BVHs that apparently don't work!

Step 2/.idea/inspectionProfiles/Project_Default.xml

@@ -1,6 +1,14 @@
 <component name="InspectionProjectProfileManager">
   <profile version="1.0">
     <option name="myName" value="Project Default" />
+    <inspection_tool class="ClangTidy" enabled="true" level="WARNING" enabled_by_default="true">
+      <option name="clangTidyCheckOptions">
+        <list>
+          <ClangTidyCheckOption />
+        </list>
+      </option>
+      <option name="clangTidyChecks" value="-*,mpi-*,bugprone-*,-bugprone-signal-handler,-bugprone-narrowing-conversions,-bugprone-unchecked-optional-access,-bugprone-signed-char-misuse,-bugprone-unhandled-exception-at-new,-bugprone-easily-swappable-parameters,-bugprone-stringview-nullptr,cert-err52-cpp,cert-err60-cpp,cert-err34-c,cert-str34-c,cert-dcl21-cpp,cert-msc50-cpp,cert-msc51-cpp,cert-dcl58-cpp,cert-flp30-c,cppcoreguidelines-pro-type-member-init,cppcoreguidelines-slicing,cppcoreguidelines-interfaces-global-init,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-narrowing-conversions,google-default-arguments,google-runtime-operator,google-explicit-constructor,hicpp-multiway-paths-covered,hicpp-exception-baseclass,misc-unconventional-assign-operator,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-*,-modernize-use-trailing-return-type,-modernize-avoid-c-arrays,-modernize-use-override,-modernize-use-using,-modernize-use-default-member-init,-modernize-macro-to-enum,openmp-use-default-none,performance-*,-performance-no-int-to-ptr,portability-simd-intrinsics,readability-*,-readability-redundant-preprocessor,-readability-named-parameter,-readability-function-size,-readability-simplify-boolean-expr,-readability-identifier-length,-readability-duplicate-include,-readability-magic-numbers,-readability-braces-around-statements,-readability-redundant-member-init,-readability-suspicious-call-argument,-readability-qualified-auto,-readability-isolate-declaration,-readability-uppercase-literal-suffix,-readability-container-data-pointer,-readability-else-after-return,-readability-redundant-access-specifiers,-readability-function-cognitive-complexity,-readability-implicit-bool-conversion,-readability-container-contains,-readability-identifier-naming" />
+    </inspection_tool>
     <inspection_tool class="Clazy" enabled="false" level="WARNING" enabled_by_default="false" />
     <inspection_tool class="JSTestFailedLine" enabled="false" level="WARNING" enabled_by_default="false" />
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Step 2/CMakeLists.txt

@@ -3,11 +3,11 @@ project(Step_2)
 
 set(CMAKE_CXX_STANDARD 20)
 
-#if (UNIX AND (CMAKE_BUILD_TYPE MATCHES Debug))
+if (UNIX AND (CMAKE_BUILD_TYPE MATCHES Debug))
-#    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=address -g")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=address -g")
-#    add_compile_options(-fsanitize=address)
+    add_compile_options(-fsanitize=address)
-#    add_link_options(-fsanitize=address)
+    add_link_options(-fsanitize=address)
-#endif()
+endif()
 
 #Setup project source compilation
 set(source_dir "${PROJECT_SOURCE_DIR}/src/")

Step 2/cmake-build-debug/.cmake/api/v1/reply/codemodel-v2-ca2b9c3b4517daeec0b9.json

@@ -39,7 +39,7 @@
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 					"directoryIndex" : 0,
 					"id" : "Step_2::@6890427a1f51a3e7e1df",
-					"jsonFile" : "target-Step_2-Debug-c817dd65f416e821189b.json",
+					"jsonFile" : "target-Step_2-Debug-b0871e2c8ceabdb41cb5.json",
 					"name" : "Step_2",
 					"projectIndex" : 0
 				}

Step 2/cmake-build-debug/.cmake/api/v1/reply/index-2022-10-19T00-05-28-0862.json

@@ -26,7 +26,7 @@
 	"objects" : 
 	[
 		{
-			"jsonFile" : "codemodel-v2-cd07775fdd2e364d3d72.json",
+			"jsonFile" : "codemodel-v2-ca2b9c3b4517daeec0b9.json",
 			"kind" : "codemodel",
 			"version" : 
 			{
@@ -86,7 +86,7 @@
 		},
 		"codemodel-v2" : 
 		{
-			"jsonFile" : "codemodel-v2-cd07775fdd2e364d3d72.json",
+			"jsonFile" : "codemodel-v2-ca2b9c3b4517daeec0b9.json",
 			"kind" : "codemodel",
 			"version" : 
 			{

Step 2/cmake-build-debug/.cmake/api/v1/reply/target-Step_2-Debug-b0871e2c8ceabdb41cb5.json

@@ -11,6 +11,8 @@
 		"commands" : 
 		[
 			"add_executable",
+			"add_link_options",
+			"add_compile_options",
 			"include_directories"
 		],
 		"files" : 
@@ -31,6 +33,18 @@
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 				"file" : 0,
+				"line" : 9,
+				"parent" : 0
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+				"line" : 8,
+				"parent" : 0
+			},
+			{
+				"command" : 3,
+				"file" : 0,
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@@ -42,7 +56,11 @@
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-					"fragment" : "-g"
+					"fragment" : " -fsanitize=address -g -g"
+				},
+				{
+					"backtrace" : 3,
+					"fragment" : "-fsanitize=address"
 				},
 				{
 					"fragment" : "-std=gnu++20"
@@ -51,7 +69,7 @@
 			"includes" : 
 			[
 				{
-					"backtrace" : 2,
+					"backtrace" : 4,
 					"path" : "/home/brett/Documents/Brock/CS 3P93/Project/Step 2/include"
 				}
 			],
@@ -73,7 +91,8 @@
 				4,
 				5,
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-				7
+				7,
+				8
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 	],
@@ -83,12 +102,17 @@
 		"commandFragments" : 
 		[
 			{
-				"fragment" : "-g",
+				"fragment" : "-fsanitize=address -g -g",
 				"role" : "flags"
 			},
 			{
 				"fragment" : "",
 				"role" : "flags"
+			},
+			{
+				"backtrace" : 2,
+				"fragment" : "-fsanitize=address",
+				"role" : "flags"
 			}
 		],
 		"language" : "CXX"
@@ -113,7 +137,8 @@
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+				7,
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 		}
 	],
@@ -149,6 +174,12 @@
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 			"sourceGroupIndex" : 0
 		},
+		{
+			"backtrace" : 1,
+			"compileGroupIndex" : 0,
+			"path" : "src/util/debug.cpp",
+			"sourceGroupIndex" : 0
+		},
 		{
 			"backtrace" : 1,
 			"compileGroupIndex" : 0,

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Step 2/cmake-build-debug/Testing/Temporary/LastTest.log

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+  FLAGS = -fsanitize=address -g -g -fsanitize=address -std=gnu++20
   INCLUDES = -I"/home/brett/Documents/Brock/CS 3P93/Project/Step 2/include"
   OBJECT_DIR = CMakeFiles/Step_2.dir
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 build CMakeFiles/Step_2.dir/src/world.cpp.o: CXX_COMPILER__Step_2_Debug /home/brett/Documents/Brock/CS$ 3P93/Project/Step$ 2/src/world.cpp || cmake_object_order_depends_target_Step_2
   DEP_FILE = CMakeFiles/Step_2.dir/src/world.cpp.o.d
-  FLAGS = -g -std=gnu++20
+  FLAGS = -fsanitize=address -g -g -fsanitize=address -std=gnu++20
   INCLUDES = -I"/home/brett/Documents/Brock/CS 3P93/Project/Step 2/include"
   OBJECT_DIR = CMakeFiles/Step_2.dir
   OBJECT_FILE_DIR = CMakeFiles/Step_2.dir/src
@@ -113,8 +120,9 @@ build CMakeFiles/Step_2.dir/src/world.cpp.o: CXX_COMPILER__Step_2_Debug /home/br
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 # Link the executable Step_2
 
-build Step_2: CXX_EXECUTABLE_LINKER__Step_2_Debug CMakeFiles/Step_2.dir/src/globals.cpp.o CMakeFiles/Step_2.dir/src/image/image.cpp.o CMakeFiles/Step_2.dir/src/main.cpp.o CMakeFiles/Step_2.dir/src/math/colliders.cpp.o CMakeFiles/Step_2.dir/src/raytracing.cpp.o CMakeFiles/Step_2.dir/src/util/models.cpp.o CMakeFiles/Step_2.dir/src/util/parser.cpp.o CMakeFiles/Step_2.dir/src/world.cpp.o
+build Step_2: CXX_EXECUTABLE_LINKER__Step_2_Debug CMakeFiles/Step_2.dir/src/globals.cpp.o CMakeFiles/Step_2.dir/src/image/image.cpp.o CMakeFiles/Step_2.dir/src/main.cpp.o CMakeFiles/Step_2.dir/src/math/colliders.cpp.o CMakeFiles/Step_2.dir/src/raytracing.cpp.o CMakeFiles/Step_2.dir/src/util/debug.cpp.o CMakeFiles/Step_2.dir/src/util/models.cpp.o CMakeFiles/Step_2.dir/src/util/parser.cpp.o CMakeFiles/Step_2.dir/src/world.cpp.o
-  FLAGS = -g
+  FLAGS = -fsanitize=address -g -g
+  LINK_FLAGS = -fsanitize=address
   OBJECT_DIR = CMakeFiles/Step_2.dir
   POST_BUILD = :
   PRE_LINK = :

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Step 2/cmake-build-release/.cmake/api/v1/reply/codemodel-v2-35c33b176d8a13b67c67.json

@@ -39,7 +39,7 @@
 				{
 					"directoryIndex" : 0,
 					"id" : "Step_2::@6890427a1f51a3e7e1df",
-					"jsonFile" : "target-Step_2-Release-447fa4d814ec7f408004.json",
+					"jsonFile" : "target-Step_2-Release-ade4af94c9ab4405e102.json",
 					"name" : "Step_2",
 					"projectIndex" : 0
 				}

Step 2/cmake-build-release/.cmake/api/v1/reply/index-2022-10-19T00-05-28-0862.json

@@ -26,7 +26,7 @@
 	"objects" : 
 	[
 		{
-			"jsonFile" : "codemodel-v2-7b5e10a772884891e931.json",
+			"jsonFile" : "codemodel-v2-35c33b176d8a13b67c67.json",
 			"kind" : "codemodel",
 			"version" : 
 			{
@@ -86,7 +86,7 @@
 		},
 		"codemodel-v2" : 
 		{
-			"jsonFile" : "codemodel-v2-7b5e10a772884891e931.json",
+			"jsonFile" : "codemodel-v2-35c33b176d8a13b67c67.json",
 			"kind" : "codemodel",
 			"version" : 
 			{

Step 2/cmake-build-release/.cmake/api/v1/reply/target-Step_2-Release-ade4af94c9ab4405e102.json

@@ -73,7 +73,8 @@
 				4,
 				5,
 				6,
-				7
+				7,
+				8
 			]
 		}
 	],
@@ -113,7 +114,8 @@
 				4,
 				5,
 				6,
-				7
+				7,
+				8
 			]
 		}
 	],
@@ -149,6 +151,12 @@
 			"path" : "src/raytracing.cpp",
 			"sourceGroupIndex" : 0
 		},
+		{
+			"backtrace" : 1,
+			"compileGroupIndex" : 0,
+			"path" : "src/util/debug.cpp",
+			"sourceGroupIndex" : 0
+		},
 		{
 			"backtrace" : 1,
 			"compileGroupIndex" : 0,

Step 2/cmake-build-release/build.ninja

@@ -84,6 +84,13 @@ build CMakeFiles/Step_2.dir/src/raytracing.cpp.o: CXX_COMPILER__Step_2_Release /
   OBJECT_DIR = CMakeFiles/Step_2.dir
   OBJECT_FILE_DIR = CMakeFiles/Step_2.dir/src
 
+build CMakeFiles/Step_2.dir/src/util/debug.cpp.o: CXX_COMPILER__Step_2_Release /home/brett/Documents/Brock/CS$ 3P93/Project/Step$ 2/src/util/debug.cpp || cmake_object_order_depends_target_Step_2
+  DEP_FILE = CMakeFiles/Step_2.dir/src/util/debug.cpp.o.d
+  FLAGS = -O3 -DNDEBUG -std=gnu++20
+  INCLUDES = -I"/home/brett/Documents/Brock/CS 3P93/Project/Step 2/include"
+  OBJECT_DIR = CMakeFiles/Step_2.dir
+  OBJECT_FILE_DIR = CMakeFiles/Step_2.dir/src/util
+
 build CMakeFiles/Step_2.dir/src/util/models.cpp.o: CXX_COMPILER__Step_2_Release /home/brett/Documents/Brock/CS$ 3P93/Project/Step$ 2/src/util/models.cpp || cmake_object_order_depends_target_Step_2
   DEP_FILE = CMakeFiles/Step_2.dir/src/util/models.cpp.o.d
   FLAGS = -O3 -DNDEBUG -std=gnu++20
@@ -113,7 +120,7 @@ build CMakeFiles/Step_2.dir/src/world.cpp.o: CXX_COMPILER__Step_2_Release /home/
 #############################################
 # Link the executable Step_2
 
-build Step_2: CXX_EXECUTABLE_LINKER__Step_2_Release CMakeFiles/Step_2.dir/src/globals.cpp.o CMakeFiles/Step_2.dir/src/image/image.cpp.o CMakeFiles/Step_2.dir/src/main.cpp.o CMakeFiles/Step_2.dir/src/math/colliders.cpp.o CMakeFiles/Step_2.dir/src/raytracing.cpp.o CMakeFiles/Step_2.dir/src/util/models.cpp.o CMakeFiles/Step_2.dir/src/util/parser.cpp.o CMakeFiles/Step_2.dir/src/world.cpp.o
+build Step_2: CXX_EXECUTABLE_LINKER__Step_2_Release CMakeFiles/Step_2.dir/src/globals.cpp.o CMakeFiles/Step_2.dir/src/image/image.cpp.o CMakeFiles/Step_2.dir/src/main.cpp.o CMakeFiles/Step_2.dir/src/math/colliders.cpp.o CMakeFiles/Step_2.dir/src/raytracing.cpp.o CMakeFiles/Step_2.dir/src/util/debug.cpp.o CMakeFiles/Step_2.dir/src/util/models.cpp.o CMakeFiles/Step_2.dir/src/util/parser.cpp.o CMakeFiles/Step_2.dir/src/world.cpp.o
   FLAGS = -O3 -DNDEBUG
   OBJECT_DIR = CMakeFiles/Step_2.dir
   POST_BUILD = :

Step 2/include/globals.h

@@ -1,13 +0,0 @@
-/*
- * Created by Brett Terpstra 6920201 on 17/10/22.
- * Copyright (c) 2022 Brett Terpstra. All Rights Reserved.
- */
-
-#ifndef STEP_2_GLOBALS_H
-#define STEP_2_GLOBALS_H
-
-namespace Raytracing {
-
-}
-
-#endif //STEP_2_GLOBALS_H

Step 2/include/image/image.h

@@ -15,17 +15,17 @@ namespace Raytracing {
         private:
             int width;
             int height;
-            vec4 *pixelData;
+            Vec4 *pixelData;
         public:
             Image(int width, int height);
             Image(const Image &image);
             Image(const Image&& image) = delete;
 
-            inline void setPixelColor(int x, int y, const vec4 &color) {
+            inline void setPixelColor(int x, int y, const Vec4 &color) {
                 pixelData[(x * height) + y] = color;
             }
 
-            [[nodiscard]] inline vec4 getPixelColor(int x, int y) const {
+            [[nodiscard]] inline Vec4 getPixelColor(int x, int y) const {
                 return pixelData[(x * height) + y];
             }
 

Step 2/include/math/bvh.h

@@ -9,41 +9,146 @@
 #include <util/std.h>
 #include <types.h>
 
+#include <utility>
+
 // A currently pure header implementation of a BVH. TODO: make source file.
 // this is also for testing and might not make it into the step 2.
 
 namespace Raytracing {
     
-    class BVHNode {
+    struct BVHNode {
-        private:
+        public:
-            void* obj;
+            std::vector<Object*> objs;
             AABB aabb;
             BVHNode* left;
             BVHNode* right;
-        public:
+            BVHNode(std::vector<Object*> objs, AABB aabb, BVHNode* left, BVHNode* right): objs(std::move(objs)), aabb(std::move(aabb)),
-            BVHNode(void* obj, AABB aabb, BVHNode* left, BVHNode* right): obj(obj), aabb(std::move(aabb)), left(left), right(right) {}
+                                                                                                        left(left), right(right) {}
             ~BVHNode() {
-                delete(left);
+                delete (left);
-                delete(right);
+                delete (right);
             }
     };
     
     class BVHTree {
         private:
+            const int MAX_TREE_DEPTH = 50;
             BVHNode* root = nullptr;
-        public:
+            
-            explicit BVHTree(const std::vector<Object*>& objectsInWorld) {
+            void del() {
-                // create a volume for the entire world.
+                // delete copied objects
-                AABB world;
+                for (auto* obj : root->objs)
-                for (const auto& obj : objectsInWorld)
+                    delete(obj);
-                    if (!obj->getAABB().isEmpty())
+                delete (root);
-                        world.expand(obj->getAABB());
-                // world sized bvh node isn't associated with a specific object
-                // only leafs should be non-null, and we might need to change it to a vector.
-                root = new BVHNode(nullptr, world, nullptr, nullptr);
             }
-            ~BVHTree(){
+            
-                delete(root);
+            // splits the objs in the vector based on the provided AABBs
+            static std::pair<std::vector<Object*>, std::vector<Object*>>
+                    partition(const std::pair<AABB, AABB>& aabbs, const std::vector<Object*>& objs) {
+                std::vector<Object*> a1;
+                std::vector<Object*> a2;
+                for (auto* obj: objs) {
+                    // if this object doesn't have an AABB, we cannot use a BVH on it
+                    if (obj->getAABB().isEmpty()) {
+                        throw std::runtime_error("Invalid AABB provided to the BVH! (Your implementation is flawed)");
+                    }
+                    if (obj->getAABB().intersects(aabbs.first)) {
+                        a1.push_back(obj);
+                    } else if (obj->getAABB().intersects(aabbs.second)) {
+                        a2.push_back(obj);
+                    }
+                    //tlog << "OBJ: " << obj->getAABB() << " " << obj->getAABB().intersects(aabbs.first) << " " << obj->getAABB().intersects(aabbs.second) << " " << objs.size() << "\n";
+                }
+                //tlog << "we split into two of sizes: " << a1.size() << "  " << a2.size() << " orig size: " << (a1.size() + a2.size()) << "\n";
+                return {a1, a2};
+            }
+            
+            BVHNode* addObjectsRecur(const std::vector<Object*>& objects, unsigned long prevSize) {
+                //ilog << "size: " << objects.size() << "\n";
+                // prevSize was required to solve some really weird bugs
+                // which are a TODO:
+                if ((objects.size() <= 2 && !objects.empty()) || prevSize == objects.size()) {
+                    AABB local;
+                    for (const auto& obj: objects)
+                        local = local.expand(obj->getAABB());
+                    return new BVHNode(objects, local, nullptr, nullptr);
+                } else if (objects.empty()) // should never reach here!!
+                    return nullptr;
+                // create a volume for the entire world.
+                // yes, we could use the recursion provided AABB,
+                // but that wouldn't be minimum, only half.
+                // this ensures that we have a minimum AABB.
+                AABB world;
+                for (const auto& obj: objects) {
+                    //tlog << obj->getAABB();
+                    world = world.expand(obj->getAABB());
+                }
+                //tlog << "\n";
+                // then split and partition the world
+                auto spltAABB = world.splitByLongestAxis();
+                //dlog << "We have " << world << " being split into: \n\t" << spltAABB.first << "\n\t" << spltAABB.second << "\n";
+                auto partitionedObjs = partition(spltAABB, objects);
+                
+                BVHNode* left = nullptr;
+                BVHNode* right = nullptr;
+                // don't try to explore nodes which don't have anything in them.
+                if (!partitionedObjs.first.empty())
+                    left = addObjectsRecur(partitionedObjs.first, objects.size());
+                if (!partitionedObjs.second.empty())
+                    right = addObjectsRecur(partitionedObjs.second, objects.size());
+                
+                return new BVHNode(objects, world, left, right);
+            }
+            static std::vector<Object*>
+                    traverseFindRayIntersection(BVHNode* node, const Ray& ray, PRECISION_TYPE min, PRECISION_TYPE max) {
+                // check for intersections on both sides of the tree
+                if (node->left != nullptr) {
+                    if (node->left->aabb.intersects(ray, min, max))
+                        return traverseFindRayIntersection(node->left, ray, min, max);
+                }
+                // since each aabb should be minimum, we shouldn't have to traverse both sides.
+                // we want to reduce our problem size by half each iteration anyways
+                // divide and conquer and so on
+                if (node->right != nullptr)
+                    if (node->right->aabb.intersects(ray, min, max))
+                        return traverseFindRayIntersection(node->left, ray, min, max);
+                // return the objects of the lowest BVH node we can find
+                // if this is implemented properly this should only contain one, maybe two objects
+                // which is much faster! (especially when dealing with triangles)
+                return node->objs;
+            }
+        public:
+            std::vector<Object*> noAABBObjects;
+            explicit BVHTree(const std::vector<Object*>& objectsInWorld) {
+                addObjects(objectsInWorld);
+            }
+            
+            void addObjects(const std::vector<Object*>& objects) {
+                if (root != nullptr)
+                    del();
+                // move all the object's aabb's into world position
+                std::vector<Object*> objs;
+                for (auto* obj: objects) {
+                    // we don't want to store all the AABBs which don't exist
+                    // ie spheres
+                    if (obj->getAABB().isEmpty()) {
+                        //tlog << "Goodbye\n";
+                        noAABBObjects.push_back(obj);
+                        continue;
+                    }
+                    Object* objCopy = obj->clone();
+                    objCopy->setAABB(obj->getAABB().translate(obj->getPosition()));
+                    objs.push_back(objCopy);
+                }
+                root = addObjectsRecur(objs, -1);
+            }
+            
+            std::vector<Object*> rayIntersect(const Ray& ray, PRECISION_TYPE min, PRECISION_TYPE max) {
+                return traverseFindRayIntersection(root, ray, min, max);
+            }
+            
+            ~BVHTree() {
+                del();
             }
     };
     

Step 2/include/math/colliders.h

@@ -12,8 +12,8 @@ namespace Raytracing {
     // 3D Axis Aligned Bounding Box
     class AABB {
         protected:
-            vec4 min;
+            Vec4 min;
-            vec4 max;
+            Vec4 max;
             bool empty = false;
         public:
             AABB() {
@@ -24,7 +24,7 @@ namespace Raytracing {
                     min{minX, minY, minZ}, max{maxX, maxY, maxZ} {
             }
 
-            AABB(const vec4& min, const vec4& max): min(min), max(max) {}
+            AABB(const Vec4& min, const Vec4& max): min(min), max(max) {}
 
             // creates an AABB extending of size centered on x, y, z
             AABB(PRECISION_TYPE x, PRECISION_TYPE y, PRECISION_TYPE z, PRECISION_TYPE size):
@@ -33,7 +33,12 @@ namespace Raytracing {
 
             // translates the AABB to position x,y,z for world collision detection
             [[nodiscard]] AABB translate(PRECISION_TYPE x, PRECISION_TYPE y, PRECISION_TYPE z) const {
-                vec4 pos = {x, y, z};
+                Vec4 pos = {x, y, z};
+                return {min + pos, max + pos};
+            }
+
+            [[nodiscard]] AABB translate(const Vec4& vec) const {
+                Vec4 pos = {vec.x(), vec.y(), vec.z()};
                 return {min + pos, max + pos};
             }
 
@@ -48,12 +53,13 @@ namespace Raytracing {
                 return {minX, minY, minZ, maxX, maxY, maxZ};
             }
 
-            [[nodiscard]] inline bool intersects(PRECISION_TYPE minX, PRECISION_TYPE minY, PRECISION_TYPE minZ, PRECISION_TYPE maxX, PRECISION_TYPE maxY,
+            [[nodiscard]] inline bool
+            intersects(PRECISION_TYPE minX, PRECISION_TYPE minY, PRECISION_TYPE minZ, PRECISION_TYPE maxX, PRECISION_TYPE maxY,
                        PRECISION_TYPE maxZ) const {
-                return min.x() < maxX && max.x() > minX && min.y() < maxY && max.y() > minY && min.z() < maxZ && max.z() > minZ;
+                return min.x() <= maxX && max.x() >= minX && min.y() <= maxY && max.y() >= minY && min.z() <= maxZ && max.z() >= minZ;
             }
 
-            [[nodiscard]] inline bool intersects(const vec4& minV, const vec4& maxV) const {
+            [[nodiscard]] inline bool intersects(const Vec4& minV, const Vec4& maxV) const {
                 return intersects(minV.x(), minV.y(), minV.z(), maxV.x(), maxV.y(), maxV.z());
             }
 
@@ -61,8 +67,11 @@ namespace Raytracing {
                 return intersects(other.min, other.max);
             }
 
+            bool intersects(const Ray& ray, PRECISION_TYPE tmin, PRECISION_TYPE tmax);
+            bool simpleSlabRayAABBMethod(const Ray& ray, PRECISION_TYPE tmin, PRECISION_TYPE tmax);
+
             [[nodiscard]] inline bool isInside(PRECISION_TYPE x, PRECISION_TYPE y, PRECISION_TYPE z) const {
-                return x > min.x() && x < max.x() && y > min.y() && y < max.y() && z > min.z() && z < max.z();
+                return x >= min.x() && x <= max.x() && y >= min.y() && y <= max.y() && z >= min.z() && z <= max.z();
             }
 
             [[nodiscard]] inline bool intersectsWithYZ(PRECISION_TYPE y, PRECISION_TYPE z) const {
@@ -77,7 +86,7 @@ namespace Raytracing {
                 return x >= min.x() && x <= max.x() && y >= min.y() && y <= max.y();
             }
 
-            [[nodiscard]] inline vec4 getCenter() const {
+            [[nodiscard]] inline Vec4 getCenter() const {
                 return {min.x() + (max.x() - min.x()) * 0.5, min.y() + (max.y() - min.y()) * 0.5, min.z() + (max.z() - min.z()) * 0.5};
             }
 
@@ -87,13 +96,22 @@ namespace Raytracing {
             // 2 - z
             [[nodiscard]] int longestAxis() const;
             [[nodiscard]] PRECISION_TYPE longestAxisLength() const;
-            [[nodiscard]] std::vector<AABB> splitByLongestAxis() const;
+            [[nodiscard]] std::pair<AABB, AABB> splitByLongestAxis();
 
             [[nodiscard]] PRECISION_TYPE avgDistanceFromCenter() const;
 
-            [[nodiscard]] inline bool isEmpty() const {return empty;}
+            [[nodiscard]] inline bool isEmpty() const { return empty; }
+
+            [[nodiscard]] Vec4 getMin() const { return min; }
+
+            [[nodiscard]] Vec4 getMax() const { return max; }
 
     };
+
+    inline std::ostream& operator<<(std::ostream& out, const AABB& v) {
+        return out << "AABB{min{" << v.getMin().x() << ", " << v.getMin().y() << ", " << v.getMin().z() << "}, max{" << v.getMax().x() << ", " << v.getMax().y()
+                   << ", " << v.getMax().z() << "}} ";
+    }
 }
 
 #endif //STEP_2_COLLIDERS_H

Step 2/include/math/vectors.h

@@ -17,7 +17,7 @@ namespace Raytracing {
     // since GPUs generally are far more optimized for floats
     typedef double PRECISION_TYPE;
 
-    class vec4 {
+    class Vec4 {
         private:
             union xType {
                 PRECISION_TYPE x;
@@ -50,10 +50,10 @@ namespace Raytracing {
             // and floating point units (especially on GPUs) tend to be aligned to 4*sizeof(float)
             valueType value;
         public:
-            vec4(): value{0, 0, 0, 0} {}
+            Vec4(): value{0, 0, 0, 0} {}
-            vec4(PRECISION_TYPE x, PRECISION_TYPE y, PRECISION_TYPE z): value{x, y, z, 0} {}
+            Vec4(PRECISION_TYPE x, PRECISION_TYPE y, PRECISION_TYPE z): value{x, y, z, 0} {}
-            vec4(PRECISION_TYPE x, PRECISION_TYPE y, PRECISION_TYPE z, PRECISION_TYPE w): value{x, y, z, w} {}
+            Vec4(PRECISION_TYPE x, PRECISION_TYPE y, PRECISION_TYPE z, PRECISION_TYPE w): value{x, y, z, w} {}
-            vec4(const vec4& vec): value{vec.x(), vec.y(), vec.z(), vec.w()} {}
+            Vec4(const Vec4& vec): value{vec.x(), vec.y(), vec.z(), vec.w()} {}
 
 
             // most of the modern c++ here is because clang tidy was annoying me
@@ -74,7 +74,7 @@ namespace Raytracing {
             [[nodiscard]] inline PRECISION_TYPE a() const { return value.v4.a; }
 
             // negation operator
-            vec4 operator-() const { return {-x(), -y(), -z(), -w()}; }
+            Vec4 operator-() const { return {-x(), -y(), -z(), -w()}; }
 
             [[nodiscard]] inline PRECISION_TYPE magnitude() const {
                 return sqrt(lengthSquared());
@@ -85,7 +85,7 @@ namespace Raytracing {
             }
 
             // returns the unit-vector.
-            [[nodiscard]] inline vec4 normalize() const {
+            [[nodiscard]] inline Vec4 normalize() const {
                 PRECISION_TYPE mag = magnitude();
                 return {x() / mag, y() / mag, z() / mag, w() / mag};
             }
@@ -96,7 +96,7 @@ namespace Raytracing {
             }
 
             // preforms the dot product of left * right
-            static inline PRECISION_TYPE dot(const vec4& left, const vec4& right) {
+            static inline PRECISION_TYPE dot(const Vec4& left, const Vec4& right) {
                 return left.x() * right.x()
                        + left.y() * right.y()
                        + left.z() * right.z();
@@ -105,7 +105,7 @@ namespace Raytracing {
             // preforms the cross product of left X right
             // since a general solution to the cross product doesn't exist in 4d
             // we are going to ignore the w.
-            static inline vec4 cross(const vec4& left, const vec4& right) {
+            static inline Vec4 cross(const Vec4& left, const Vec4& right) {
                 return {left.y() * right.z() - left.z() * right.y(),
                         left.z() * right.x() - left.x() * right.z(),
                         left.x() * right.y() - left.y() * right.x()};
@@ -116,63 +116,77 @@ namespace Raytracing {
 // Utility Functions
 
     // useful for printing out the vector to stdout
-    inline std::ostream& operator<<(std::ostream& out, const vec4& v) {
+    inline std::ostream& operator<<(std::ostream& out, const Vec4& v) {
-        return out << "vec4{" << v.x() << ", " << v.y() << ", " << v.z() << ", " << v.w() << "} ";
+        return out << "Vec4{" << v.x() << ", " << v.y() << ", " << v.z() << ", " << v.w() << "} ";
     }
 
     // adds the two vectors left and right
-    inline const vec4 operator+(const vec4& left, const vec4& right) {
+    inline Vec4 operator+(const Vec4& left, const Vec4& right) {
-        return vec4(left.x() + right.x(), left.y() + right.y(), left.z() + right.z(), left.w() + right.w());
+        return {left.x() + right.x(), left.y() + right.y(), left.z() + right.z(), left.w() + right.w()};
     }
 
     // subtracts the right vector from the left.
-    inline const vec4 operator-(const vec4& left, const vec4& right) {
+    inline Vec4 operator-(const Vec4& left, const Vec4& right) {
-        return vec4(left.x() - right.x(), left.y() - right.y(), left.z() - right.z(), left.w() - right.w());
+        return {left.x() - right.x(), left.y() - right.y(), left.z() - right.z(), left.w() - right.w()};
     }
 
     // multiples the left with the right
-    inline const vec4 operator*(const vec4& left, const vec4& right) {
+    inline Vec4 operator*(const Vec4& left, const Vec4& right) {
-        return vec4(left.x() * right.x(), left.y() * right.y(), left.z() * right.z(), left.w() * right.w());
+        return {left.x() * right.x(), left.y() * right.y(), left.z() * right.z(), left.w() * right.w()};
+    }
+
+    // divides each element individually
+    inline Vec4 operator/(const Vec4& left, const Vec4& right) {
+        return {left.x() / right.x(), left.y() / right.y(), left.z() / right.z(), left.w() / right.w()};
     }
 
     // multiplies the const c with each element in the vector v
-    inline const vec4 operator*(const PRECISION_TYPE c, const vec4& v) {
+    inline Vec4 operator*(const PRECISION_TYPE c, const Vec4& v) {
-        return vec4(c * v.x(), c * v.y(), c * v.z(), c * v.w());
+        return {c * v.x(), c * v.y(), c * v.z(), c * v.w()};
     }
 
     // same as above but for right sided constants
-    inline const vec4 operator*(const vec4& v, PRECISION_TYPE c) {
+    inline Vec4 operator*(const Vec4& v, PRECISION_TYPE c) {
         return c * v;
     }
 
     // divides the vector by the constant c
-    inline const vec4 operator/(const vec4& v, PRECISION_TYPE c) {
+    inline Vec4 operator/(const Vec4& v, PRECISION_TYPE c) {
-        return vec4(v.x() / c, v.y() / c, v.z() / c, v.w() / c);
+        return {v.x() / c, v.y() / c, v.z() / c, v.w() / c};
     }
 
-    // divides the constant by the magnitude of the vector
+    // divides each element in the vector by over the constant
-    inline const PRECISION_TYPE operator/(PRECISION_TYPE c, const vec4& v) {
+    inline Vec4 operator/(PRECISION_TYPE c, const Vec4& v) {
-        return c / +v;
+        return {c / v.x(), c / v.y(), c / v.z(), c / v.w()};
     }
 
     class Ray {
         private:
             // the starting point for our ray
-            vec4 start;
+            Vec4 start;
             // and the direction it is currently traveling
-            vec4 direction;
+            Vec4 direction;
+            Vec4 inverseDirection;
         public:
-            Ray(const vec4& start, const vec4& direction): start(start), direction(direction) {}
+            Ray(const Vec4& start, const Vec4& direction): start(start), direction(direction), inverseDirection(1 / direction) {}
 
-            [[nodiscard]] vec4 getStartingPoint() const { return start; }
+            [[nodiscard]] Vec4 getStartingPoint() const { return start; }
 
-            [[nodiscard]] vec4 getDirection() const { return direction; }
+            [[nodiscard]] Vec4 getDirection() const { return direction; }
+
+            // not always needed, but it's good to not have to calculate the inverse inside the intersection
+            // as that would be very every AABB, and that is expensive
+            [[nodiscard]] Vec4 getInverseDirection() const {return inverseDirection; }
 
             // returns a point along the ray, extended away from start by the length.
-            [[nodiscard]] inline vec4 along(PRECISION_TYPE length) const { return start + length * direction; }
+            [[nodiscard]] inline Vec4 along(PRECISION_TYPE length) const { return start + length * direction; }
 
     };
 
+    inline std::ostream& operator<<(std::ostream& out, const Ray& v) {
+        return out << "Ray{" << v.getStartingPoint() << " " << v.getDirection() << "} ";
+    }
+
 }
 
 #endif //STEP_2_VECTORS_H

Step 2/include/raytracing.h

@@ -28,18 +28,18 @@ namespace Raytracing {
             PRECISION_TYPE viewportWidth;
             PRECISION_TYPE focalLength = 1.0;
 
-            vec4 position{0, 0, 0};
+            Vec4 position{0, 0, 0};
-            vec4 horizontalAxis;
+            Vec4 horizontalAxis;
-            vec4 verticalAxis;
+            Vec4 verticalAxis;
-            vec4 imageOrigin;
+            Vec4 imageOrigin;
         public:
             Camera(PRECISION_TYPE fov, const Image& image): image(image),
                                                             aspectRatio(double(image.getWidth()) / double(image.getHeight())) {
                 viewportHeight = (2.0 * tan(degreeeToRadian(fov) / 2));
                 viewportWidth = (aspectRatio * viewportHeight);
-                horizontalAxis = (vec4{viewportWidth, 0, 0, 0});
+                horizontalAxis = (Vec4{viewportWidth, 0, 0, 0});
-                verticalAxis = (vec4{0, viewportHeight, 0, 0});
+                verticalAxis = (Vec4{0, viewportHeight, 0, 0});
-                imageOrigin = (position - horizontalAxis / 2 - verticalAxis / 2 - vec4(0, 0, focalLength, 0));
+                imageOrigin = (position - horizontalAxis / 2 - verticalAxis / 2 - Vec4(0, 0, focalLength, 0));
 
                 tlog << viewportHeight << "\n";
                 tlog << viewportWidth << "\n";
@@ -52,9 +52,9 @@ namespace Raytracing {
 
             Ray projectRay(PRECISION_TYPE x, PRECISION_TYPE y);
             // makes the camera look at the lookatpos from the position p, with respects to the up direction up. (set to 0,1,0)
-            void lookAt(const vec4& pos, const vec4& lookAtPos, const vec4& up);
+            void lookAt(const Vec4& pos, const Vec4& lookAtPos, const Vec4& up);
 
-            void setPosition(const vec4& pos) { this->position = pos; }
+            void setPosition(const Vec4& pos) { this->position = pos; }
 
             void setRotation(PRECISION_TYPE yaw, PRECISION_TYPE pitch, PRECISION_TYPE roll);
 
@@ -71,16 +71,16 @@ namespace Raytracing {
             Image& image;
             World& world;
 
-            vec4 raycast(const Ray& ray, int depth);
+            Vec4 raycast(const Ray& ray, int depth);
         public:
-            inline static vec4 randomUnitVector() {
+            inline static Vec4 randomUnitVector() {
                 // there are two methods to generating a random unit sphere
                 // one which is fast and approximate:
                 //auto v = vec4(rnd.getDouble(), rnd.getDouble(), rnd.getDouble());
                 //return v.normalize();
                 // and the one which generates an actual unit vector
                 while (true) {
-                    auto v = vec4(rnd.getDouble(), rnd.getDouble(), rnd.getDouble());
+                    auto v = Vec4(rnd.getDouble(), rnd.getDouble(), rnd.getDouble());
                     if (v.lengthSquared() >= 1)
                         continue;
                     return v;
@@ -89,14 +89,16 @@ namespace Raytracing {
                 // likely due to not over generating unit vectors biased towards the corners
             }
             // unused but provides another method of diffuse rendering
-            inline static vec4 randomUnitHemisphere(const vec4& normal){
+            inline static Vec4 randomUnitHemisphere(const Vec4& normal){
-                vec4 v = randomUnitVector().normalize();
+                Vec4 v = randomUnitVector().normalize();
-                if (vec4::dot(v, normal) > 0.0)
+                if (Vec4::dot(v, normal) > 0.0)
                     return v;
                 else
                     return -v;
             }
-            Raycaster(Camera& c, Image& i, World& world, const Parser& p): camera(c), image(i), world(world) {}
+            Raycaster(Camera& c, Image& i, World& world, const Parser& p): camera(c), image(i), world(world) {
+                world.generateBVH();
+            }
 
             void run();
 

Step 2/include/types.h

@@ -9,18 +9,21 @@
 #include <math/vectors.h>
 #include <math/colliders.h>
 
+#include <utility>
+
 // there were some files which needed access to these types
 // but including them from world.h would've resulted in circular includes,
 // so I moved them here.
 
 namespace Raytracing {
+
     struct HitData {
         // all the other values only matter if this is true
         bool hit{false};
         // the hit point on the object
-        vec4 hitPoint{};
+        Vec4 hitPoint{};
         // the normal of that hit point
-        vec4 normal{};
+        Vec4 normal{};
         // the length of the vector from its origin in its direction.
         PRECISION_TYPE length{0};
     };
@@ -31,39 +34,93 @@ namespace Raytracing {
         // the new ray to be cast if scattered
         Ray newRay;
         // the color of the material
-        vec4 attenuationColor;
+        Vec4 attenuationColor;
+    };
+    
+    // triangle type for model loading
+    struct Triangle {
+        public:
+            Vec4 vertex1, vertex2, vertex3;
+            bool hasNormals = false;
+            Vec4 normal1, normal2, normal3;
+            Vec4 uv1, uv2, uv3;
+            AABB aabb;
+            
+            Triangle(const Vec4& v1, const Vec4& v2, const Vec4& v3): vertex1(v1), vertex2(v2), vertex3(v3) {}
+            
+            Triangle(const Vec4& v1, const Vec4& v2, const Vec4& v3,
+                     const Vec4& n1, const Vec4& n2, const Vec4& n3): vertex1(v1), vertex2(v2), vertex3(v3),
+                                                                      hasNormals(true), normal1(n1), normal2(n2), normal3(n3) {}
+            
+            Triangle(const Vec4& v1, const Vec4& v2, const Vec4& v3,
+                     const Vec4& uv1, const Vec4& uv2, const Vec4& uv3,
+                     const Vec4& n1, const Vec4& n2, const Vec4& n3): vertex1(v1), vertex2(v2), vertex3(v3),
+                                                                      uv1(uv1), uv2(uv2), uv3(uv3),
+                                                                      hasNormals(true), normal1(n1), normal2(n2), normal3(n3) {}
+            
+            // slow method, not really required as all normals should be equal
+            [[nodiscard]] Vec4 findClosestNormal(const Vec4& point) const {
+                // no need to sqrt as exact distance doesn't matter
+                auto n1Dist = (point - normal1).lengthSquared();
+                auto n2Dist = (point - normal2).lengthSquared();
+                auto n3Dist = (point - normal3).lengthSquared();
+                return (n1Dist < n2Dist && n1Dist < n3Dist) ? normal1 : (n2Dist < n3Dist ? normal2 : normal3);
+            }
+    };
+    
+    // face type for model loading
+    struct face {
+        int v1, v2, v3;
+        int uv1, uv2, uv3;
+        int n1, n2, n3;
     };
 
     class Material {
         private:
             // most materials will need an albedo
-            vec4 baseColor;
+            Vec4 baseColor;
         public:
-            explicit Material(const vec4& baseColor): baseColor(baseColor) {}
+            explicit Material(const Vec4& baseColor): baseColor(baseColor) {}
 
             // returns true if the ray was scattered along with the scattered ray, otherwise will return false with empty ray.
             // the returned vec4 is the attenuation color
             [[nodiscard]] virtual ScatterResults scatter(const Ray& ray, const HitData& hitData) const = 0;
 
-            [[nodiscard]] vec4 getBaseColor() const { return baseColor; }
+            [[nodiscard]] Vec4 getBaseColor() const { return baseColor; }
+            virtual ~Material() = default;
     };
 
     class Object {
         protected:
-            vec4 position;
-            Material* material;
             AABB aabb;
+            Vec4 position;
+            Material* material;
         public:
-            explicit Object(Material* material, const vec4& position): material(material), position(position) {};
+            Object(Material* material, const Vec4& position): material(material), position(position), aabb({}) {};
             // return true if the ray intersects with this object, only between min and max
             [[nodiscard]] virtual HitData checkIfHit(const Ray& ray, PRECISION_TYPE min, PRECISION_TYPE max) const = 0;
 
             [[nodiscard]] Material* getMaterial() const { return material; }
-            [[nodiscard]] vec4 getPosition() const {return position;}
+            virtual Object* clone() = 0;
-            [[nodiscard]] AABB getAABB() const {return aabb;}
+            virtual AABB& getAABB() { return aabb; }
-
+            virtual void setAABB(const AABB& ab) { this->aabb = ab; }
+            [[nodiscard]] Vec4 getPosition() const { return position; }
             virtual ~Object() = default;
     };
+    
+    // used for using an object, mostly BVH
+    class EmptyObject : public Object {
+        protected:
+        public:
+            Triangle& tri;
+            EmptyObject(const Vec4& position, const AABB& a, Triangle& tri): Object(nullptr, position), tri(tri) {this->aabb = a;};
+            // unused
+            [[nodiscard]] virtual HitData checkIfHit(const Ray& ray, PRECISION_TYPE min, PRECISION_TYPE max) const {
+                wlog << "Warning! A empty object has made its way into the raycaster!\n";
+                return {};
+            }
+            virtual Object* clone(){return new EmptyObject(position, aabb, tri);}
+    };
 }
 
 #endif //STEP_2_TYPES_H

Step 2/include/util/debug.h

@@ -0,0 +1,84 @@
+/*
+ * Created by Brett Terpstra 6920201 on 18/10/22.
+ * Copyright (c) 2022 Brett Terpstra. All Rights Reserved.
+ *
+ * this is a direct one-to-one copy of the profiler class used in my Game Engine
+ * it functions very well especially when used in a GUI context,
+ * so why reinvent the wheel right?
+ * So to avoid any kind of self plagiarism, I fully credit the source which is here:
+ * https://github.com/Tri11Paragon/Trapdoor-Engine/tree/dev/C%2B%2B%20Engine
+ */
+
+#ifndef STEP_2_DEBUG_H
+#define STEP_2_DEBUG_H
+
+#include <util/std.h>
+
+namespace Raytracing {
+    class profiler;
+    extern std::unordered_map<std::string, profiler*> profiles;
+    
+    class DebugTab{
+        protected:
+            std::string name;
+        public:
+            virtual void render() {}
+            std::string getName() {
+                return name;
+            }
+    };
+    
+    class profiler : public DebugTab {
+        private:
+            long _start = 0;
+            long _end = 0;
+            std::unordered_map<std::string, std::pair<long, long>> timings;
+        public:
+            explicit profiler(std::string name);
+            
+            void start();
+            void start(const std::string& name);
+            static void start(const std::string& name, const std::string& tabName) {
+                auto p = new profiler(name);
+                profiles.insert(std::pair(name, p));
+                p->start(tabName);
+            }
+            
+            void end();
+            void end(const std::string& name);
+            static void end(const std::string& name, const std::string& tabName){
+                try {
+                    profiles.at(name)->end(tabName);
+                } catch (std::exception& e){}
+            }
+            
+            void print();
+            static void print(const std::string& name){
+                try {
+                    profiles.at(name)->print();
+                    delete(profiles.at(name));
+                } catch (std::exception& e){}
+            }
+            
+            void endAndPrint();
+            static void endAndPrint(const std::string& name, const std::string& tabName){
+                profiler::end(name, tabName);
+                profiler::print(name);
+            }
+            
+            void render();
+            static void render(int count) {
+                for (auto p : profiles)
+                    p.second->render();
+            }
+            
+            ~profiler();
+            static void cleanup(){
+                for (const auto& p : profiles)
+                    delete(p.second);
+            }
+    };
+    
+}
+
+#endif //STEP_2_DEBUG_H

Step 2/include/util/models.h

@@ -9,67 +9,33 @@
 #include <util/std.h>
 #include <math/vectors.h>
 #include <math/colliders.h>
+#include <math/bvh.h>
 
 namespace Raytracing {
 
-    struct Triangle {
-        public:
-            vec4 vertex1, vertex2, vertex3;
-            bool hasNormals = false;
-            vec4 normal1, normal2, normal3;
-            vec4 uv1, uv2, uv3;
-            AABB aabb;
-
-            Triangle(const vec4& v1, const vec4& v2, const vec4& v3): vertex1(v1), vertex2(v2), vertex3(v3) {}
-
-            Triangle(const vec4& v1, const vec4& v2, const vec4& v3,
-                     const vec4& n1, const vec4& n2, const vec4& n3): vertex1(v1), vertex2(v2), vertex3(v3),
-                                                                      hasNormals(true), normal1(n1), normal2(n2), normal3(n3) {}
-
-            Triangle(const vec4& v1, const vec4& v2, const vec4& v3,
-                     const vec4& uv1, const vec4& uv2, const vec4& uv3,
-                     const vec4& n1, const vec4& n2, const vec4& n3): vertex1(v1), vertex2(v2), vertex3(v3),
-                                                                      uv1(uv1), uv2(uv2), uv3(uv3),
-                                                                      hasNormals(true), normal1(n1), normal2(n2), normal3(n3) {}
-
-            [[nodiscard]] vec4 findClosestNormal(const vec4& point) const {
-                // no need to sqrt as exact distance doesn't matter
-                auto n1Dist = (point - normal1).lengthSquared();
-                auto n2Dist = (point - normal2).lengthSquared();
-                auto n3Dist = (point - normal3).lengthSquared();
-                return (n1Dist < n2Dist && n1Dist < n3Dist) ? normal1 : (n2Dist < n3Dist ? normal2 : normal3);
-            }
-    };
-
-    struct face {
-        int v1, v2, v3;
-        int uv1, uv2, uv3;
-        int n1, n2, n3;
-    };
-
     struct ModelData {
         public:
             // storing all this data is memory inefficient
             // since normals and vertices are only vec3s
             // and uvs are vec2s
             // TODO: create lower order vector classes
-            std::vector<vec4> vertices;
+            std::vector<Vec4> vertices;
-            std::vector<vec4> uvs;
+            std::vector<Vec4> uvs;
-            std::vector<vec4> normals;
+            std::vector<Vec4> normals;
             std::vector<face> faces;
             AABB aabb;
 
             std::vector<Triangle> toTriangles() {
                 std::vector<Triangle> triangles;
 
-                PRECISION_TYPE minX = INFINITY, minY = INFINITY, minZ = INFINITY, maxX = -INFINITY, maxY = -INFINITY, maxZ = -INFINITY;
+                PRECISION_TYPE minX = infinity, minY = infinity, minZ = infinity, maxX = ninfinity, maxY = ninfinity, maxZ = ninfinity;
 
                 for (face f: faces) {
                     Triangle t {vertices[f.v1], vertices[f.v2], vertices[f.v3],
                                 uvs[f.uv1], uvs[f.uv2], uvs[f.uv3],
                                 normals[f.n1], normals[f.n2], normals[f.n3]};
 
-                    PRECISION_TYPE tMinX = INFINITY, tMinY = INFINITY, tMinZ = INFINITY, tMaxX = -INFINITY, tMaxY = -INFINITY, tMaxZ = -INFINITY;
+                    PRECISION_TYPE tMinX = infinity, tMinY = infinity, tMinZ = infinity, tMaxX = ninfinity, tMaxY = ninfinity, tMaxZ = ninfinity;
                     // find the min and max of all the triangles
                     tMinX = std::min(t.vertex1.x(), std::min(t.vertex2.x(), std::min(t.vertex3.x(), tMinX)));
                     tMinY = std::min(t.vertex1.y(), std::min(t.vertex2.y(), std::min(t.vertex3.y(), tMinY)));
@@ -98,6 +64,16 @@ namespace Raytracing {
 
                 return triangles;
             }
+        
+            // creates a BVH tree and returns the list of objects we created. make sure to delete them.
+            static std::vector<Object*> createBVHTree(std::vector<Triangle>& triangles, const Vec4& pos) {
+                std::vector<Object*> objects;
+                for (auto& tri : triangles){
+                    Object* obj = new EmptyObject(pos, tri.aabb, tri);
+                    objects.push_back(obj);
+                }
+                return objects;
+            }
     };
 
     class ModelLoader {

Step 2/include/util/std.h

@@ -38,6 +38,7 @@
  * Constants
  */
 const double infinity = std::numeric_limits<double>::infinity();
+const double ninfinity = -std::numeric_limits<double>::infinity();
 // PI, to a large # of digits
 const double PI = 3.1415926535897932385;
 // very small number

Step 2/include/world.h

@@ -20,47 +20,68 @@ namespace Raytracing {
         private:
             PRECISION_TYPE radius;
         public:
-            SphereObject(const vec4& position, PRECISION_TYPE radius, Material* material): radius(radius), Object(material, position) {}
+            SphereObject(const Vec4& position, PRECISION_TYPE radius, Material* material): radius(radius), Object(material, position) {}
 
             [[nodiscard]] virtual HitData checkIfHit(const Ray& ray, PRECISION_TYPE min, PRECISION_TYPE max) const;
+            virtual Object* clone(){
+                return new SphereObject(position, radius, material);
+            }
     };
 
     class TriangleObject : public Object {
         private:
             Triangle theTriangle;
         public:
-            TriangleObject(const vec4& position, Triangle theTriangle, Material* material): Object(material, position),
+            TriangleObject(const Vec4& position, Triangle theTriangle, Material* material): Object(material, position),
                                                                                             theTriangle(std::move(theTriangle)) {}
             [[nodiscard]] virtual HitData checkIfHit(const Ray& ray, PRECISION_TYPE min, PRECISION_TYPE max) const;
+            virtual Object* clone() {
+                return new TriangleObject(position, theTriangle, material);
+            }
     };
 
     class ModelObject : public Object {
         private:
             std::vector<Triangle> triangles;
+            ModelData& data;
+            // basically we have to store this crap here because c++ loves to copy stuff
+            std::vector<Object*> createdTreeObjects;
+            BVHTree* tree;
         public:
-            ModelObject(const vec4& position, ModelData data, Material* material): Object(material, position) {
+            ModelObject(const Vec4& position, ModelData& data, Material* material): Object(material, position), data(data) {
+                // since all of this occurs before the main ray tracing algorithm it's fine to do sequentially
                 triangles = data.toTriangles();
                 this->aabb = data.aabb;
+                createdTreeObjects = Raytracing::ModelData::createBVHTree(triangles, position);
+                tree = new BVHTree(createdTreeObjects);
             }
             [[nodiscard]] virtual HitData checkIfHit(const Ray& ray, PRECISION_TYPE min, PRECISION_TYPE max) const;
+            virtual Object* clone() {
+                return new ModelObject(position, data, material);
+            }
+            virtual ~ModelObject() {
+                for (auto* p : createdTreeObjects)
+                    delete(p);
+                delete(tree);
+            }
     };
 
     class DiffuseMaterial : public Material {
         private:
         public:
-            explicit DiffuseMaterial(const vec4& scatterColor): Material(scatterColor) {}
+            explicit DiffuseMaterial(const Vec4& scatterColor): Material(scatterColor) {}
 
             [[nodiscard]] virtual ScatterResults scatter(const Ray& ray, const HitData& hitData) const;
     };
 
     class MetalMaterial : public Material {
         protected:
-            static inline vec4 reflect(const vec4& incomingVector, const vec4& normal) {
+            static inline Vec4 reflect(const Vec4& incomingVector, const Vec4& normal) {
-                return incomingVector - 2 * vec4::dot(incomingVector, normal) * normal;
+                return incomingVector - 2 * Vec4::dot(incomingVector, normal) * normal;
             }
 
         public:
-            explicit MetalMaterial(const vec4& metalColor): Material(metalColor) {}
+            explicit MetalMaterial(const Vec4& metalColor): Material(metalColor) {}
 
             [[nodiscard]] virtual ScatterResults scatter(const Ray& ray, const HitData& hitData) const;
     };
@@ -69,7 +90,7 @@ namespace Raytracing {
         private:
             PRECISION_TYPE fuzzyness;
         public:
-            explicit BrushedMetalMaterial(const vec4& metalColor, PRECISION_TYPE fuzzyness): MetalMaterial(metalColor), fuzzyness(fuzzyness) {}
+            explicit BrushedMetalMaterial(const Vec4& metalColor, PRECISION_TYPE fuzzyness): MetalMaterial(metalColor), fuzzyness(fuzzyness) {}
 
             [[nodiscard]] virtual ScatterResults scatter(const Ray& ray, const HitData& hitData) const;
     };
@@ -82,12 +103,17 @@ namespace Raytracing {
              * this way we can easily tell if a ray is near and object or not
              * saving on computation
              */
+            // TODO: the above todo has been done, now we need to test the performance advantage of the BVH
+            BVHTree* bvhTree = nullptr;
             std::unordered_map<std::string, Material*> materials;
         public:
             World() = default;
             World(const World& world) = delete;
             World(const World&& world) = delete;
 
+            // call this after you've added all the objects to the world. (Called by the raycaster class)
+            void generateBVH();
+
             inline void add(Object* object) { objects.push_back(object); }
 
             inline void addMaterial(const std::string& materialName, Material* mat) { materials.insert({materialName, mat}); }

Step 2/src/globals.cpp

@@ -3,6 +3,8 @@
  * Copyright (c) 2022 Brett Terpstra. All Rights Reserved.
  */
 // Yes, globals are bad.
-namespace Raytracing {
+#include <util/debug.h>
 
+namespace Raytracing {
+    std::unordered_map<std::string, profiler*> profiles;
 }

Step 2/src/image/image.cpp

@@ -11,11 +11,11 @@
 namespace Raytracing {
 
     Image::Image(int width, int height) : width(width), height(height) {
-        pixelData = new vec4[width * height];
+        pixelData = new Vec4[width * height];
     }
 
     Image::Image(const Image& image) : width(image.width), height(image.height) {
-        pixelData = new vec4[image.width * image.height];
+        pixelData = new Vec4[image.width * image.height];
         for (int i = 0; i < image.width; i++) {
             for (int j = 0; j < image.height; j++) {
                 this->setPixelColor(i, j, image.pixelData[i * image.height + j]);

Step 2/src/main.cpp

@@ -3,6 +3,7 @@
 #include "image/image.h"
 #include <raytracing.h>
 #include <world.h>
+#include <chrono>
 
 /**
  * Brett Terpstra 6920201
@@ -32,7 +33,7 @@ int main(int argc, char** args) {
     parser.addOption("--output", "Output Directory\n"
                                  "\tSet the output directory for the rendered image. Defaults to the local directory.\n", "./");
     parser.addOption("--format", "Output Format\n"
-                                 "\tSets the output format to PPM, PNG, or JPEG. Currently only PPM is supported.", "PPM");
+                                 "\tSets the output format to PPM, PNG, or JPEG. ", "PNG");
 
     // if the parser returns non-zero then it wants us to stop execution
     // likely due to a help function being called.
@@ -45,29 +46,34 @@ int main(int argc, char** args) {
 
     Raytracing::Image image(445, 256);
 
-    Raytracing::Camera camera(140, image);
+    Raytracing::Camera camera(90, image);
-    camera.setPosition({0, 0, 1});
+    //camera.setPosition({0, 0, 1});
-    //camera.lookAt(Raytracing::vec4(0,1,0), Raytracing::vec4(0, 0, -1), Raytracing::vec4(0, 1, 0));
+    camera.lookAt(Raytracing::Vec4(-3,3,3), Raytracing::Vec4(0, 0, 0), Raytracing::Vec4(0, 1, 0));
 
     Raytracing::World world;
 
     Raytracing::OBJLoader loader;
-    Raytracing::ModelData testData = loader.loadModel("spider.obj");
+    Raytracing::ModelData spider = loader.loadModel("spider.obj");
+    Raytracing::ModelData house = loader.loadModel("house.obj");
 
-    world.addMaterial("greenDiffuse", new Raytracing::DiffuseMaterial{Raytracing::vec4{0, 1.0, 0, 1}});
+    world.addMaterial("greenDiffuse", new Raytracing::DiffuseMaterial{Raytracing::Vec4{0, 1.0, 0, 1}});
-    world.addMaterial("redDiffuse", new Raytracing::DiffuseMaterial{Raytracing::vec4{1.0, 0, 0, 1}});
+    world.addMaterial("redDiffuse", new Raytracing::DiffuseMaterial{Raytracing::Vec4{1.0, 0, 0, 1}});
-    world.addMaterial("blueDiffuse", new Raytracing::DiffuseMaterial{Raytracing::vec4{0, 0, 1.0, 1}});
+    world.addMaterial("blueDiffuse", new Raytracing::DiffuseMaterial{Raytracing::Vec4{0, 0, 1.0, 1}});
 
-    world.addMaterial("greenMetal", new Raytracing::MetalMaterial{Raytracing::vec4{0.4, 1.0, 0.4, 1}});
+    world.addMaterial("greenMetal", new Raytracing::MetalMaterial{Raytracing::Vec4{0.4, 1.0, 0.4, 1}});
-    world.addMaterial("redMetal", new Raytracing::BrushedMetalMaterial{Raytracing::vec4{1.0, 0.4, 0.4, 1}, 0.6f});
+    world.addMaterial("redMetal", new Raytracing::BrushedMetalMaterial{Raytracing::Vec4{1.0, 0.4, 0.4, 1}, 0.6f});
-    world.addMaterial("blueMetal", new Raytracing::MetalMaterial{Raytracing::vec4{0.4, 0.4, 1.0, 1}});
+    world.addMaterial("blueMetal", new Raytracing::MetalMaterial{Raytracing::Vec4{0.4, 0.4, 1.0, 1}});
 
     //world.add(new Raytracing::SphereObject(Raytracing::vec4(0,0,-1,0), 0.5, world.getMaterial("redDiffuse")));
     //world.add(new Raytracing::SphereObject(Raytracing::vec4(-1,0,-1,0), 0.5, world.getMaterial("blueMetal")));
     //world.add(new Raytracing::SphereObject(Raytracing::vec4(1,0,-1,0), 0.5, world.getMaterial("redMetal")));
-    //world.add(new Raytracing::SphereObject(Raytracing::vec4(0,-100.5,-1,0), 100, world.getMaterial("greenDiffuse")));
+    world.add(new Raytracing::SphereObject(Raytracing::Vec4(0,-100.5,-1,0), 100, world.getMaterial("greenDiffuse")));
     //world.add(new Raytracing::TriangleObject(Raytracing::vec4(0,0.1,-0.5f,0), {{-0.5, -0.5, 0.0}, {0.5, -0.5, 0.0}, {0.0,  0.5, 0}}, world.getMaterial("greenDiffuse")));
-    world.add(new Raytracing::ModelObject({0, 0, -1}, testData, world.getMaterial("redDiffuse")));
+    world.add(new Raytracing::ModelObject({0, 0, -1}, spider, world.getMaterial("redDiffuse")));
+    world.add(new Raytracing::ModelObject({2, 0, 0}, house, world.getMaterial("blueDiffuse")));
+    world.add(new Raytracing::ModelObject({5, 0, 0}, house, world.getMaterial("blueDiffuse")));
+    world.add(new Raytracing::ModelObject({5, 0, -5}, house, world.getMaterial("blueDiffuse")));
+    world.add(new Raytracing::ModelObject({-5, 5, 5}, house, world.getMaterial("blueDiffuse")));
 
     Raytracing::Raycaster raycaster {camera, image, world, parser};
 
@@ -75,7 +81,21 @@ int main(int argc, char** args) {
 
     Raytracing::ImageOutput imageOutput(image);
     
-    imageOutput.write("test", "png");
+    auto t = std::time(nullptr);
+    auto now = std::localtime(&t);
+    std::stringstream timeString;
+    timeString << (1900 + now->tm_year);
+    timeString << "-";
+    timeString << (1 + now->tm_mon);
+    timeString << "-";
+    timeString << now->tm_mday;
+    timeString << " ";
+    timeString << now->tm_hour;
+    timeString << ":";
+    timeString << now->tm_min;
+    timeString << ":";
+    timeString << now->tm_sec;
+    imageOutput.write(parser.getOptionValue("--output") + timeString.str(), parser.getOptionValue("--format"));
 
     return 0;
 }

Step 2/src/math/colliders.cpp

@@ -7,7 +7,7 @@
 namespace Raytracing {
 
     PRECISION_TYPE AABB::longestDistanceFromCenter() const {
-        vec4 center = getCenter();
+        Vec4 center = getCenter();
         PRECISION_TYPE maxX = std::abs(max.x() - center.x());
         PRECISION_TYPE minX = std::abs(min.x() - center.x());
         PRECISION_TYPE maxY = std::abs(max.y() - center.y());
@@ -18,7 +18,7 @@ namespace Raytracing {
     }
 
     PRECISION_TYPE AABB::avgDistanceFromCenter() const {
-        vec4 center = getCenter();
+        Vec4 center = getCenter();
         PRECISION_TYPE maxX = std::abs(max.x() - center.x());
         PRECISION_TYPE minX = std::abs(min.x() - center.x());
         PRECISION_TYPE maxY = std::abs(max.y() - center.y());
@@ -48,17 +48,59 @@ namespace Raytracing {
         return X > Y && X > Z ? X : Y > Z ? Y : Z;
     }
 
-    std::vector<AABB> AABB::splitByLongestAxis() const {
+    std::pair<AABB, AABB> AABB::splitByLongestAxis() {
         PRECISION_TYPE X = std::abs(max.x() - min.x());
+        PRECISION_TYPE X2 = X/2;
         PRECISION_TYPE Y = std::abs(max.y() - min.y());
+        PRECISION_TYPE Y2 = Y/2;
         PRECISION_TYPE Z = std::abs(max.z() - min.z());
+        PRECISION_TYPE Z2 = Z/2;
+        // return the new split AABBs based on the calculated max lengths, but only in their respective axis.
         if (X > Y && X > Z) {
-            PRECISION_TYPE x2 = X/2.0;
+            return {{min.x(), min.y(), min.z(), max.x()-X2, max.y(), max.z()},
-            
+                    // start the second AABB at the end of the first AABB.
+                    {min.x()+X2, min.y(), min.z(), max.x(), max.y(), max.z()}};
         } else if (Y > Z) {
-
+            return {{min.x(), min.y(), min.z(), max.x(), max.y()-Y2, max.z()}, {min.x(), min.y()+Y2, min.z(), max.x(), max.y(), max.z()}};
         } else {
-
+            return {{min.x(), min.y(), min.z(), max.x(), max.y(), max.z()-Z2}, {min.x(), min.y(), min.z()+Z2, max.x(), max.y(), max.z()}};
         }
     }
+
+    /*
+     * Sources for designing these various algorithms
+     * https://www.realtimerendering.com/intersections.html
+     * https://web.archive.org/web/20090803054252/http://tog.acm.org/resources/GraphicsGems/gems/RayBox.c
+     * https://www.scratchapixel.com/lessons/3d-basic-rendering/minimal-ray-tracer-rendering-simple-shapes/ray-box-intersection
+     * https://tavianator.com/2011/ray_box.html
+     * https://medium.com/@bromanz/another-view-on-the-classic-ray-aabb-intersection-algorithm-for-bvh-traversal-41125138b525
+     */
+
+    bool AABB::simpleSlabRayAABBMethod(const Ray& ray, PRECISION_TYPE tmin, PRECISION_TYPE tmax){
+        // branch less design
+        // adapted from 2d to fit our 3d scene.
+        PRECISION_TYPE tx1 = (min.x() - ray.getStartingPoint().x())*ray.getInverseDirection().x();
+        PRECISION_TYPE tx2 = (max.x() - ray.getStartingPoint().x())*ray.getInverseDirection().x();
+
+        tmin = std::min(tmin, std::min(tx1, tx2));
+        tmax = std::max(tmax, std::max(tx1, tx2));
+
+        PRECISION_TYPE ty1 = (min.y() - ray.getStartingPoint().y())*ray.getInverseDirection().y();
+        PRECISION_TYPE ty2 = (max.y() - ray.getStartingPoint().y())*ray.getInverseDirection().y();
+
+        tmin = std::max(tmin, std::min(ty1, ty2));
+        tmax = std::min(tmax, std::max(ty1, ty2));
+
+        PRECISION_TYPE tz1 = (min.z() - ray.getStartingPoint().z())*ray.getInverseDirection().z();
+        PRECISION_TYPE tz2 = (max.z() - ray.getStartingPoint().z())*ray.getInverseDirection().z();
+
+        tmin = std::max(tmin, std::min(tz1, tz2));
+        tmax = std::min(tmax, std::max(tz1, tz2));
+
+        return tmax > std::max(tmin, 0.0);
+    }
+
+    bool AABB::intersects(const Ray& ray, PRECISION_TYPE tmin, PRECISION_TYPE tmax) {
+        return simpleSlabRayAABBMethod(ray, tmin, tmax);
+    }
 }

Step 2/src/raytracing.cpp

@@ -15,11 +15,11 @@ namespace Raytracing {
         return {position, imageOrigin + transformedX * horizontalAxis + transformedY * verticalAxis - position};
     }
 
-    void Camera::lookAt(const vec4& pos, const vec4& lookAtPos, const vec4& up) {
+    void Camera::lookAt(const Vec4& pos, const Vec4& lookAtPos, const Vec4& up) {
         // standard camera lookAt function
         auto w = (pos - lookAtPos).normalize();
-        auto u = (vec4::cross(up, w)).normalize();
+        auto u = (Vec4::cross(up, w)).normalize();
-        auto v = vec4::cross(w, u);
+        auto v = Vec4::cross(w, u);
 
         position = pos;
         horizontalAxis = viewportWidth * u;
@@ -34,7 +34,7 @@ namespace Raytracing {
     void Raycaster::run() {
         for (int i = 0; i < image.getWidth(); i++){
             for (int j = 0; j < image.getHeight(); j++){
-                Raytracing::vec4 color;
+                Raytracing::Vec4 color;
                 // TODO: profile for speed;
                 for (int s = 0; s < raysPerPixel; s++){
                     // simulate anti aliasing by generating rays with very slight random directions
@@ -47,7 +47,7 @@ namespace Raytracing {
         }
     }
 
-    vec4 Raycaster::raycast(const Ray& ray, int depth) {
+    Vec4 Raycaster::raycast(const Ray& ray, int depth) {
         if (depth > maxBounceDepth)
             return {0,0,0};
 
@@ -63,8 +63,8 @@ namespace Raytracing {
             return {0,0,0};
         }
 
-        vec4 dir = ray.getDirection().normalize();
+        Vec4 dir = ray.getDirection().normalize();
         auto t = 0.5f * (dir.y() + 1.0);
-        return (1.0 - t) * vec4(1.0, 1.0, 1.0) + t * vec4(0.5, 0.7, 1.0);
+        return (1.0 - t) * Vec4(1.0, 1.0, 1.0) + t * Vec4(0.5, 0.7, 1.0);
     }
 }

Step 2/src/util/debug.cpp

@@ -0,0 +1,61 @@
+/*
+ * Created by Brett Terpstra 6920201 on 18/10/22.
+ * Copyright (c) 2022 Brett Terpstra. All Rights Reserved.
+ */
+#include <util/debug.h>
+#include <chrono>
+
+namespace Raytracing {
+    profiler::profiler(std::string name) {
+        this->name = name;
+        // currently unused as we don't have a UI yet.
+        //TD::debugUI::addTab(this);
+    }
+    
+    void profiler::start() {
+        start("Unnamed");
+    }
+    void profiler::start(const std::string& name) {
+        auto p1 = std::chrono::high_resolution_clock::now();
+        _start = std::chrono::duration_cast<std::chrono::nanoseconds>(p1.time_since_epoch()).count();
+        timings[name] = std::pair<long, long>(_start, 0);
+    }
+    
+    void profiler::end() {
+        end("Unnamed");
+    }
+    void profiler::end(const std::string& name) {
+        auto p1 = std::chrono::high_resolution_clock::now();
+        _end = std::chrono::duration_cast<std::chrono::nanoseconds>(p1.time_since_epoch()).count();
+        timings[name] = std::pair<long, long>(timings[name].first, _end);
+    }
+    
+    void profiler::print() {
+        ilog << "Profiler " << name << " recorded: ";
+        for (std::pair<std::string, std::pair<long, long>> e : timings){
+            ilog << "\t" << e.first << " took " << ((double)(e.second.second - e.second.first) / 1000000.0) << "ms to run!";
+        }
+        
+    }
+    
+    void profiler::endAndPrint() {
+        end();
+        print();
+    }
+    
+    void profiler::render() {
+        // currently unused as we don't have a UI yet.
+        /*ImGui::Text("CPU Timings:");
+        ImGui::Indent();
+        for (std::pair<std::string, std::pair<long, long>> e : timings) {
+            ImGui::Text("Elapsed Time(%s):  %fms", e.first.c_str(), (double) ((e.second.second - e.second.first) / 1000000.0));
+        }
+        ImGui::Unindent();
+        ImGui::NewLine();*/
+    }
+    
+    profiler::~profiler() {
+        // currently unused as we don't have a UI yet.
+        //TD::debugUI::deleteTab(this);
+    }
+}

Step 2/src/world.cpp

@@ -12,15 +12,16 @@ namespace Raytracing {
             delete (p);
         for (const auto& p: materials)
             delete (p.second);
+        delete(bvhTree);
     }
 
     HitData SphereObject::checkIfHit(const Ray& ray, PRECISION_TYPE min, PRECISION_TYPE max) const {
         PRECISION_TYPE radiusSquared = radius * radius;
         // move the ray to be with respects to the sphere
-        vec4 RayWRTSphere = ray.getStartingPoint() - position;
+        Vec4 RayWRTSphere = ray.getStartingPoint() - position;
         // now determine the discriminant for the quadratic formula for the function of line sphere intercept
         PRECISION_TYPE a = ray.getDirection().lengthSquared();
-        PRECISION_TYPE b = Raytracing::vec4::dot(RayWRTSphere, ray.getDirection());
+        PRECISION_TYPE b = Raytracing::Vec4::dot(RayWRTSphere, ray.getDirection());
         PRECISION_TYPE c = RayWRTSphere.lengthSquared() - radiusSquared;
         // > 0: the hit has two roots, meaning we hit both sides of the sphere
         // = 0: the ray has one root, we hit the edge of the sphere
@@ -29,7 +30,7 @@ namespace Raytracing {
 
         // < 0: ray isn't inside the sphere. Don't need to bother calculating the roots.
         if (discriminant < 0)
-            return {false, vec4(), vec4(), 0};
+            return {false, Vec4(), Vec4(), 0};
 
         // now we have to find the root which exists inside our range [min,max]
         auto root = (-b - std::sqrt(discriminant)) / a;
@@ -39,7 +40,7 @@ namespace Raytracing {
             root = (-b + std::sqrt(discriminant)) / a;
             if (root < min || root > max) {
                 // if the second isn't in the range then we also must return false.
-                return {false, vec4(), vec4(), 0};
+                return {false, Vec4(), Vec4(), 0};
             }
         }
         // the hit point is where the ray is when extended to the root
@@ -56,7 +57,38 @@ namespace Raytracing {
     }
 
     std::pair<HitData, Object*> World::checkIfHit(const Ray& ray, PRECISION_TYPE min, PRECISION_TYPE max) const {
-        auto hResult = HitData{false, vec4(), vec4(), max};
+        if (bvhTree != nullptr){
+            auto hResult = HitData{false, Vec4(), Vec4(), max};
+            Object* objPtr = nullptr;
+            
+            auto intersected = bvhTree->rayIntersect(ray, min, max);
+            
+            //dlog << "Intersections " << intersected.size() << " " << ray << "\n";
+            
+            for (auto* ptr : intersected) {
+                auto cResult = ptr->checkIfHit(ray, min, hResult.length);
+                if (cResult.hit) {
+                    hResult = cResult;
+                    objPtr = ptr;
+                }
+            }
+            // after we check the BVH, we have to check for other missing objects
+            // since stuff like spheres currently don't have AABB and AABB isn't a requirement
+            // for the object class (to be assigned)
+            for (auto* obj: bvhTree->noAABBObjects) {
+                // check up to the point of the last closest hit,
+                // will give the closest object's hit result
+                auto cResult = obj->checkIfHit(ray, min, hResult.length);
+                if (cResult.hit) {
+                    hResult = cResult;
+                    objPtr = obj;
+                }
+            }
+            
+            return {hResult, objPtr};
+        } else {
+            // rejection algo without using a binary space partitioning data structure
+            auto hResult = HitData{false, Vec4(), Vec4(), max};
             Object* objPtr = nullptr;
             for (auto* obj: objects) {
                 // check up to the point of the last closest hit,
@@ -69,9 +101,14 @@ namespace Raytracing {
             }
             return {hResult, objPtr};
         }
+    }
+
+    void World::generateBVH() {
+        bvhTree = new BVHTree(objects);
+    }
 
     ScatterResults DiffuseMaterial::scatter(const Ray& ray, const HitData& hitData) const {
-        vec4 newRay = hitData.normal + Raytracing::Raycaster::randomUnitVector().normalize();
+        Vec4 newRay = hitData.normal + Raytracing::Raycaster::randomUnitVector().normalize();
 
         // rays that are close to zero are liable to floating point precision errors
         if (newRay.x() < EPSILON && newRay.y() < EPSILON && newRay.z() < EPSILON && newRay.w() < EPSILON)
@@ -82,63 +119,63 @@ namespace Raytracing {
 
     ScatterResults MetalMaterial::scatter(const Ray& ray, const HitData& hitData) const {
         // create a ray reflection
-        vec4 newRay = reflect(ray.getDirection().normalize(), hitData.normal);
+        Vec4 newRay = reflect(ray.getDirection().normalize(), hitData.normal);
         // make sure our reflected ray is outside the sphere and doesn't point inwards
-        bool shouldReflect = vec4::dot(newRay, hitData.normal) > 0;
+        bool shouldReflect = Vec4::dot(newRay, hitData.normal) > 0;
         return {shouldReflect, Ray{hitData.hitPoint, newRay}, getBaseColor()};
     }
 
     ScatterResults BrushedMetalMaterial::scatter(const Ray& ray, const HitData& hitData) const {
         // create a ray reflection
-        vec4 newRay = reflect(ray.getDirection().normalize(), hitData.normal);
+        Vec4 newRay = reflect(ray.getDirection().normalize(), hitData.normal);
         // make sure our reflected ray is outside the sphere and doesn't point inwards
-        bool shouldReflect = vec4::dot(newRay, hitData.normal) > 0;
+        bool shouldReflect = Vec4::dot(newRay, hitData.normal) > 0;
         return {shouldReflect, Ray{hitData.hitPoint, newRay + Raycaster::randomUnitVector() * fuzzyness}, getBaseColor()};
     }
 
-    static HitData checkIfTriangleGotHit(Triangle theTriangle, vec4 position, const Ray& ray, PRECISION_TYPE min, PRECISION_TYPE max) {
+    static HitData checkIfTriangleGotHit(const Triangle& theTriangle, const Vec4& position, const Ray& ray, PRECISION_TYPE min, PRECISION_TYPE max) {
         // Möller–Trumbore intersection algorithm
         // https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
-        vec4 edge1, edge2, h, s, q;
+        Vec4 edge1, edge2, h, s, q;
         PRECISION_TYPE a, f, u, v;
         edge1 = (theTriangle.vertex2 + position) - (theTriangle.vertex1 + position);
         edge2 = (theTriangle.vertex3 + position) - (theTriangle.vertex1 + position);
 
-        h = vec4::cross(ray.getDirection(), edge2);
+        h = Vec4::cross(ray.getDirection(), edge2);
-        a = vec4::dot(edge1, h);
+        a = Vec4::dot(edge1, h);
 
         if (a > -EPSILON && a < EPSILON)
-            return {false, vec4(), vec4(), 0}; //parallel to triangle
+            return {false, Vec4(), Vec4(), 0}; //parallel to triangle
 
         f = 1.0 / a;
         s = ray.getStartingPoint() - (theTriangle.vertex1 + position);
-        u = f * vec4::dot(s, h);
+        u = f * Vec4::dot(s, h);
 
         if (u < 0.0 || u > 1.0)
-            return {false, vec4(), vec4(), 0};
+            return {false, Vec4(), Vec4(), 0};
 
-        q = vec4::cross(s, edge1);
+        q = Vec4::cross(s, edge1);
-        v = f * vec4::dot(ray.getDirection(), q);
+        v = f * Vec4::dot(ray.getDirection(), q);
         if (v < 0.0 || u + v > 1.0)
-            return {false, vec4(), vec4(), 0};
+            return {false, Vec4(), Vec4(), 0};
 
         // At this stage we can compute t to find out where the intersection point is on the line.
-        PRECISION_TYPE t = f * vec4::dot(edge2, q);
+        PRECISION_TYPE t = f * Vec4::dot(edge2, q);
         if (t > EPSILON) {
             // ray intersects
-            vec4 rayIntersectionPoint = ray.along(t);
+            Vec4 rayIntersectionPoint = ray.along(t);
-            vec4 normal;
+            Vec4 normal;
             // normal = theTriangle.findClosestNormal(rayIntersectionPoint - position);
             if (theTriangle.hasNormals) // returning the closest normal is extra computation when n1 would likely be fine.
                 normal = theTriangle.normal1;
             else {
                 // standard points to normal algorithm but using already computed edges
-                normal = vec4{edge1.y() * edge2.z(), edge1.z() * edge2.x(), edge1.x() * edge2.y()} -
+                normal = Vec4{edge1.y() * edge2.z(), edge1.z() * edge2.x(), edge1.x() * edge2.y()} -
-                         vec4{edge1.z() * edge2.y(), edge1.x() * edge2.z(), edge1.y() * edge2.x()};
+                         Vec4{edge1.z() * edge2.y(), edge1.x() * edge2.z(), edge1.y() * edge2.x()};
             }
             return {true, rayIntersectionPoint, normal, t};
         }
-        return {false, vec4(), vec4(), 0};
+        return {false, Vec4(), Vec4(), 0};
     }
 
     HitData TriangleObject::checkIfHit(const Ray& ray, PRECISION_TYPE min, PRECISION_TYPE max) const {
@@ -146,12 +183,25 @@ namespace Raytracing {
     }
 
     HitData ModelObject::checkIfHit(const Ray& ray, PRECISION_TYPE min, PRECISION_TYPE max) const {
-        auto hResult = HitData{false, vec4(), vec4(), max};
+        /*auto hResult = HitData{false, Vec4(), Vec4(), max};
         for (const Triangle& t : triangles) {
             auto cResult = checkIfTriangleGotHit(t, position, ray, min, hResult.length);
             if (cResult.hit)
                 hResult = cResult;
+        }*/
+        auto hResult = HitData{false, Vec4(), Vec4(), max};
+        
+        auto intersected = tree->rayIntersect(ray, min, max);
+        
+        for (auto t : intersected){
+            // apparently this kind of casting is okay
+            // which makes sense since the actual data behind it is a empty object
+            // just this is really bad and im too annoyed to figure out a better way. TODO:.
+            auto cResult = checkIfTriangleGotHit(((EmptyObject*)(t))->tri, position, ray, min, hResult.length);
+            if (cResult.hit)
+                hResult = cResult;
         }
+        
         return hResult;
     }
 }