5,10 +5,12 @@
 #ifndef ECSGAME_DIRECTIONALLIGHT_H
 #define ECSGAME_DIRECTIONALLIGHT_H
 
+#include <glm/glm.hpp>
+
 struct DirectionalLight {
     explicit DirectionalLight(const glm::vec3 &direction) : direction(direction) {}
 
     glm::vec3 direction;
 };
 
-#endif //ECSGAME_DIRECTIONALLIGHT_H
+#endif // ECSGAME_DIRECTIONALLIGHT_H

ECS/Components/LODObjMesh.h

@@ -5,9 +5,9 @@
 #ifndef ECSGAME_LODOBJMESH_H
 #define ECSGAME_LODOBJMESH_H
 
+#include "ObjMesh.h"
 #include <utility>
 #include <vector>
-#include "ObjMesh.h"
 
 struct LODObjMesh {
     explicit LODObjMesh(std::vector<ObjMesh> meshes) : meshes(std::move(meshes)) {}
@@ -15,4 +15,4 @@ struct LODObjMesh {
     std::vector<ObjMesh> meshes;
 };
 
-#endif //ECSGAME_LODOBJMESH_H
+#endif // ECSGAME_LODOBJMESH_H

ECS/Components/Mesh.h

@@ -5,13 +5,15 @@
 #ifndef ECSGAME_MESH_H
 #define ECSGAME_MESH_H
 
-#include <glad/glad.h>
 #include <GLFW/glfw3.h>
+#include <glad/glad.h>
 #include <vector>
 
 struct Mesh {
-    explicit Mesh(const std::vector<float> &_vertices, const std::vector<unsigned int> &_indices) : vertex_count(_indices.size()) {
-        // Copy the vertices into a local classic float array. Nothing was displayed without this, maybe
+    explicit Mesh(const std::vector<float> &_vertices, const std::vector<unsigned int> &_indices)
+        : vertex_count(_indices.size()), vertices(_vertices), indices(_indices) {
+        // Copy the vertices into a local classic float array. Nothing was displayed without this,
+        // maybe
         //  due to weird hidden type incompatibility or out of scope issues?
         float vertices[_vertices.size()];
         std::copy(_vertices.begin(), _vertices.end(), vertices);
@@ -23,7 +25,8 @@ struct Mesh {
         glGenBuffers(1, &VBO);
         glGenBuffers(1, &EBO);
 
-        // bind the Vertex Array Object first, then bind and set vertex buffer(s), and then configure vertex attributes(s).
+        // bind the Vertex Array Object first, then bind and set vertex buffer(s), and then
+        // configure vertex attributes(s).
         glBindVertexArray(VAO);
 
         glBindBuffer(GL_ARRAY_BUFFER, VBO);
@@ -33,23 +36,27 @@ struct Mesh {
         glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(indices), indices, GL_STATIC_DRAW);
 
         // position attribute
-        glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 14 * sizeof(float), (void*)0);
+        glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 14 * sizeof(float), (void *)0);
         glEnableVertexAttribArray(0);
 
         // Normal attribute
-        glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 14 * sizeof(float), (void*)(3 * sizeof(float)));
+        glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 14 * sizeof(float),
+                              (void *)(3 * sizeof(float)));
         glEnableVertexAttribArray(1);
 
         // texture coord attribute
-        glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, 14 * sizeof(float), (void*)(6 * sizeof(float)));
+        glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, 14 * sizeof(float),
+                              (void *)(6 * sizeof(float)));
         glEnableVertexAttribArray(2);
 
         // Tangent attribute
-        glVertexAttribPointer(3, 3, GL_FLOAT, GL_FALSE, 14 * sizeof(float), (void*)(8 * sizeof(float)));
+        glVertexAttribPointer(3, 3, GL_FLOAT, GL_FALSE, 14 * sizeof(float),
+                              (void *)(8 * sizeof(float)));
         glEnableVertexAttribArray(3);
 
         // Bitangent attribute
-        glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, 14 * sizeof(float), (void*)(11 * sizeof(float)));
+        glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, 14 * sizeof(float),
+                              (void *)(11 * sizeof(float)));
         glEnableVertexAttribArray(4);
 
         glBindVertexArray(0);
@@ -61,11 +68,14 @@ struct Mesh {
         glDrawElements(GL_TRIANGLES, vertex_count, GL_UNSIGNED_INT, 0);
     }
 
-private:
+    std::vector<float> vertices;
+    std::vector<unsigned int> indices;
+    unsigned int vertex_count;
+
+  private:
     unsigned int EBO;
     unsigned int VBO;
     unsigned int VAO;
-    unsigned int vertex_count;
 };
 
-#endif //ECSGAME_MESH_H
+#endif // ECSGAME_MESH_H

ECS/Components/MouseLook.h

@@ -5,9 +5,14 @@
 #ifndef ECSGAME_MOUSELOOK_H
 #define ECSGAME_MOUSELOOK_H
 
+#include <glm/glm.hpp>
+#include <glm/gtc/quaternion.hpp>
+
 struct MouseLook {
     explicit MouseLook(float sensitivity) : sensitivity(sensitivity) {}
 
+    glm::vec3 get_look_direction() { return glm::mat3_cast(rotation) * glm::vec3(0, 0, -1); }
+
     float sensitivity;
 
     double yaw = 0.0;
@@ -18,4 +23,4 @@ struct MouseLook {
     bool is_active = true;
 };
 
-#endif //ECSGAME_MOUSELOOK_H
+#endif // ECSGAME_MOUSELOOK_H

ECS/Components/Movement.h

@@ -5,6 +5,8 @@
 #ifndef ECSGAME_MOVEMENT_H
 #define ECSGAME_MOVEMENT_H
 
+#include <glm/glm.hpp>
+
 struct Movement {
     Movement(glm::vec3 speed) : speed(speed) {}
 
@@ -17,4 +19,4 @@ struct Movement {
     bool is_active = true;
 };
 
-#endif //ECSGAME_MOVEMENT_H
+#endif // ECSGAME_MOVEMENT_H

ECS/Components/ObjMesh.h

@@ -5,29 +5,31 @@
 #ifndef ECSGAME_OBJMESH_H
 #define ECSGAME_OBJMESH_H
 
-#include "Mesh.h"
 #include "../../Util/OBJ_Loader.h"
+#include "Mesh.h"
 
 struct ObjMesh : public Mesh {
     struct Settings {
         Settings() = default;
 
-        Settings(float minDistanceForRender, float maxDistanceForRender, float diffuse, float specular)
-                : minDistanceForRender(minDistanceForRender), maxDistanceForRender(maxDistanceForRender) {}
+        Settings(float minDistanceForRender, float maxDistanceForRender, float diffuse,
+                 float specular)
+            : minDistanceForRender(minDistanceForRender),
+              maxDistanceForRender(maxDistanceForRender) {}
 
         float minDistanceForRender = 0.0;
         float maxDistanceForRender = 1000.0;
     };
 
-    explicit ObjMesh(const std::string &path, const Settings &settings) : Mesh(getVerticesFromFile(path), getIndicesFromFile(path)),
-                                                                                 minDistance(settings.minDistanceForRender),
-                                                                                 maxDistance(settings.maxDistanceForRender) {}
+    explicit ObjMesh(const std::string &path, const Settings &settings)
+        : Mesh(getVerticesFromFile(path), getIndicesFromFile(path)),
+          minDistance(settings.minDistanceForRender), maxDistance(settings.maxDistanceForRender) {}
 
     float minDistance;
 
     float maxDistance;
 
-private:
+  private:
     static std::vector<float> getVerticesFromFile(const std::string &path) {
         objl::Loader loader;
 
@@ -65,13 +67,16 @@ private:
             return vertexData;
         } else {
             // Output Error
-            std::cout << "Failed to Load File. May have failed to find it or it was not an .obj file.\n";
+            std::cout
+                << "Failed to Load File. May have failed to find it or it was not an .obj file.\n";
         }
     }
 
-    static std::pair<std::vector<glm::vec3>, std::vector<glm::vec3>> getTangentsFromVertices(const std::vector<objl::Vertex> &vertices, const std::vector<unsigned int> indices) {
-        // These vectors hold tangents and bitangents in the same way in which the vertices vectors holds vertices:
-        // Their index in the vector corresponds to indices in the indices vector.
+    static std::pair<std::vector<glm::vec3>, std::vector<glm::vec3>>
+    getTangentsFromVertices(const std::vector<objl::Vertex> &vertices,
+                            const std::vector<unsigned int> indices) {
+        // These vectors hold tangents and bitangents in the same way in which the vertices vectors
+        // holds vertices: Their index in the vector corresponds to indices in the indices vector.
         std::vector<glm::vec3> tangents(vertices.size());
         std::vector<glm::vec3> bitangents(vertices.size());
 
@@ -83,17 +88,26 @@ private:
             uint i2 = indices[index + 2];
 
             // Inputs
-            glm::vec3 vertex0 = glm::vec3(vertices[i0].Position.X, vertices[i0].Position.Y, vertices[i0].Position.Z);
-            glm::vec3 vertex1 = glm::vec3(vertices[i1].Position.X, vertices[i1].Position.Y, vertices[i1].Position.Z);
-            glm::vec3 vertex2 = glm::vec3(vertices[i2].Position.X, vertices[i2].Position.Y, vertices[i2].Position.Z);
+            glm::vec3 vertex0 = glm::vec3(vertices[i0].Position.X, vertices[i0].Position.Y,
+                                          vertices[i0].Position.Z);
+            glm::vec3 vertex1 = glm::vec3(vertices[i1].Position.X, vertices[i1].Position.Y,
+                                          vertices[i1].Position.Z);
+            glm::vec3 vertex2 = glm::vec3(vertices[i2].Position.X, vertices[i2].Position.Y,
+                                          vertices[i2].Position.Z);
 
-            glm::vec2 uv0 = glm::vec2(vertices[i0].TextureCoordinate.X, vertices[i0].TextureCoordinate.Y);
-            glm::vec2 uv1 = glm::vec2(vertices[i1].TextureCoordinate.X, vertices[i1].TextureCoordinate.Y);
-            glm::vec2 uv2 = glm::vec2(vertices[i2].TextureCoordinate.X, vertices[i2].TextureCoordinate.Y);
+            glm::vec2 uv0 =
+                glm::vec2(vertices[i0].TextureCoordinate.X, vertices[i0].TextureCoordinate.Y);
+            glm::vec2 uv1 =
+                glm::vec2(vertices[i1].TextureCoordinate.X, vertices[i1].TextureCoordinate.Y);
+            glm::vec2 uv2 =
+                glm::vec2(vertices[i2].TextureCoordinate.X, vertices[i2].TextureCoordinate.Y);
 
-            glm::vec3 normal0 = glm::vec3(vertices[i0].Normal.X, vertices[i0].Normal.Y, vertices[i0].Normal.Z);
-            glm::vec3 normal1 = glm::vec3(vertices[i1].Normal.X, vertices[i1].Normal.Y, vertices[i1].Normal.Z);
-            glm::vec3 normal2 = glm::vec3(vertices[i2].Normal.X, vertices[i2].Normal.Y, vertices[i2].Normal.Z);
+            glm::vec3 normal0 =
+                glm::vec3(vertices[i0].Normal.X, vertices[i0].Normal.Y, vertices[i0].Normal.Z);
+            glm::vec3 normal1 =
+                glm::vec3(vertices[i1].Normal.X, vertices[i1].Normal.Y, vertices[i1].Normal.Z);
+            glm::vec3 normal2 =
+                glm::vec3(vertices[i2].Normal.X, vertices[i2].Normal.Y, vertices[i2].Normal.Z);
 
             // Edges of the triangle : position delta
             glm::vec3 deltaPos1 = vertex1 - vertex0;
@@ -104,8 +118,8 @@ private:
             glm::vec2 deltaUV2 = uv2 - uv0;
 
             float r = 1.0f / (deltaUV1.x * deltaUV2.y - deltaUV1.y * deltaUV2.x);
-            glm::vec3 tangent = (deltaPos1 * deltaUV2.y   - deltaPos2 * deltaUV1.y)*r;
-            glm::vec3 bitangent = (deltaPos2 * deltaUV1.x   - deltaPos1 * deltaUV2.x)*r;
+            glm::vec3 tangent = (deltaPos1 * deltaUV2.y - deltaPos2 * deltaUV1.y) * r;
+            glm::vec3 bitangent = (deltaPos2 * deltaUV1.x - deltaPos1 * deltaUV2.x) * r;
 
             // Add the tangent and bitangent to the current value in the array.
             // This is done to get an average in the end.
@@ -140,7 +154,8 @@ private:
             return indices;
         } else {
             // Output Error
-            std::cout << "Failed to Load File. May have failed to find it or it was not an .obj file.\n";
+            std::cout
+                << "Failed to Load File. May have failed to find it or it was not an .obj file.\n";
         }
     }
 
@@ -158,12 +173,12 @@ private:
 
             // Print Material
             std::cout << "Material: " << curMesh.MeshMaterial.name << "\n";
-            std::cout << "Ambient Color: " << curMesh.MeshMaterial.Ka.X << ", " << curMesh.MeshMaterial.Ka.Y << ", "
-                      << curMesh.MeshMaterial.Ka.Z << "\n";
-            std::cout << "Diffuse Color: " << curMesh.MeshMaterial.Kd.X << ", " << curMesh.MeshMaterial.Kd.Y << ", "
-                      << curMesh.MeshMaterial.Kd.Z << "\n";
-            std::cout << "Specular Color: " << curMesh.MeshMaterial.Ks.X << ", " << curMesh.MeshMaterial.Ks.Y << ", "
-                      << curMesh.MeshMaterial.Ks.Z << "\n";
+            std::cout << "Ambient Color: " << curMesh.MeshMaterial.Ka.X << ", "
+                      << curMesh.MeshMaterial.Ka.Y << ", " << curMesh.MeshMaterial.Ka.Z << "\n";
+            std::cout << "Diffuse Color: " << curMesh.MeshMaterial.Kd.X << ", "
+                      << curMesh.MeshMaterial.Kd.Y << ", " << curMesh.MeshMaterial.Kd.Z << "\n";
+            std::cout << "Specular Color: " << curMesh.MeshMaterial.Ks.X << ", "
+                      << curMesh.MeshMaterial.Ks.Y << ", " << curMesh.MeshMaterial.Ks.Z << "\n";
             std::cout << "Specular Exponent: " << curMesh.MeshMaterial.Ns << "\n";
             std::cout << "Optical Density: " << curMesh.MeshMaterial.Ni << "\n";
             std::cout << "Dissolve: " << curMesh.MeshMaterial.d << "\n";
@@ -177,9 +192,10 @@ private:
             return vertexData;
         } else {
             // Output Error
-            std::cout << "Failed to Load File. May have failed to find it or it was not an .obj file.\n";
+            std::cout
+                << "Failed to Load File. May have failed to find it or it was not an .obj file.\n";
         }
     }
 };
 
-#endif //ECSGAME_OBJMESH_H
+#endif // ECSGAME_OBJMESH_H

ECS/Components/PathMove.h

@@ -26,9 +26,7 @@ struct PathMove {
     struct Views {
         Views(std::vector<glm::quat> views) : views(views) {}
 
-        void add_view(glm::quat new_quat) {
-            views.emplace_back(new_quat);
-        }
+        void add_view(glm::quat new_quat) { views.emplace_back(new_quat); }
 
         std::vector<glm::quat> views;
     };
@@ -40,7 +38,8 @@ struct PathMove {
     float time_passed = 0.0;
     int current_point_index = 0;
 
-    int speed_addition = 0;  // 0, -1 or 1 depending on whether the speed should stay, decrease or increase
+    int speed_addition =
+        0; // 0, -1 or 1 depending on whether the speed should stay, decrease or increase
 
     Path path;
     Views views;

ECS/Components/SineAnimation.h

@@ -5,11 +5,14 @@
 #ifndef ECSGAME_SINEANIMATION_H
 #define ECSGAME_SINEANIMATION_H
 
+#include <glm/gtc/matrix_transform.hpp>
+
 struct SineAnimation {
-    SineAnimation(const glm::vec3 &maxDistance, float speedScale) : maxDistance(maxDistance), speedScale(speedScale) {}
+    SineAnimation(const glm::vec3 &maxDistance, float speedScale)
+        : maxDistance(maxDistance), speedScale(speedScale) {}
 
     glm::vec3 maxDistance;
     float speedScale;
 };
 
-#endif //ECSGAME_SINEANIMATION_H
+#endif // ECSGAME_SINEANIMATION_H

ECS/Components/Texture.h

@@ -19,7 +19,7 @@ struct Texture {
     };
 
     // Bind a texture from the given path and return its ID
-    uint loadTexture(const std::string& path, Settings settings) {
+    uint loadTexture(const std::string &path, Settings settings) {
         uint gl_id;
 
         glGenTextures(1, &gl_id);
@@ -41,15 +41,12 @@ struct Texture {
         if (data) {
             // Alpha channel?
             unsigned int glChannels = GL_RGB;
-            if (nrChannels == 4) {
-                glChannels = GL_RGBA;
-            }
+            if (nrChannels == 4) { glChannels = GL_RGBA; }
 
-            glTexImage2D(GL_TEXTURE_2D, 0, glChannels, width, height, 0, glChannels, GL_UNSIGNED_BYTE, data);
+            glTexImage2D(GL_TEXTURE_2D, 0, glChannels, width, height, 0, glChannels,
+                         GL_UNSIGNED_BYTE, data);
 
-            if (settings.mipmaps) {
-                glGenerateMipmap(GL_TEXTURE_2D);
-            }
+            if (settings.mipmaps) { glGenerateMipmap(GL_TEXTURE_2D); }
         } else {
             std::cout << "Failed to load texture" << std::endl;
         }
@@ -59,11 +56,12 @@ struct Texture {
         return gl_id;
     }
 
-    explicit Texture(const std::string& path, Settings settings, bool transparent) : id(loadTexture(path, settings)), render_transparent(transparent) {}
+    explicit Texture(const std::string &path, Settings settings, bool transparent)
+        : id(loadTexture(path, settings)), render_transparent(transparent) {}
 
-    void addNormalmap(const std::string& path, Settings settings) {
+    void addNormalmap(const std::string &path, Settings settings) {
         normal_id = loadTexture(path, settings);
     }
 };
 
-#endif //ECSGAME_TEXTURE_H
+#endif // ECSGAME_TEXTURE_H

ECS/Components/Transform.h

@@ -17,33 +17,21 @@ struct Transform {
     glm::mat4 matrix = glm::mat4(1.0f); // Initialize as identity
     glm::vec3 origin = glm::vec3(0.0f, 0.0f, 0.0f);
 
-    void translate(glm::vec3 offset) {
-        matrix = glm::translate(matrix, offset);
-    }
+    void translate(glm::vec3 offset) { matrix = glm::translate(matrix, offset); }
 
-    glm::vec3 get_translation() {
-        return glm::vec3(matrix[3]);
-    }
+    glm::vec3 get_translation() { return glm::vec3(matrix[3]); }
 
-    void uniform_scale(float factor) {
-        scale(glm::vec3(factor, factor, factor));
-    }
+    void uniform_scale(float factor) { scale(glm::vec3(factor, factor, factor)); }
 
-    void scale(glm::vec3 factors) {
-        matrix = glm::scale(matrix, factors);
-    }
+    void scale(glm::vec3 factors) { matrix = glm::scale(matrix, factors); }
 
     void rotate(float degrees, glm::vec3 axis) {
         matrix = glm::rotate(matrix, glm::radians(degrees), axis);
     }
 
-    void set_origin(glm::vec3 position) {
-        origin = position;
-    }
+    void set_origin(glm::vec3 position) { origin = position; }
 
-    void add_to_origin(glm::vec3 addition) {
-        origin += addition;
-    }
+    void add_to_origin(glm::vec3 addition) { origin += addition; }
 
     void set_rotation_from_quat(glm::quat quaternion) {
         // Remember translation
@@ -53,21 +41,13 @@ struct Transform {
         matrix[3] = save;
     }
 
-    glm::vec3 get_origin() const {
-        return origin;
-    }
+    glm::vec3 get_origin() const { return origin; }
 
-    glm::vec3 forward() const {
-        return matrix * glm::vec4(0.0, 0.0, -1.0, 0.0);
-    }
+    glm::vec3 forward() const { return matrix * glm::vec4(0.0, 0.0, -1.0, 0.0); }
 
-    glm::vec3 up() const {
-        return  matrix * glm::vec4(0.0, 1.0, 0.0, 0.0);
-    }
+    glm::vec3 up() const { return matrix * glm::vec4(0.0, 1.0, 0.0, 0.0); }
 
-    glm::vec3 right() const {
-        return matrix * glm::vec4(1.0, 0.0, 0.0, 0.0);
-    }
+    glm::vec3 right() const { return matrix * glm::vec4(1.0, 0.0, 0.0, 0.0); }
 };
 
-#endif //ECSGAME_TRANSFORM_H
+#endif // ECSGAME_TRANSFORM_H

ECS/Events/InputEvent.h

@@ -10,4 +10,4 @@ struct InputEvent {
     int action;
 };
 
-#endif //ECSGAME_INPUTEVENT_H
+#endif // ECSGAME_INPUTEVENT_H

ECS/Events/MouseMoveEvent.h

@@ -10,4 +10,4 @@ struct MouseMoveEvent {
     double newY;
 };
 
-#endif //ECSGAME_INPUTEVENT_H
+#endif // ECSGAME_INPUTEVENT_H

ECS/Systems/CollisionSystem.h

@@ -0,0 +1,102 @@
+#pragma once
+
+#include "../../Util/kdtree.h"
+#include "../Components/LODObjMesh.h"
+#include "../Components/Mesh.h"
+#include "../Components/MouseLook.h"
+#include "../Components/ObjMesh.h"
+#include "../Components/Transform.h"
+#include "../ECS.h"
+
+using namespace ECS;
+
+class CollisionSystem : public EntitySystem {
+  public:
+    // Initialize the kdtree
+    void build() {
+        std::vector<Triangle *> triangles;
+        std::vector<Point *> points;
+
+        // ObjMesh
+        myWorld->each<ObjMesh, Transform>(
+            [&](Entity *ent, ComponentHandle<ObjMesh> mesh, ComponentHandle<Transform> transform) {
+                std::vector<unsigned int> indices = mesh->indices;
+                std::vector<float> vertices = mesh->vertices;
+
+                for (int i = 0; i < mesh->vertex_count; i += 3) {
+                    float v0p0 = vertices[indices[i + 0] * 14 + 0];
+                    float v0p1 = vertices[indices[i + 0] * 14 + 1];
+                    float v0p2 = vertices[indices[i + 0] * 14 + 2];
+
+                    float v1p0 = vertices[indices[i + 1] * 14 + 0];
+                    float v1p1 = vertices[indices[i + 1] * 14 + 1];
+                    float v1p2 = vertices[indices[i + 1] * 14 + 2];
+
+                    float v2p0 = vertices[indices[i + 2] * 14 + 0];
+                    float v2p1 = vertices[indices[i + 2] * 14 + 1];
+                    float v2p2 = vertices[indices[i + 2] * 14 + 2];
+
+                    glm::vec4 v1glm(v0p0, v0p1, v0p2, 1.0);
+                    glm::vec4 v2glm(v1p0, v1p1, v1p2, 1.0);
+                    glm::vec4 v3glm(v2p0, v2p1, v2p2, 1.0);
+
+                    // Transform to World Position -- these are local coordinates with
+                    // individual mesh origins
+                    v1glm = transform->matrix * v1glm + glm::vec4(transform->get_origin(), 0.0);
+                    v2glm = transform->matrix * v2glm + glm::vec4(transform->get_origin(), 0.0);
+                    v3glm = transform->matrix * v3glm + glm::vec4(transform->get_origin(), 0.0);
+
+                    Vector v1(v1glm.x, v1glm.y, v1glm.z);
+                    Vector v2(v2glm.x, v2glm.y, v2glm.z);
+                    Vector v3(v3glm.x, v3glm.y, v3glm.z);
+
+                    Triangle *triangle = new Triangle(v1, v2, v3);
+                    triangles.emplace_back(triangle);
+
+                    points.emplace_back(new Point(v1, triangle));
+                    points.emplace_back(new Point(v2, triangle));
+                    points.emplace_back(new Point(v3, triangle));
+                }
+            });
+
+        // LODObjMesh
+        myWorld->each<LODObjMesh, Transform>([&](Entity *ent, ComponentHandle<LODObjMesh> lodMesh,
+                                                 ComponentHandle<Transform> transform) {
+            // TODO
+        });
+
+        std::cout << "Start building kdtree with " << points.size() << " points" << std::endl;
+        kdtree = new KDTree(points);
+        std::cout << "Done" << std::endl;
+
+        std::cout << kdtree->to_string() << std::endl;
+    }
+
+    void tick(World *pWorld, float deltaTime) override {
+        pWorld->each<Transform, MouseLook>([&](Entity *ent, ComponentHandle<Transform> transform,
+                                               ComponentHandle<MouseLook> mouse_look) {
+            glm::vec3 origin_glm = transform->get_origin();
+            Vector origin = Vector(origin_glm.x, origin_glm.y, origin_glm.z);
+
+            glm::vec3 direction_glm = mouse_look->get_look_direction();
+            Vector direction = Vector(direction_glm.x, direction_glm.y, direction_glm.z);
+
+            // TODO: Get mouse look direction
+            Ray ray(origin, direction * 5.0);
+
+            Triangle *result = kdtree->intersect_ray(ray);
+
+            if (result) {
+                std::cout << result->p1[0] << ", " << result->p1[1] << ", " << result->p1[2]
+                          << std::endl;
+            }
+            // TODO: Also output visually
+        });
+    }
+
+    void configure(World *pWorld) override { myWorld = pWorld; }
+
+    World *myWorld;
+
+    KDTree *kdtree;
+};

ECS/Systems/GravitySystem.h

@@ -5,16 +5,14 @@
 #ifndef ECSGAME_GRAVITYSYSTEM_H
 #define ECSGAME_GRAVITYSYSTEM_H
 
-#include "../ECS.h"
 #include "../Components/Transform.h"
+#include "../ECS.h"
 
 using namespace ECS;
 
 class GravitySystem : public EntitySystem {
-public:
-    explicit GravitySystem(float amount) {
-        gravityAmount = amount;
-    }
+  public:
+    explicit GravitySystem(float amount) { gravityAmount = amount; }
 
     void tick(World *pWorld, float deltaTime) override {
         pWorld->each<Transform>([&](Entity *ent, ComponentHandle<Transform> position) {
@@ -22,8 +20,8 @@ public:
         });
     }
 
-private:
+  private:
     float gravityAmount;
 };
 
-#endif //ECSGAME_GRAVITYSYSTEM_H
+#endif // ECSGAME_GRAVITYSYSTEM_H

ECS/Systems/InteractivePathSystem.h

@@ -1,16 +1,16 @@
 #ifndef __PATHMOVEMENTSWITCHSYSTEM_H__
 #define __PATHMOVEMENTSWITCHSYSTEM_H__
 
-#include <glad/glad.h>
 #include <GLFW/glfw3.h>
+#include <glad/glad.h>
 
 #include <iostream>
 
-#include "../ECS.h"
-#include "../Components/PathMove.h"
-#include "../Events/InputEvent.h"
-#include "../Components/Movement.h" 
 #include "../Components/MouseLook.h"
+#include "../Components/Movement.h"
+#include "../Components/PathMove.h"
+#include "../ECS.h"
+#include "../Events/InputEvent.h"
 
 using namespace ECS;
 
@@ -23,7 +23,9 @@ class InteractivePathSystem : public EntitySystem, public EventSubscriber<InputE
 
     void receive(World *pWorld, const InputEvent &event) override {
         if (event.key == GLFW_KEY_P) {
-            myWorld->each<PathMove, Movement, MouseLook>([&](Entity *ent, ComponentHandle<PathMove> pathmove, ComponentHandle<Movement> movement, ComponentHandle<MouseLook> mouselook) {
+            myWorld->each<PathMove, Movement, MouseLook>(
+                [&](Entity *ent, ComponentHandle<PathMove> pathmove,
+                    ComponentHandle<Movement> movement, ComponentHandle<MouseLook> mouselook) {
                     if (event.action == GLFW_PRESS) {
                         // Switch between them
                         if (pathmove->is_active) {
@@ -38,7 +40,10 @@ class InteractivePathSystem : public EntitySystem, public EventSubscriber<InputE
                     }
                 });
         } else if (event.key == GLFW_KEY_R) {
-            myWorld->each<PathMove, Movement, MouseLook, Transform>([&](Entity *ent, ComponentHandle<PathMove> pathmove, ComponentHandle<Movement> movement, ComponentHandle<MouseLook> mouselook, ComponentHandle<Transform> transform) {
+            myWorld->each<PathMove, Movement, MouseLook, Transform>(
+                [&](Entity *ent, ComponentHandle<PathMove> pathmove,
+                    ComponentHandle<Movement> movement, ComponentHandle<MouseLook> mouselook,
+                    ComponentHandle<Transform> transform) {
                     if (event.action == GLFW_PRESS) {
                         // Add this point to the path
                         pathmove->path.add_point(transform->origin);
@@ -48,11 +53,9 @@ class InteractivePathSystem : public EntitySystem, public EventSubscriber<InputE
         }
     }
 
-    void unconfigure(World *pWorld) override {
-        pWorld->unsubscribeAll(this);
-    }
+    void unconfigure(World *pWorld) override { pWorld->unsubscribeAll(this); }
 
-private:
+  private:
     World *myWorld;
 };
 

ECS/Systems/KeyboardMovementSystem.h

@@ -5,15 +5,15 @@
 #ifndef ECSGAME_KEYBOARDMOVEMENTSYSTEM_H
 #define ECSGAME_KEYBOARDMOVEMENTSYSTEM_H
 
-#include <glad/glad.h>
 #include <GLFW/glfw3.h>
+#include <glad/glad.h>
 
 #include <iostream>
 
-#include "../ECS.h"
-#include "../Components/Transform.h"
-#include "../Events/InputEvent.h"
 #include "../Components/Movement.h"
+#include "../Components/Transform.h"
+#include "../ECS.h"
+#include "../Events/InputEvent.h"
 
 using namespace ECS;
 
@@ -61,20 +61,20 @@ class KeyboardMovementSystem : public EntitySystem, public EventSubscriber<Input
     }
 
     void tick(World *pWorld, float deltaTime) override {
-        pWorld->each<Transform, Movement>(
-                [&](Entity *ent, ComponentHandle<Transform> transform, ComponentHandle<Movement> movement) {
+        pWorld->each<Transform, Movement>([&](Entity *ent, ComponentHandle<Transform> transform,
+                                              ComponentHandle<Movement> movement) {
             if (!movement->is_active) return;
 
-                    transform->add_to_origin(transform->matrix * glm::vec4((glm::vec3(movement->moving) * movement->speed * deltaTime), 0.0));
+            transform->add_to_origin(
+                transform->matrix *
+                glm::vec4((glm::vec3(movement->moving) * movement->speed * deltaTime), 0.0));
         });
     }
 
-    void unconfigure(World *pWorld) override {
-        pWorld->unsubscribeAll(this);
-    }
+    void unconfigure(World *pWorld) override { pWorld->unsubscribeAll(this); }
 
-private:
+  private:
     World *myWorld;
 };
 
-#endif //ECSGAME_KEYBOARDMOVEMENTSYSTEM_H
+#endif // ECSGAME_KEYBOARDMOVEMENTSYSTEM_H

ECS/Systems/MouseLookSystem.h

@@ -5,15 +5,16 @@
 #ifndef ECSGAME_MOUSELOOKSYSTEM_H
 #define ECSGAME_MOUSELOOKSYSTEM_H
 
-#include "../ECS.h"
-#include "../Components/Transform.h"
+#include "../Components/Camera.h"
 #include "../Components/MouseLook.h"
+#include "../Components/Transform.h"
+#include "../ECS.h"
 #include "../Events/MouseMoveEvent.h"
 
 using namespace ECS;
 
 class MouseLookSystem : public EntitySystem, public EventSubscriber<MouseMoveEvent> {
-public:
+  public:
     explicit MouseLookSystem(int width, int height) : lastX(width / 2.0), lastY(height / 2.0) {}
 
     void configure(World *pWorld) override {
@@ -22,12 +23,12 @@ public:
         myWorld->subscribe<MouseMoveEvent>(this);
     }
 
-    void unconfigure(World *pWorld) override {
-        pWorld->unsubscribeAll(this);
-    }
+    void unconfigure(World *pWorld) override { pWorld->unsubscribeAll(this); }
 
     void receive(World *pWorld, const MouseMoveEvent &event) override {
-        pWorld->each<Transform, MouseLook, Camera>([&](Entity *ent, ComponentHandle<Transform> transform, ComponentHandle<MouseLook> mouse, ComponentHandle<Camera> camera) {
+        pWorld->each<Transform, MouseLook, Camera>(
+            [&](Entity *ent, ComponentHandle<Transform> transform, ComponentHandle<MouseLook> mouse,
+                ComponentHandle<Camera> camera) {
                 double xOffset = lastX - event.newX;
                 double yOffset = lastY - event.newY;
 
@@ -40,26 +41,28 @@ public:
     }
 
     void tick(World *pWorld, float deltaTime) override {
-        pWorld->each<Transform, MouseLook, Camera>([&](Entity *ent, ComponentHandle<Transform> transform, ComponentHandle<MouseLook> mouse, ComponentHandle<Camera> camera) {
+        pWorld->each<Transform, MouseLook, Camera>(
+            [&](Entity *ent, ComponentHandle<Transform> transform, ComponentHandle<MouseLook> mouse,
+                ComponentHandle<Camera> camera) {
                 if (!mouse->is_active) return;
 
-            if(mouse->pitch > 80.0f)
-                mouse->pitch =  80.0f;
-            if(mouse->pitch < -80.0f)
-                mouse->pitch = -80.0f;
+                if (mouse->pitch > 80.0f) mouse->pitch = 80.0f;
+                if (mouse->pitch < -80.0f) mouse->pitch = -80.0f;
 
-            mouse->rotation = glm::angleAxis(glm::radians((float)mouse->yaw), glm::vec3(0.f, 1.f, 0.f));
-            mouse->rotation *= glm::angleAxis(glm::radians((float)mouse->pitch), glm::vec3(1.f, 0.f, 0.f));
+                mouse->rotation =
+                    glm::angleAxis(glm::radians((float)mouse->yaw), glm::vec3(0.f, 1.f, 0.f));
+                mouse->rotation *=
+                    glm::angleAxis(glm::radians((float)mouse->pitch), glm::vec3(1.f, 0.f, 0.f));
 
                 transform->set_rotation_from_quat(mouse->rotation);
             });
     }
 
-private:
+  private:
     double lastX;
     double lastY;
 
     World *myWorld;
 };
 
-#endif //ECSGAME_MOUSELOOKSYSTEM_H
+#endif // ECSGAME_MOUSELOOKSYSTEM_H

ECS/Systems/PathMoveSystem.h

@@ -1,15 +1,15 @@
 #ifndef __PATHMOVESYSTEM_H__
 #define __PATHMOVESYSTEM_H__
 
-#include <glad/glad.h>
 #include <GLFW/glfw3.h>
+#include <glad/glad.h>
 
 #include <iostream>
 
-#include "../ECS.h"
-#include "../Components/Transform.h"
-#include "../Events/InputEvent.h"
 #include "../Components/PathMove.h"
+#include "../Components/Transform.h"
+#include "../ECS.h"
+#include "../Events/InputEvent.h"
 
 using namespace ECS;
 
@@ -34,14 +34,14 @@ glm::vec3 catmul(float alpha, glm::vec3 p0, glm::vec3 p1, glm::vec3 p2, glm::vec
     // Lerp t to be between t1 and t2
     t = t1 + t * (t2 - t1);
 
-    glm::vec3 A1 = (t1-t)/(t1-t0)*p0 + (t-t0)/(t1-t0)*p1;
-    glm::vec3 A2 = (t2-t)/(t2-t1)*p1 + (t-t1)/(t2-t1)*p2;
-    glm::vec3 A3 = (t3-t)/(t3-t2)*p2 + (t-t2)/(t3-t2)*p3;
+    glm::vec3 A1 = (t1 - t) / (t1 - t0) * p0 + (t - t0) / (t1 - t0) * p1;
+    glm::vec3 A2 = (t2 - t) / (t2 - t1) * p1 + (t - t1) / (t2 - t1) * p2;
+    glm::vec3 A3 = (t3 - t) / (t3 - t2) * p2 + (t - t2) / (t3 - t2) * p3;
 
-    glm::vec3 B1 = (t2-t)/(t2-t0)*A1 + (t-t0)/(t2-t0)*A2;
-    glm::vec3 B2 = (t3-t)/(t3-t1)*A2 + (t-t1)/(t3-t1)*A3;
+    glm::vec3 B1 = (t2 - t) / (t2 - t0) * A1 + (t - t0) / (t2 - t0) * A2;
+    glm::vec3 B2 = (t3 - t) / (t3 - t1) * A2 + (t - t1) / (t3 - t1) * A3;
 
-    glm::vec3 C = (t2-t)/(t2-t1)*B1 + (t-t1)/(t2-t1)*B2;
+    glm::vec3 C = (t2 - t) / (t2 - t1) * B1 + (t - t1) / (t2 - t1) * B2;
 
     return C;
 }
@@ -75,8 +75,8 @@ class PathMoveSystem : public EntitySystem, public EventSubscriber<InputEvent> {
     }
 
     void tick(World *pWorld, float deltaTime) override {
-        pWorld->each<Transform, PathMove>(
-                [&](Entity *ent, ComponentHandle<Transform> transform, ComponentHandle<PathMove> pathmove) {
+        pWorld->each<Transform, PathMove>([&](Entity *ent, ComponentHandle<Transform> transform,
+                                              ComponentHandle<PathMove> pathmove) {
             if (!pathmove->is_active) return;
 
             // Handle change in speed
@@ -88,7 +88,8 @@ class PathMoveSystem : public EntitySystem, public EventSubscriber<InputEvent> {
 
             // Add the passed time
             float desired_distance = deltaTime * pathmove->speed; // TODO
-                    pathmove->time_passed += desired_distance / path.distances[pathmove->current_point_index];
+            pathmove->time_passed +=
+                desired_distance / path.distances[pathmove->current_point_index];
 
             // Shorthand for number of points in the path
             int num_points = path.points.size();
@@ -99,22 +100,25 @@ class PathMoveSystem : public EntitySystem, public EventSubscriber<InputEvent> {
                 pathmove->current_point_index += 1;
 
                 // If the point index is greater than the second to last one, reset
-                        // (The point index specifies the point we're coming from, not the one we're moving towards)
+                // (The point index specifies the point we're coming from, not the one we're moving
+                // towards)
                 if (pathmove->current_point_index >= num_points - 1) {
                     pathmove->current_point_index = 0;
                 }
             }
 
             // The four points which are needed for the spline
-                    // p1 and p2 are always the same (the current origin and the current target), but the rest depends on edge cases
+            // p1 and p2 are always the same (the current origin and the current target), but the
+            // rest depends on edge cases
             glm::vec3 p0;
             glm::vec3 p1 = path.points[pathmove->current_point_index];
             glm::vec3 p2 = path.points[pathmove->current_point_index + 1];
             glm::vec3 p3;
 
             if (pathmove->current_point_index == num_points - 2) {
-                        // We're moving towards the last point, so the point after that needs to be interpolated.
-                        // We interpolate linearly along the line from this point to the target point.
+                // We're moving towards the last point, so the point after that needs to be
+                // interpolated. We interpolate linearly along the line from this point to the
+                // target point.
                 glm::vec3 interp_direction = p2 - p1;
                 p3 = p2 + interp_direction * 2.0f;
             } else {
@@ -125,7 +129,8 @@ class PathMoveSystem : public EntitySystem, public EventSubscriber<InputEvent> {
             if (pathmove->current_point_index == 0) {
                 // We're at the first point, so the point before this needs to be interpolated.
                 // We interpolate linearly along the line from this to the next point (backwards).
-                        glm::vec3 interp_direction = path.points[pathmove->current_point_index] - path.points[pathmove->current_point_index + 1];
+                glm::vec3 interp_direction = path.points[pathmove->current_point_index] -
+                                             path.points[pathmove->current_point_index + 1];
                 p0 = path.points[pathmove->current_point_index] + interp_direction;
             } else {
                 // We're fine - use the point before the current point
@@ -133,12 +138,7 @@ class PathMoveSystem : public EntitySystem, public EventSubscriber<InputEvent> {
             }
 
             // Calculate the point on the spline
-                    glm::vec3 point = catmul(1.f,
-                            p0,
-                            p1,
-                            p2,
-                            p3,
-                            pathmove->time_passed);
+            glm::vec3 point = catmul(1.f, p0, p1, p2, p3, pathmove->time_passed);
 
             // Apply
             transform->set_origin(point);
@@ -162,7 +162,8 @@ class PathMoveSystem : public EntitySystem, public EventSubscriber<InputEvent> {
             }
 
             if (pathmove->current_point_index == 0) {
-                        // Interpolate what q0 would be if the same change happened from q0 to q1 as from q1 to q2
+                // Interpolate what q0 would be if the same change happened from q0 to q1 as from q1
+                // to q2
                 q0 = glm::fastMix(q1, q2, -1.0f);
             } else {
                 // We're fine - use the point before the current point
@@ -170,18 +171,17 @@ class PathMoveSystem : public EntitySystem, public EventSubscriber<InputEvent> {
             }
 
             // Interpolate
-                    glm::quat result = glm::squad(q1, q2, glm::intermediate(q0, q1, q2), glm::intermediate(q1, q2, q3), pathmove->time_passed);
+            glm::quat result = glm::squad(q1, q2, glm::intermediate(q0, q1, q2),
+                                          glm::intermediate(q1, q2, q3), pathmove->time_passed);
 
             // Apply
             transform->set_rotation_from_quat(result);
         });
     }
 
-    void unconfigure(World *pWorld) override {
-        pWorld->unsubscribeAll(this);
-    }
+    void unconfigure(World *pWorld) override { pWorld->unsubscribeAll(this); }
 
-private:
+  private:
     World *myWorld;
 };
 

ECS/Systems/PositionDebugSystem.h

@@ -7,22 +7,20 @@
 
 #include <iostream>
 
-#include "../ECS.h"
 #include "../Components/Transform.h"
+#include "../ECS.h"
 
 using namespace ECS;
 
 class PositionDebugOutputSystem : public EntitySystem {
-public:
+  public:
     void tick(World *pWorld, float deltaTime) override {
         pWorld->each<Transform>([&](Entity *ent, ComponentHandle<Transform> transform) {
-            std::cout << ent->getEntityId() << ": "
-                      << transform->get_origin().x << ", "
-                      << transform->get_origin().y << ", "
-                      << transform->get_origin().z
+            std::cout << ent->getEntityId() << ": " << transform->get_origin().x << ", "
+                      << transform->get_origin().y << ", " << transform->get_origin().z
                       << std::endl;
         });
     }
 };
 
-#endif //ECSGAME_POSITIONDEBUGSYSTEM_H
+#endif // ECSGAME_POSITIONDEBUGSYSTEM_H

ECS/Systems/RenderSystem.h

@@ -5,32 +5,28 @@
 #ifndef ECSGAME_RENDERSYSTEM_H
 #define ECSGAME_RENDERSYSTEM_H
 
-#include "../ECS.h"
-#include "../Components/Transform.h"
-#include "../Components/Mesh.h"
-#include "../Components/Camera.h"
+#include "../../Rendering/Material.h"
 #include "../../Rendering/Shader.h"
+#include "../Components/Camera.h"
+#include "../Components/DirectionalLight.h"
+#include "../Components/LODObjMesh.h"
+#include "../Components/Mesh.h"
 #include "../Components/ObjMesh.h"
 #include "../Components/Texture.h"
-#include "../Components/LODObjMesh.h"
-#include "../Components/DirectionalLight.h"
-#include "../../Rendering/Material.h"
+#include "../Components/Transform.h"
+#include "../ECS.h"
 
 using namespace ECS;
 
 // For Debugging
 unsigned int quadVAO = 0;
 unsigned int quadVBO;
-void renderQuad()
-{
-    if (quadVAO == 0)
-    {
+void renderQuad() {
+    if (quadVAO == 0) {
         float quadVertices[] = {
             // positions        // texture Coords
-            -1.0f,  1.0f, 0.0f, 0.0f, 1.0f,
-            -1.0f, -1.0f, 0.0f, 0.0f, 0.0f,
-             1.0f,  1.0f, 0.0f, 1.0f, 1.0f,
-             1.0f, -1.0f, 0.0f, 1.0f, 0.0f,
+            -1.0f, 1.0f, 0.0f, 0.0f, 1.0f, -1.0f, -1.0f, 0.0f, 0.0f, 0.0f,
+            1.0f,  1.0f, 0.0f, 1.0f, 1.0f, 1.0f,  -1.0f, 0.0f, 1.0f, 0.0f,
         };
         // setup plane VAO
         glGenVertexArrays(1, &quadVAO);
@@ -39,9 +35,10 @@ void renderQuad()
         glBindBuffer(GL_ARRAY_BUFFER, quadVBO);
         glBufferData(GL_ARRAY_BUFFER, sizeof(quadVertices), &quadVertices, GL_STATIC_DRAW);
         glEnableVertexAttribArray(0);
-        glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 5 * sizeof(float), (void*)0);
+        glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 5 * sizeof(float), (void *)0);
         glEnableVertexAttribArray(1);
-        glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, 5 * sizeof(float), (void*)(3 * sizeof(float)));
+        glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, 5 * sizeof(float),
+                              (void *)(3 * sizeof(float)));
     }
     glBindVertexArray(quadVAO);
     glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
@@ -49,16 +46,13 @@ void renderQuad()
 }
 
 class RenderSystem : public EntitySystem, public EventSubscriber<InputEvent> {
-public:
+  public:
     struct RenderObject {
-        RenderObject(const glm::mat4 &matrix, const glm::vec3 &origin, unsigned int textureId, unsigned int normalId, const Mesh &mesh, float distance, const Material &material)
-                                                                                        : matrix(matrix),
-                                                                                          origin(origin),
-                                                                                          texture_id(textureId),
-                                                                                          normal_id(normalId),
-                                                                                          mesh(mesh),
-                                                                                          distance(distance),
-                                                                                          material(material) {}
+        RenderObject(const glm::mat4 &matrix, const glm::vec3 &origin, unsigned int textureId,
+                     unsigned int normalId, const Mesh &mesh, float distance,
+                     const Material &material)
+            : matrix(matrix), origin(origin), texture_id(textureId), normal_id(normalId),
+              mesh(mesh), distance(distance), material(material) {}
 
         void render(Shader shader) const {
             glm::mat4 model_matrix = matrix;
@@ -97,24 +91,31 @@ public:
     std::vector<std::vector<RenderObject>> getRenderObjects(World *world, glm::vec3 cameraPos) {
         std::vector<std::vector<RenderObject>> renderObjects(2); // First normal, then transparent
 
-        /*pWorld->each<Mesh, Transform>([&](Entity *ent, ComponentHandle<Mesh> mesh, ComponentHandle<Transform> transform) {
+        /*pWorld->each<Mesh, Transform>([&](Entity *ent, ComponentHandle<Mesh> mesh,
+        ComponentHandle<Transform> transform) {
             renderObjects.emplace_back(RenderObject(transform->matrix, 0, mesh.get(), 0));
         });*/
 
-        /*// TODO: Is it possible to do get ObjMeshes in the Mesh loop above implicitly via polymorphism?
-            * // TODO: Commented out because of double rendering - we only want to get objects that explicitly DON'T have a texture here!
-        pWorld->each<ObjMesh, Transform>([&](Entity *ent, ComponentHandle<ObjMesh> mesh, ComponentHandle<Transform> transform) {
-            // Add the object to the renderObjects to draw if the distance is within the min and max distance of the mesh
-            float distance = glm::distance(cameraPos, transform->getPosition());
+        /*// TODO: Is it possible to do get ObjMeshes in the Mesh loop above implicitly via
+        polymorphism?
+            * // TODO: Commented out because of double rendering - we only want to get objects that
+        explicitly DON'T have a texture here! pWorld->each<ObjMesh, Transform>([&](Entity *ent,
+        ComponentHandle<ObjMesh> mesh, ComponentHandle<Transform> transform) {
+            // Add the object to the renderObjects to draw if the distance is within the min and max
+        distance of the mesh float distance = glm::distance(cameraPos, transform->getPosition());
 
             if (distance > mesh->minDistance && distance < mesh->maxDistance) {
-                renderObjects.emplace_back(RenderObject(transform->matrix, 0, mesh.get(), distance));
+                renderObjects.emplace_back(RenderObject(transform->matrix, 0, mesh.get(),
+        distance));
             }
         });*/
 
         // ObjMesh with textures
-        world->each<ObjMesh, Transform, Texture>([&](Entity *ent, ComponentHandle<ObjMesh> mesh, ComponentHandle<Transform> transform, ComponentHandle<Texture> texture) {
-            // Add the object to the renderObjects to draw if the distance is within the min and max distance of the mesh
+        world->each<ObjMesh, Transform, Texture>([&](Entity *ent, ComponentHandle<ObjMesh> mesh,
+                                                     ComponentHandle<Transform> transform,
+                                                     ComponentHandle<Texture> texture) {
+            // Add the object to the renderObjects to draw if the distance is within the min and max
+            // distance of the mesh
             float distance = glm::distance(cameraPos, transform->get_origin());
 
             if (distance > mesh->minDistance && distance < mesh->maxDistance) {
@@ -122,21 +123,29 @@ public:
                 ComponentHandle<Texture> textureComponent = ent->get<Texture>();
                 ComponentHandle<Material> materialComponent = ent->get<Material>();
 
-                Material material = materialComponent.isValid() ? materialComponent.get() : Material();
+                Material material =
+                    materialComponent.isValid() ? materialComponent.get() : Material();
                 unsigned int textureID = textureComponent.isValid() ? textureComponent->id : 0;
-                unsigned int normalID = textureComponent.isValid() ? textureComponent->normal_id : 0;
+                unsigned int normalID =
+                    textureComponent.isValid() ? textureComponent->normal_id : 0;
 
-                // Put it into the list of transparent render objects if the texture wants to be rendered transparently
+                // Put it into the list of transparent render objects if the texture wants to be
+                // rendered transparently
                 if (textureComponent.isValid() && textureComponent->render_transparent) {
-                    renderObjects[1].emplace_back(RenderObject(transform->matrix, transform->get_origin(), textureID, normalID, mesh.get(), distance, material));
+                    renderObjects[1].emplace_back(
+                        RenderObject(transform->matrix, transform->get_origin(), textureID,
+                                     normalID, mesh.get(), distance, material));
                 } else {
-                    renderObjects[0].emplace_back(RenderObject(transform->matrix, transform->get_origin(), textureID, normalID, mesh.get(), distance, material));
+                    renderObjects[0].emplace_back(
+                        RenderObject(transform->matrix, transform->get_origin(), textureID,
+                                     normalID, mesh.get(), distance, material));
                 }
             }
         });
 
         // LODObjMesh with Texture
-        world->each<LODObjMesh, Transform>([&](Entity *ent, ComponentHandle<LODObjMesh> lodMesh, ComponentHandle<Transform> transform) {
+        world->each<LODObjMesh, Transform>([&](Entity *ent, ComponentHandle<LODObjMesh> lodMesh,
+                                               ComponentHandle<Transform> transform) {
             float distance = glm::distance(cameraPos, transform->get_origin());
 
             for (const auto &mesh : lodMesh->meshes) {
@@ -145,31 +154,37 @@ public:
                     ComponentHandle<Texture> textureComponent = ent->get<Texture>();
                     ComponentHandle<Material> materialComponent = ent->get<Material>();
 
-                    Material material = materialComponent.isValid() ? materialComponent.get() : Material();
+                    Material material =
+                        materialComponent.isValid() ? materialComponent.get() : Material();
                     unsigned int textureID = textureComponent.isValid() ? textureComponent->id : 0;
-                    unsigned int normalID = textureComponent.isValid() ? textureComponent->normal_id : 0;
+                    unsigned int normalID =
+                        textureComponent.isValid() ? textureComponent->normal_id : 0;
 
-                    // Put it into the list of transparent render objects if the texture wants to be rendered transparently
+                    // Put it into the list of transparent render objects if the texture wants to be
+                    // rendered transparently
                     if (textureComponent.isValid() && textureComponent->render_transparent) {
-                        renderObjects[1].emplace_back(RenderObject(transform->matrix, transform->get_origin(), textureID, normalID, mesh, distance, material));
+                        renderObjects[1].emplace_back(
+                            RenderObject(transform->matrix, transform->get_origin(), textureID,
+                                         normalID, mesh, distance, material));
                     } else {
-                        renderObjects[0].emplace_back(RenderObject(transform->matrix, transform->get_origin(), textureID, normalID, mesh, distance, material));
+                        renderObjects[0].emplace_back(
+                            RenderObject(transform->matrix, transform->get_origin(), textureID,
+                                         normalID, mesh, distance, material));
                     }
                 }
             }
         });
 
         // Sort transparent objects
-        std::sort(renderObjects[1].begin(), renderObjects[1].end(), [](const RenderObject &first, const RenderObject &second) -> bool {
+        std::sort(renderObjects[1].begin(), renderObjects[1].end(),
+                  [](const RenderObject &first, const RenderObject &second) -> bool {
                       return first.distance > second.distance;
                   });
 
         return renderObjects;
     }
 
-    RenderSystem() {
-        setup();
-    }
+    RenderSystem() { setup(); }
 
     void configure(World *pWorld) override {
         myWorld = pWorld;
@@ -196,7 +211,8 @@ public:
         // Create depth texture
         glGenTextures(1, &depthMap);
         glBindTexture(GL_TEXTURE_2D, depthMap);
-        glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT, shadow_width, shadow_height, 0, GL_DEPTH_COMPONENT, GL_FLOAT, NULL);
+        glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT, shadow_width, shadow_height, 0,
+                     GL_DEPTH_COMPONENT, GL_FLOAT, NULL);
         glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
         glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
         glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
@@ -210,11 +226,12 @@ public:
         glBindFramebuffer(GL_FRAMEBUFFER, 0);
     }
 
-
     void render(World *pWorld, Shader normalShader, Shader shadowShader, Shader debugShader) {
-        pWorld->each<Camera, Transform>([&](Entity *ent, ComponentHandle<Camera> camera, ComponentHandle<Transform> cameraTransform) {
+        pWorld->each<Camera, Transform>([&](Entity *ent, ComponentHandle<Camera> camera,
+                                            ComponentHandle<Transform> cameraTransform) {
             // Get render objects
-            std::vector<std::vector<RenderObject>> allRenderObjects = getRenderObjects(pWorld, cameraTransform->get_origin());
+            std::vector<std::vector<RenderObject>> allRenderObjects =
+                getRenderObjects(pWorld, cameraTransform->get_origin());
             std::vector<RenderObject> renderObjects = allRenderObjects[0];
             std::vector<RenderObject> transparentRenderObjects = allRenderObjects[1];
 
@@ -222,12 +239,15 @@ public:
             // Get light direction
             // TODO: Currently only the last light is used!
             glm::vec3 lightDirection;
-            pWorld->each<DirectionalLight>([&](Entity *ent, ComponentHandle<DirectionalLight> light) {
+            pWorld->each<DirectionalLight>(
+                [&](Entity *ent, ComponentHandle<DirectionalLight> light) {
                     lightDirection = light->direction;
                 });
             float near_plane = 1.0f, far_plane = 100.0f;
-            glm::mat4 lightProjection = glm::ortho(-20.0f, 20.0f, -20.0f, 20.0f, near_plane, far_plane);
-            glm::mat4 lightView = glm::lookAt(lightDirection * 40.0f, -lightDirection, glm::vec3(0.0, 1.0, 0.0));
+            glm::mat4 lightProjection =
+                glm::ortho(-20.0f, 20.0f, -20.0f, 20.0f, near_plane, far_plane);
+            glm::mat4 lightView =
+                glm::lookAt(lightDirection * 40.0f, -lightDirection, glm::vec3(0.0, 1.0, 0.0));
             glm::mat4 lightSpaceMatrix = lightProjection * lightView;
 
             // Render shadows
@@ -301,4 +321,4 @@ public:
     World *myWorld;
 };
 
-#endif //ECSGAME_RENDERSYSTEM_H
+#endif // ECSGAME_RENDERSYSTEM_H

ECS/Systems/SineAnimationSystem.h

@@ -5,24 +5,27 @@
 #ifndef ECSGAME_SINEANIMATIONSYSTEM_H
 #define ECSGAME_SINEANIMATIONSYSTEM_H
 
-#include "../ECS.h"
-#include "../Components/Transform.h"
 #include "../Components/SineAnimation.h"
+#include "../Components/Transform.h"
+#include "../ECS.h"
 
 using namespace ECS;
 
 class SineAnimationSystem : public EntitySystem {
-public:
+  public:
     void tick(World *pWorld, float deltaTime) override {
         passedTime += deltaTime;
 
-        pWorld->each<Transform, SineAnimation>([&](Entity *ent, ComponentHandle<Transform> transform, ComponentHandle<SineAnimation> anim) {
-            transform->translate(anim->maxDistance * glm::sin(passedTime * anim->speedScale) * deltaTime);
+        pWorld->each<Transform, SineAnimation>([&](Entity *ent,
+                                                   ComponentHandle<Transform> transform,
+                                                   ComponentHandle<SineAnimation> anim) {
+            transform->translate(anim->maxDistance * glm::sin(passedTime * anim->speedScale) *
+                                 deltaTime);
         });
     }
 
-private:
+  private:
     float passedTime = 0.0;
 };
 
-#endif //ECSGAME_SINEANIMATIONSYSTEM_H
+#endif // ECSGAME_SINEANIMATIONSYSTEM_H

Rendering/Material.h

@@ -17,4 +17,4 @@ struct Material {
     float normal_scale = 3.0;
 };
 
-#endif //ECSGAME_MATERIAL_H
+#endif // ECSGAME_MATERIAL_H

Rendering/Shader.cpp

@@ -5,11 +5,11 @@
 #include "Shader.h"
 #include <glad/glad.h>
 
-#include <string>
 #include <fstream>
-#include <sstream>
-#include <iostream>
 #include <glm/gtc/type_ptr.hpp>
+#include <iostream>
+#include <sstream>
+#include <string>
 
 Shader::Shader(const char *vertexPath, const char *fragmentPath) {
     // 1. retrieve the vertex/fragment source code from filePath
@@ -36,8 +36,7 @@ Shader::Shader(const char *vertexPath, const char *fragmentPath) {
         // convert stream into string
         vertexCode = vShaderStream.str();
         fragmentCode = fShaderStream.str();
-    }
-    catch (std::ifstream::failure &e) {
+    } catch (std::ifstream::failure &e) {
         std::cout << "ERROR::SHADER::FILE_NOT_SUCCESFULLY_READ" << std::endl;
     }
 
@@ -69,7 +68,6 @@ Shader::Shader(const char *vertexPath, const char *fragmentPath) {
     // delete the shaders as they're linked into our program now and no longer necessary
     glDeleteShader(vertex);
     glDeleteShader(fragment);
-
 }
 
 void Shader::use() {
@@ -77,7 +75,7 @@ void Shader::use() {
 }
 
 void Shader::setBool(const std::string &name, bool value) const {
-    glUniform1i(glGetUniformLocation(ID, name.c_str()), (int) value);
+    glUniform1i(glGetUniformLocation(ID, name.c_str()), (int)value);
 }
 
 void Shader::setInt(const std::string &name, int value) const {
@@ -92,7 +90,6 @@ void Shader::setMat4(const std::string &name, glm::mat4 mat) const {
     glUniformMatrix4fv(glGetUniformLocation(ID, name.c_str()), 1, GL_FALSE, glm::value_ptr(mat));
 }
 
-
 void Shader::setVec3(const std::string &name, glm::vec3 vec) const {
     glUniform3f(glGetUniformLocation(ID, name.c_str()), vec.x, vec.y, vec.z);
 }
@@ -104,15 +101,17 @@ void Shader::checkCompileErrors(unsigned int shader, const std::string &type) {
         glGetShaderiv(shader, GL_COMPILE_STATUS, &success);
         if (!success) {
             glGetShaderInfoLog(shader, 1024, nullptr, infoLog);
-            std::cout << "ERROR::SHADER_COMPILATION_ERROR of type: " << type << "\n" << infoLog
-                      << "\n -- --------------------------------------------------- -- " << std::endl;
+            std::cout << "ERROR::SHADER_COMPILATION_ERROR of type: " << type << "\n"
+                      << infoLog << "\n -- --------------------------------------------------- -- "
+                      << std::endl;
         }
     } else {
         glGetProgramiv(shader, GL_LINK_STATUS, &success);
         if (!success) {
             glGetProgramInfoLog(shader, 1024, nullptr, infoLog);
-            std::cout << "ERROR::PROGRAM_LINKING_ERROR of type: " << type << "\n" << infoLog
-                      << "\n -- --------------------------------------------------- -- " << std::endl;
+            std::cout << "ERROR::PROGRAM_LINKING_ERROR of type: " << type << "\n"
+                      << infoLog << "\n -- --------------------------------------------------- -- "
+                      << std::endl;
         }
     }
 }

Rendering/Shader.h

@@ -5,16 +5,17 @@
 #ifndef ECSGAME_SHADER_H
 #define ECSGAME_SHADER_H
 
-#include <string>
 #include <glm/glm.hpp>
+#include <string>
 
 class Shader {
-public:
+  public:
     /// Program ID
     unsigned int ID;
 
     /// Read and build the shader from the files at vertexPath and fragmentPath.
-    /// Note that an OpenGL context has to be initialized before calling this! Otherwise a SIGSEGV will be thrown.
+    /// Note that an OpenGL context has to be initialized before calling this! Otherwise a SIGSEGV
+    /// will be thrown.
     Shader(const char *vertexPath, const char *fragmentPath);
 
     /// Activate the shader - usually called before rendering.
@@ -35,9 +36,8 @@ public:
     /// Set a uniform vec3 in the shader
     void setVec3(const std::string &name, glm::vec3 vec) const;
 
-private:
+  private:
     static void checkCompileErrors(unsigned int shader, const std::string &type);
 };
 
-
-#endif //ECSGAME_SHADER_H
+#endif // ECSGAME_SHADER_H

Util/geometry.h

@@ -0,0 +1,112 @@
+#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]);
+    }
+
+    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, Triangle *triangle) : pos(pos), triangle(triangle) {}
+
+    Vector pos;
+
+    Triangle *triangle;
+};
+
+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, this), new Point(p2, this), new Point(p3, 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(Triangle *triangle) {
+        // 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.
+        float t = f * edge2.dot(q);
+        if (t > EPSILON) {
+            return true;
+        } else {
+            // This means that there is a line intersection but not a ray intersection.
+            return false;
+        }
+    }
+};

Util/kdtree.h

@@ -0,0 +1,139 @@
+#include "geometry.h"
+#include <algorithm>
+#include <glm/glm.hpp>
+#include <iostream>
+#include <string>
+#include <vector>
+
+class KDTree {
+  public:
+    KDTree(std::vector<Point *> points) { root = build(points, 0); }
+
+    ~KDTree() = default; // TODO: Delete all allocated Nodes
+
+    Triangle *intersect_ray(Ray ray) { return intersect_ray_recurse(ray, root, 1000.0); }
+
+    std::string to_string() {
+        std::string str = "";
+        to_string_recurse(str, root, 0);
+        return str;
+    }
+
+  private:
+    Node *root;
+
+    int MAX_DEPTH = 500;
+
+    // Returns a comparator lambda for assessing which of the two points has a
+    // greater coordinate in the given axis.
+    auto get_point_comparator(int axis) {
+        return [axis](Point *p1, Point *p2) {
+            return p1->pos[axis] < p2->pos[axis];
+        };
+    }
+
+    Node *build(std::vector<Point *> points, int depth) {
+        // Exit conditions
+        if (points.empty() || depth > MAX_DEPTH) { return nullptr; }
+
+        // Select axis by choosing the one with maximal extent
+        float max_extent = 0;
+        int axis = 0;
+
+        for (int it_axis = 0; it_axis < 3; it_axis++) {
+            // Get extent along this axis
+            auto comparator = get_point_comparator(it_axis);
+
+            Point *min = *std::min_element(points.begin(), points.end(), comparator);
+            Point *max = *std::max_element(points.begin(), points.end(), comparator);
+
+            float extent = max->pos[it_axis] - min->pos[it_axis];
+
+            // Is it greater than max_extent?
+            if (extent > max_extent) {
+                // If so, make this the splitting axis
+                max_extent = extent;
+                axis = it_axis;
+            }
+        }
+
+        // Choose the median as the pivot and sort the points into
+        // left-of-median and right-of-median using nth_element
+        int middle = points.size() / 2;
+
+        std::nth_element(points.begin(), points.begin() + middle, points.end(),
+                         get_point_comparator(axis));
+
+        Point *median = points[middle];
+
+        // TODO: This copies. Can we split the vector into two without copying?
+        std::vector<Point *> left_of_median(points.begin(), points.begin() + middle);
+        std::vector<Point *> right_of_median(points.begin() + middle + 1, points.end());
+
+        // Create node, recursively call to construct subtree
+        return new Node(axis, median, build(left_of_median, depth + 1),
+                        build(right_of_median, depth + 1));
+    }
+
+    Triangle *intersect_ray_recurse(Ray ray, Node *node, float max_distance) {
+        // Exit condition: There was no collision
+        if (node == nullptr) { return nullptr; }
+
+        // Is the left or right child node closer to this point?
+        Node *near =
+            ray.origin[node->axis] > node->point->pos[node->axis] ? node->right : node->left;
+        Node *far = near == node->right ? node->left : node->right;
+
+        std::cout << "Checking " << node->point->pos[0] << ", " << node->point->pos[1] << ", "
+                  << node->point->pos[2] << std::endl;
+
+        // Check for collisions in this order (stopping if an intersection is found):
+        // 1. In the nearer section
+        // 2. With the point in this current node
+        // 3. In the further section
+
+        // If the axes are not parallel, our max_distance decreases, since we've already covered
+        // some area. `t` represents the distance from this node to the splitting plane.
+        float t = ray.direction[node->axis] != 0.0
+                      ? (node->point->pos[node->axis] - ray.origin[node->axis]) /
+                            ray.direction[node->axis]
+                      : max_distance;
+        Triangle *near_result = intersect_ray_recurse(ray, near, t);
+
+        // If the nearer segment had a collision, we're done! We're only interested in the closest
+        // collision.
+        if (near_result != nullptr) { return near_result; }
+
+        // No collision in the nearer side, so check for a collision directly here
+        if (ray.intersects_triangle(node->point->triangle)) {
+            // We do have a collision here, so we're done and can return this point!
+            return node->point->triangle;
+        }
+
+        // No collision here either. Does it make sense to also check the far node?
+        // Only if the axes are not parallel and if that area is not behind us
+        if (ray.direction[node->axis] != 0.0 && t >= 0.0) {
+            // It does make sense to check the far node.
+            // For this, calculate a new ray origin and continue towards that direction, but with
+            // the new origin (we can leave behind what we already checked)
+            return intersect_ray_recurse(Ray(ray.origin + ray.direction * t, ray.direction), far,
+                                         max_distance - t);
+        }
+
+        // If nothing worked, return a nullptr
+        return nullptr;
+    }
+
+    void to_string_recurse(std::string &str, Node *node, int depth) {
+        if (node == nullptr) { return; }
+
+        Point *point = node->point;
+
+        str += std::string(depth * 2, ' ') + std::to_string(point->pos[0]) + ", " +
+               std::to_string(point->pos[1]) + ", " + std::to_string(point->pos[2]) +
+               " with axis " + std::to_string(node->axis) + "\n";
+
+        to_string_recurse(str, node->left, depth + 1);
+        to_string_recurse(str, node->right, depth + 1);
+    }
+};

main.cpp

@@ -1,40 +1,37 @@
 #include <glad/glad.h>
-#include <GLFW/glfw3.h>
 
 #include <iostream>
 
-#include "Rendering/Shader.h"
+#include "ECS/Components/DirectionalLight.h"
+#include "ECS/Components/ObjMesh.h"
+#include "ECS/Components/PathMove.h"
+#include "ECS/Components/SineAnimation.h"
+#include "ECS/Components/Texture.h"
 #include "ECS/ECS.h"
 #include "ECS/Events/InputEvent.h"
 #include "ECS/Events/MouseMoveEvent.h"
+#include "ECS/Systems/CollisionSystem.h"
 #include "ECS/Systems/GravitySystem.h"
-#include "ECS/Systems/PositionDebugSystem.h"
+#include "ECS/Systems/InteractivePathSystem.h"
 #include "ECS/Systems/KeyboardMovementSystem.h"
-#include "ECS/Systems/RenderSystem.h"
 #include "ECS/Systems/MouseLookSystem.h"
 #include "ECS/Systems/PathMoveSystem.h"
-#include "ECS/Components/ObjMesh.h"
-#include "ECS/Components/Texture.h"
-#include "ECS/Components/SineAnimation.h"
+#include "ECS/Systems/PositionDebugSystem.h"
+#include "ECS/Systems/RenderSystem.h"
 #include "ECS/Systems/SineAnimationSystem.h"
-#include "ECS/Components/DirectionalLight.h"
-#include "ECS/Components/PathMove.h"
-#include "ECS/Systems/InteractivePathSystem.h"
+#include "Rendering/Shader.h"
 
 using namespace ECS;
 
-
 World *world = World::createWorld();
 
-
 static void key_callback(GLFWwindow *window, int key, int scancode, int action, int mods) {
-    if (key == GLFW_KEY_ESCAPE && action == GLFW_PRESS)
-        glfwSetWindowShouldClose(window, GLFW_TRUE);
+    if (key == GLFW_KEY_ESCAPE && action == GLFW_PRESS) glfwSetWindowShouldClose(window, GLFW_TRUE);
 
     world->emit<InputEvent>({key, action});
 }
 
-static void mouse_callback(GLFWwindow* window, double xpos, double ypos) {
+static void mouse_callback(GLFWwindow *window, double xpos, double ypos) {
     world->emit<MouseMoveEvent>({xpos, ypos});
 }
 
@@ -50,8 +47,7 @@ int main(int argc, char **argv) {
     GLFWwindow *window;
 
     /* Initialize the library */
-    if (!glfwInit())
-        return -1;
+    if (!glfwInit()) return -1;
 
     // Anti Aliasing
     glfwWindowHint(GLFW_SAMPLES, aa_samples);
@@ -74,8 +70,7 @@ int main(int argc, char **argv) {
 
     // glad: load all OpenGL function pointers
     // ---------------------------------------
-    if (!gladLoadGLLoader((GLADloadproc)glfwGetProcAddress))
-    {
+    if (!gladLoadGLLoader((GLADloadproc)glfwGetProcAddress)) {
         std::cout << "Failed to initialize GLAD" << std::endl;
         return -1;
     }
@@ -95,7 +90,10 @@ int main(int argc, char **argv) {
     world->registerSystem(new SineAnimationSystem());
     world->registerSystem(new InteractivePathSystem());
 
-    RenderSystem* renderSystem = new RenderSystem();
+    CollisionSystem *collision_system = new CollisionSystem();
+    world->registerSystem(collision_system);
+
+    RenderSystem *renderSystem = new RenderSystem();
     world->registerSystem(renderSystem);
 
     Entity *player = world->create();
@@ -103,33 +101,30 @@ int main(int argc, char **argv) {
     player->assign<Movement>(glm::vec3(5.f, 5.f, 5.f));
     player->assign<MouseLook>(0.1);
     player->assign<Camera>(70.0f, 900, 600, 0.1f, 100.0f);
-    player->assign<PathMove>(3.0, PathMove::Path(std::vector<glm::vec3>{
-            glm::vec3(0.0, 2.0, 0.0),
-            glm::vec3(0.0, 2.5, -1.0),
-            glm::vec3(0.0, 2.5, -2.0),
-            glm::vec3(3.0, 3.0, -3.0),
-            glm::vec3(4.0, 2.0, -4.0),
-            glm::vec3(3.0, 2.0, -5.0),
-            glm::vec3(0.0, 2.0, -10.0)
-        }),
-        PathMove::Views(std::vector<glm::quat>{
-            glm::angleAxis(glm::radians(0.f), glm::vec3(0.f, 1.f, 0.f)),
+    player->assign<PathMove>(
+        3.0,
+        PathMove::Path(std::vector<glm::vec3>{glm::vec3(0.0, 2.0, 0.0), glm::vec3(0.0, 2.5, -1.0),
+                                              glm::vec3(0.0, 2.5, -2.0), glm::vec3(3.0, 3.0, -3.0),
+                                              glm::vec3(4.0, 2.0, -4.0), glm::vec3(3.0, 2.0, -5.0),
+                                              glm::vec3(0.0, 2.0, -10.0)}),
+        PathMove::Views(
+            std::vector<glm::quat>{glm::angleAxis(glm::radians(0.f), glm::vec3(0.f, 1.f, 0.f)),
                                    glm::angleAxis(glm::radians(10.f), glm::vec3(0.f, 1.f, 0.f)),
                                    glm::angleAxis(glm::radians(20.f), glm::vec3(0.f, 1.f, 0.f)),
                                    glm::angleAxis(glm::radians(40.f), glm::vec3(0.f, 1.f, 0.f)),
                                    glm::angleAxis(glm::radians(90.f), glm::vec3(0.f, 1.f, 0.f)),
                                    glm::angleAxis(glm::radians(120.f), glm::vec3(0.f, 1.f, 0.f)),
-            glm::angleAxis(glm::radians(180.f), glm::vec3(0.f, 1.f, 0.f))
-        })
-    );
+                                   glm::angleAxis(glm::radians(180.f), glm::vec3(0.f, 1.f, 0.f))}));
     player->get<Transform>()->set_origin(glm::vec3(0.0, 3.0, 4.0));
 
     Entity *monkey = world->create();
     monkey->assign<Transform>();
-    monkey->assign<LODObjMesh>(std::vector<ObjMesh>{ObjMesh("Resources/Monkey.obj",ObjMesh::Settings(0.0, 8.0, 0.4, 0.6)),
+    monkey->assign<LODObjMesh>(std::vector<ObjMesh>{
+        ObjMesh("Resources/Monkey.obj", ObjMesh::Settings(0.0, 8.0, 0.4, 0.6)),
         ObjMesh("Resources/MonkeySimple.obj", ObjMesh::Settings(8.0, 100.0, 0.4, 0.6))});
     monkey->assign<Texture>("Resources/Marble010_2K_Color.jpg", Texture::Settings(true), false);
-    monkey->get<Texture>()->addNormalmap("Resources/Marble010_2K_Normal.jpg", Texture::Settings(true));
+    monkey->get<Texture>()->addNormalmap("Resources/Marble010_2K_Normal.jpg",
+                                         Texture::Settings(true));
     monkey->assign<SineAnimation>(glm::vec3(0.0, 0.3, 0.0), 0.5);
     monkey->assign<Material>(0.6, 0.6);
     monkey->get<Transform>()->set_origin(glm::vec3(0.0f, 2.0f, -6.0f));
@@ -138,7 +133,8 @@ int main(int argc, char **argv) {
     wall1->assign<Transform>();
     wall1->assign<ObjMesh>(ObjMesh("Resources/Wall.obj", ObjMesh::Settings()));
     wall1->assign<Texture>("Resources/Facade001_2K_Color.png", Texture::Settings(true), true);
-    wall1->get<Texture>()->addNormalmap("Resources/Facade001_2K_Normal.jpg", Texture::Settings(true));
+    wall1->get<Texture>()->addNormalmap("Resources/Facade001_2K_Normal.jpg",
+                                        Texture::Settings(true));
     wall1->assign<Material>(0.2, 0.8);
     wall1->get<Transform>()->set_origin(glm::vec3(0.0f, 0.0f, -2.0f));
 
@@ -146,7 +142,8 @@ int main(int argc, char **argv) {
     wall2->assign<Transform>();
     wall2->assign<ObjMesh>(ObjMesh("Resources/Wall.obj", ObjMesh::Settings()));
     wall2->assign<Texture>("Resources/Facade001_2K_Color.png", Texture::Settings(true), true);
-    wall2->get<Texture>()->addNormalmap("Resources/Facade001_2K_Normal.jpg", Texture::Settings(true));
+    wall2->get<Texture>()->addNormalmap("Resources/Facade001_2K_Normal.jpg",
+                                        Texture::Settings(true));
     wall2->assign<Material>(0.2, 0.8);
     wall2->get<Transform>()->set_origin(glm::vec3(0.0f, 0.0f, -10.0f));
 
@@ -154,7 +151,8 @@ int main(int argc, char **argv) {
     wall3->assign<Transform>();
     wall3->assign<ObjMesh>(ObjMesh("Resources/Wall.obj", ObjMesh::Settings()));
     wall3->assign<Texture>("Resources/Facade001_2K_Color.png", Texture::Settings(true), true);
-    wall3->get<Texture>()->addNormalmap("Resources/Facade001_2K_Normal.jpg", Texture::Settings(true));
+    wall3->get<Texture>()->addNormalmap("Resources/Facade001_2K_Normal.jpg",
+                                        Texture::Settings(true));
     wall3->assign<Material>(0.2, 0.8);
     wall3->get<Transform>()->set_origin(glm::vec3(4.0f, 0.0f, -6.0f));
     wall3->get<Transform>()->rotate(90.0, glm::vec3(0.0, 1.0, 0.0));
@@ -163,7 +161,8 @@ int main(int argc, char **argv) {
     wall4->assign<Transform>();
     wall4->assign<ObjMesh>(ObjMesh("Resources/Wall.obj", ObjMesh::Settings()));
     wall4->assign<Texture>("Resources/Facade001_2K_Color.png", Texture::Settings(true), true);
-    wall4->get<Texture>()->addNormalmap("Resources/Facade001_2K_Normal.jpg", Texture::Settings(true));
+    wall4->get<Texture>()->addNormalmap("Resources/Facade001_2K_Normal.jpg",
+                                        Texture::Settings(true));
     wall4->assign<Material>(0.2, 0.8);
     wall4->get<Transform>()->set_origin(glm::vec3(-4.0f, 0.0f, -6.0f));
     wall4->get<Transform>()->rotate(90.0, glm::vec3(0.0, 1.0, 0.0));
@@ -172,7 +171,8 @@ int main(int argc, char **argv) {
     ground->assign<Transform>();
     ground->assign<ObjMesh>(ObjMesh("Resources/Ground.obj", ObjMesh::Settings()));
     ground->assign<Texture>("Resources/Ground003_2K_Color.jpg", Texture::Settings(true), false);
-    ground->get<Texture>()->addNormalmap("Resources/Ground003_2K_Normal.jpg", Texture::Settings(true));
+    ground->get<Texture>()->addNormalmap("Resources/Ground003_2K_Normal.jpg",
+                                         Texture::Settings(true));
     ground->assign<Material>(1.0, 0.0);
     ground->get<Transform>()->set_origin(glm::vec3(0.0f, 0.0f, 0.0f));
 
@@ -196,6 +196,9 @@ int main(int argc, char **argv) {
     Entity *sun = world->create();
     sun->assign<DirectionalLight>(glm::normalize(glm::vec3(1.0, 1.0, 1.0)));
 
+    // We're done loading geometry -> build the collision structure
+    collision_system->build();
+
     Shader defaultShader("Shaders/default-vertex.vs", "Shaders/default-fragment.fs");
     Shader shadowShader("Shaders/shadow-vertex.vs", "Shaders/shadow-fragment.fs");
     Shader debugShader("Shaders/debug-vertex.vs", "Shaders/debug-fragment.fs");
@@ -214,7 +217,9 @@ int main(int argc, char **argv) {
         renderSystem->render(world, defaultShader, shadowShader, debugShader);
 
         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)));
+        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 */
         glfwSwapBuffers(window);

tools/format.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  clang_format_command="clang-format"
+  clang_tidy_command="run-clang-tidy"
+fi
+if [[ "$OSTYPE" == "linux"* ]]; then
+  clang_format_command="clang-format-11"
+  clang_tidy_command="run-clang-tidy-11"
+fi
+
+eval "$clang_format_command -i *.h *.cpp -style=file"
+eval "$clang_tidy_command -fix"