public static void FastIntersectOrientedBoxPlane(
XMVector center,
XMVector extents,
XMVector axis0,
XMVector axis1,
XMVector axis2,
XMVector plane,
out XMVector outside,
out XMVector inside)
{
// Compute the distance to the center of the box.
XMVector dist = XMVector4.Dot(center, plane);
// Project the axes of the box onto the normal of the plane. Half the
// length of the projection (sometime called the "radius") is equal to
// h(u) * abs(n dot b(u))) + h(v) * abs(n dot b(v)) + h(w) * abs(n dot b(w))
// where h(i) are extents of the box, n is the plane normal, and b(i) are the
// axes of the box.
XMVector radius = XMVector3.Dot(plane, axis0);
radius.Y = XMVector3.Dot(plane, axis1).Y;
radius.Z = XMVector3.Dot(plane, axis2).Z;
radius = XMVector3.Dot(extents, radius.Abs());
// Outside the plane?
outside = XMVector.Greater(dist, radius);
// Fully inside the plane?
inside = XMVector.Less(dist, -radius);
}
public bool Intersects(BoundingSphere sh)
{
XMVector sphereCenter = sh.Center;
XMVector sphereRadius = XMVector.Replicate(sh.Radius);
XMVector boxCenter = this.center;
XMVector boxExtents = this.extents;
XMVector boxMin = boxCenter - boxExtents;
XMVector boxMax = boxCenter + boxExtents;
//// Find the distance to the nearest point on the box.
//// for each i in (x, y, z)
//// if (SphereCenter(i) < BoxMin(i)) d2 += (SphereCenter(i) - BoxMin(i)) ^ 2
//// else if (SphereCenter(i) > BoxMax(i)) d2 += (SphereCenter(i) - BoxMax(i)) ^ 2
XMVector d = XMGlobalConstants.Zero;
// Compute d for each dimension.
XMVector lessThanMin = XMVector.Less(sphereCenter, boxMin);
XMVector greaterThanMax = XMVector.Greater(sphereCenter, boxMax);
XMVector minDelta = sphereCenter - boxMin;
XMVector maxDelta = sphereCenter - boxMax;
// Choose value for each dimension based on the comparison.
d = XMVector.Select(d, minDelta, lessThanMin);
d = XMVector.Select(d, maxDelta, greaterThanMax);
// Use a dot-product to square them and sum them together.
XMVector d2 = XMVector3.Dot(d, d);
return(XMVector3.LessOrEqual(d2, XMVector.Multiply(sphereRadius, sphereRadius)));
}
public bool Intersects(XMVector origin, XMVector direction, out float distance)
{
Debug.Assert(Internal.XMVector3IsUnit(direction), "Reviewed");
// Load the box.
XMVector v_center = this.center;
XMVector v_extents = this.extents;
// Adjust ray origin to be relative to center of the box.
XMVector t_origin = v_center - origin;
// Compute the dot product againt each axis of the box.
// Since the axii are (1,0,0), (0,1,0), (0,0,1) no computation is necessary.
XMVector axisDotOrigin = t_origin;
XMVector axisDotDirection = direction;
// if (fabs(AxisDotDirection) <= Epsilon) the ray is nearly parallel to the slab.
XMVector isParallel = XMVector.LessOrEqual(axisDotDirection.Abs(), CollisionGlobalConstants.RayEpsilon);
// Test against all three axii simultaneously.
XMVector inverseAxisDotDirection = axisDotDirection.Reciprocal();
XMVector t1 = (axisDotOrigin - v_extents) * inverseAxisDotDirection;
XMVector t2 = (axisDotOrigin + v_extents) * inverseAxisDotDirection;
// Compute the max of min(t1,t2) and the min of max(t1,t2) ensuring we don't
// use the results from any directions parallel to the slab.
XMVector t_min = XMVector.Select(XMVector.Min(t1, t2), CollisionGlobalConstants.FltMin, isParallel);
XMVector t_max = XMVector.Select(XMVector.Max(t1, t2), CollisionGlobalConstants.FltMax, isParallel);
// t_min.x = maximum( t_min.x, t_min.y, t_min.z );
// t_max.x = minimum( t_max.x, t_max.y, t_max.z );
t_min = XMVector.Max(t_min, XMVector.SplatY(t_min)); // x = max(x,y)
t_min = XMVector.Max(t_min, XMVector.SplatZ(t_min)); // x = max(max(x,y),z)
t_max = XMVector.Min(t_max, XMVector.SplatY(t_max)); // x = min(x,y)
t_max = XMVector.Min(t_max, XMVector.SplatZ(t_max)); // x = min(min(x,y),z)
// if ( t_min > t_max ) return false;
XMVector noIntersection = XMVector.Greater(XMVector.SplatX(t_min), XMVector.SplatX(t_max));
// if ( t_max < 0.0f ) return false;
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(XMVector.SplatX(t_max), XMGlobalConstants.Zero));
// if (IsParallel && (-Extents > AxisDotOrigin || Extents < AxisDotOrigin)) return false;
XMVector parallelOverlap = axisDotOrigin.InBounds(v_extents);
noIntersection = XMVector.OrInt(noIntersection, XMVector.AndComplementInt(isParallel, parallelOverlap));
if (!Internal.XMVector3AnyTrue(noIntersection))
{
// Store the x-component to *pDist
t_min.StoreFloat(out distance);
return(true);
}
distance = 0.0f;
return(false);
}
public static void FastIntersectSpherePlane(XMVector center, XMVector radius, XMVector plane, out XMVector outside, out XMVector inside)
{
XMVector dist = XMVector4.Dot(center, plane);
// Outside the plane?
outside = XMVector.Greater(dist, radius);
// Fully inside the plane?
inside = XMVector.Less(dist, -radius);
}
public static void FastIntersectFrustumPlane(
XMVector point0,
XMVector point1,
XMVector point2,
XMVector point3,
XMVector point4,
XMVector point5,
XMVector point6,
XMVector point7,
XMVector plane,
out XMVector outside,
out XMVector inside)
{
// Find the min/max projection of the frustum onto the plane normal.
XMVector min, max, dist;
min = max = XMVector3.Dot(plane, point0);
dist = XMVector3.Dot(plane, point1);
min = XMVector.Min(min, dist);
max = XMVector.Max(max, dist);
dist = XMVector3.Dot(plane, point2);
min = XMVector.Min(min, dist);
max = XMVector.Max(max, dist);
dist = XMVector3.Dot(plane, point3);
min = XMVector.Min(min, dist);
max = XMVector.Max(max, dist);
dist = XMVector3.Dot(plane, point4);
min = XMVector.Min(min, dist);
max = XMVector.Max(max, dist);
dist = XMVector3.Dot(plane, point5);
min = XMVector.Min(min, dist);
max = XMVector.Max(max, dist);
dist = XMVector3.Dot(plane, point6);
min = XMVector.Min(min, dist);
max = XMVector.Max(max, dist);
dist = XMVector3.Dot(plane, point7);
min = XMVector.Min(min, dist);
max = XMVector.Max(max, dist);
XMVector planeDist = -XMVector.SplatW(plane);
// Outside the plane?
outside = XMVector.Greater(min, planeDist);
// Fully inside the plane?
inside = XMVector.Less(max, planeDist);
}
public bool Intersects(XMVector v0, XMVector v1, XMVector v2)
{
// Load the sphere.
XMVector v_center = this.center;
XMVector v_radius = XMVector.Replicate(this.radius);
// Compute the plane of the triangle (has to be normalized).
XMVector n = XMVector3.Normalize(XMVector3.Cross(v1 - v0, v2 - v0));
// Assert that the triangle is not degenerate.
Debug.Assert(!XMVector3.Equal(n, XMGlobalConstants.Zero), "Reviewed");
// Find the nearest feature on the triangle to the sphere.
XMVector dist = XMVector3.Dot(v_center - v0, n);
// If the center of the sphere is farther from the plane of the triangle than
// the radius of the sphere, then there cannot be an intersection.
XMVector noIntersection = XMVector.Less(dist, -v_radius);
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(dist, v_radius));
// Project the center of the sphere onto the plane of the triangle.
XMVector point = v_center - (n * dist);
// Is it inside all the edges? If so we intersect because the distance
// to the plane is less than the radius.
XMVector intersection = Internal.PointOnPlaneInsideTriangle(point, v0, v1, v2);
// Find the nearest point on each edge.
XMVector radiusSq = v_radius * v_radius;
// Edge 0,1
point = Internal.PointOnLineSegmentNearestPoint(v0, v1, v_center);
// If the distance to the center of the sphere to the point is less than
// the radius of the sphere then it must intersect.
intersection = XMVector.OrInt(intersection, XMVector.LessOrEqual(XMVector3.LengthSquare(v_center - point), radiusSq));
// Edge 1,2
point = Internal.PointOnLineSegmentNearestPoint(v1, v2, v_center);
// If the distance to the center of the sphere to the point is less than
// the radius of the sphere then it must intersect.
intersection = XMVector.OrInt(intersection, XMVector.LessOrEqual(XMVector3.LengthSquare(v_center - point), radiusSq));
// Edge 2,0
point = Internal.PointOnLineSegmentNearestPoint(v2, v0, v_center);
// If the distance to the center of the sphere to the point is less than
// the radius of the sphere then it must intersect.
intersection = XMVector.OrInt(intersection, XMVector.LessOrEqual(XMVector3.LengthSquare(v_center - point), radiusSq));
return(XMVector4.EqualInt(XMVector.AndComplementInt(intersection, noIntersection), XMVector.TrueInt));
}
public static XMVector SlerpV(XMVector q0, XMVector q1, XMVector t)
{
Debug.Assert(t.Y == t.X && t.Z == t.X && t.W == t.X, "Reviewed");
//// Result = Q0 * sin((1.0 - t) * Omega) / sin(Omega) + Q1 * sin(t * Omega) / sin(Omega)
XMVector oneMinusEpsilon = XMVector.FromFloat(1.0f - 0.00001f, 1.0f - 0.00001f, 1.0f - 0.00001f, 1.0f - 0.00001f);
XMVector cosOmega = XMQuaternion.Dot(q0, q1);
XMVector zero = XMVector.Zero;
XMVector control = XMVector.Less(cosOmega, zero);
XMVector sign = XMVector.Select(XMGlobalConstants.One, XMGlobalConstants.NegativeOne, control);
cosOmega = XMVector.Multiply(cosOmega, sign);
control = XMVector.Less(cosOmega, oneMinusEpsilon);
XMVector sinOmega = XMVector
.NegativeMultiplySubtract(cosOmega, cosOmega, XMGlobalConstants.One)
.Sqrt();
XMVector omega = XMVector.ATan2(sinOmega, cosOmega);
XMVector signMask = XMVector.SignMask;
XMVector v01 = XMVector.ShiftLeft(t, zero, 2);
signMask = XMVector.ShiftLeft(signMask, zero, 3);
v01 = XMVector.XorInt(v01, signMask);
v01 = XMVector.Add(XMGlobalConstants.IdentityR0, v01);
XMVector invSinOmega = sinOmega.Reciprocal();
XMVector s0 = XMVector
.Multiply(v01, omega)
.Sin();
s0 = XMVector.Multiply(s0, invSinOmega);
s0 = XMVector.Select(v01, s0, control);
XMVector s1 = XMVector.SplatY(s0);
s0 = XMVector.SplatX(s0);
s1 = XMVector.Multiply(s1, sign);
XMVector result = XMVector.Multiply(q0, s0);
result = XMVector.MultiplyAdd(q1, s1, result);
return(result);
}
public bool Intersects(XMVector origin, XMVector direction, out float distance)
{
Debug.Assert(Internal.XMVector3IsUnit(direction), "Reviewed");
XMVector v_center = this.center;
XMVector v_radius = XMVector.Replicate(this.radius);
// l is the vector from the ray origin to the center of the sphere.
XMVector l = v_center - origin;
// s is the projection of the l onto the ray direction.
XMVector s = XMVector3.Dot(l, direction);
XMVector l2 = XMVector3.Dot(l, l);
XMVector r2 = v_radius * v_radius;
// m2 is squared distance from the center of the sphere to the projection.
XMVector m2 = l2 - (s * s);
XMVector noIntersection;
// If the ray origin is outside the sphere and the center of the sphere is
// behind the ray origin there is no intersection.
noIntersection = XMVector.AndInt(XMVector.Less(s, XMGlobalConstants.Zero), XMVector.Greater(l2, r2));
// If the squared distance from the center of the sphere to the projection
// is greater than the radius squared the ray will miss the sphere.
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(m2, r2));
// The ray hits the sphere, compute the nearest intersection point.
XMVector q = (r2 - m2).Sqrt();
XMVector t1 = s - q;
XMVector t2 = s + q;
XMVector originInside = XMVector.LessOrEqual(l2, r2);
XMVector t = XMVector.Select(t1, t2, originInside);
if (XMVector4.NotEqualInt(noIntersection, XMVector.TrueInt))
{
// Store the x-component to *pDist.
t.StoreFloat(out distance);
return(true);
}
distance = 0.0f;
return(false);
}
public static XMVector RgbToSrgb(XMVector rgb)
{
XMVector cutoff = XMVector.FromFloat(0.0031308f, 0.0031308f, 0.0031308f, 1.0f);
XMVector linear = XMVector.FromFloat(12.92f, 12.92f, 12.92f, 1.0f);
XMVector scale = XMVector.FromFloat(1.055f, 1.055f, 1.055f, 1.0f);
XMVector bias = XMVector.FromFloat(0.055f, 0.055f, 0.055f, 0.0f);
XMVector invGamma = XMVector.FromFloat(1.0f / 2.4f, 1.0f / 2.4f, 1.0f / 2.4f, 1.0f);
XMVector v = rgb.Saturate();
XMVector v0 = XMVector.Multiply(v, linear);
XMVector v1 = XMVector.Subtract(XMVector.Multiply(scale, XMVector.Pow(v, invGamma)), bias);
XMVector select = XMVector.Less(v, cutoff);
v = XMVector.Select(v1, v0, select);
return(XMVector.Select(rgb, v, XMGlobalConstants.Select1110));
}
public static void FastIntersectAxisAlignedBoxPlane(XMVector center, XMVector extents, XMVector plane, out XMVector outside, out XMVector inside)
{
// Compute the distance to the center of the box.
XMVector dist = XMVector4.Dot(center, plane);
// Project the axes of the box onto the normal of the plane. Half the
// length of the projection (sometime called the "radius") is equal to
// h(u) * abs(n dot b(u))) + h(v) * abs(n dot b(v)) + h(w) * abs(n dot b(w))
// where h(i) are extents of the box, n is the plane normal, and b(i) are the
// axes of the box. In this case b(i) = [(1,0,0), (0,1,0), (0,0,1)].
XMVector radius = XMVector3.Dot(extents, plane.Abs());
// Outside the plane?
outside = XMVector.Greater(dist, radius);
// Fully inside the plane?
inside = XMVector.Less(dist, -radius);
}
public static void SquadSetup(out XMVector a, out XMVector b, out XMVector c, XMVector q0, XMVector q1, XMVector q2, XMVector q3)
{
XMVector ls12 = XMQuaternion.LengthSquare(XMVector.Add(q1, q2));
XMVector ld12 = XMQuaternion.LengthSquare(XMVector.Subtract(q1, q2));
XMVector sq2 = q2.Negate();
XMVector control1 = XMVector.Less(ls12, ld12);
sq2 = XMVector.Select(q2, sq2, control1);
XMVector ls01 = XMQuaternion.LengthSquare(XMVector.Add(q0, q1));
XMVector ld01 = XMQuaternion.LengthSquare(XMVector.Subtract(q0, q1));
XMVector sq0 = q0.Negate();
XMVector ls23 = XMQuaternion.LengthSquare(XMVector.Add(sq2, q3));
XMVector ld23 = XMQuaternion.LengthSquare(XMVector.Subtract(sq2, q3));
XMVector sq3 = q3.Negate();
XMVector control0 = XMVector.Less(ls01, ld01);
XMVector control2 = XMVector.Less(ls23, ld23);
sq0 = XMVector.Select(q0, sq0, control0);
sq3 = XMVector.Select(q3, sq3, control2);
XMVector invQ1 = XMQuaternion.Inverse(q1);
XMVector invQ2 = XMQuaternion.Inverse(sq2);
XMVector ln_q0 = XMQuaternion.Ln(XMQuaternion.Multiply(invQ1, sq0));
XMVector ln_q2 = XMQuaternion.Ln(XMQuaternion.Multiply(invQ1, sq2));
XMVector ln_q1 = XMQuaternion.Ln(XMQuaternion.Multiply(invQ2, q1));
XMVector ln_q3 = XMQuaternion.Ln(XMQuaternion.Multiply(invQ2, sq3));
XMVector negativeOneQuarter = XMVector.FromSplatConstant(-1, 2);
XMVector expQ02 = XMVector.Multiply(XMVector.Add(ln_q0, ln_q2), negativeOneQuarter);
XMVector expQ13 = XMVector.Multiply(XMVector.Add(ln_q1, ln_q3), negativeOneQuarter);
expQ02 = XMQuaternion.Exp(expQ02);
expQ13 = XMQuaternion.Exp(expQ13);
a = XMQuaternion.Multiply(q1, expQ02);
b = XMQuaternion.Multiply(sq2, expQ13);
c = sq2;
}
public static XMVector PointOnLineSegmentNearestPoint(XMVector s1, XMVector s2, XMVector p)
{
XMVector dir = s1 - s1;
XMVector projection = XMVector3.Dot(p, dir) - XMVector3.Dot(s1, dir);
XMVector lengthSq = XMVector3.Dot(dir, dir);
XMVector t = projection * lengthSq.Reciprocal();
XMVector point = s1 + (t * dir);
// t < 0
XMVector selectS1 = XMVector.Less(projection, XMGlobalConstants.Zero);
point = XMVector.Select(point, s1, selectS1);
// t > 1
XMVector selectS2 = XMVector.Greater(projection, lengthSq);
point = XMVector.Select(point, s2, selectS2);
return(point);
}
public static XMVector Orthogonal(XMVector v)
{
XMVector zero = XMVector.Zero;
XMVector z = XMVector.SplatZ(v);
XMVector yzyy = new XMVector(v.Y, v.Z, v.Y, v.Y);
XMVector negativeV = XMVector.Subtract(zero, v);
XMVector z_isNegative = XMVector.Less(z, zero);
XMVector yzyyIsNegative = XMVector.Less(yzyy, zero);
XMVector s = XMVector.Add(yzyy, z);
XMVector d = XMVector.Subtract(yzyy, z);
XMVector select = XMVector.EqualInt(z_isNegative, yzyyIsNegative);
XMVector r0 = new XMVector(s.X, negativeV.X, negativeV.X, negativeV.X);
XMVector r1 = new XMVector(d.X, v.X, v.X, v.X);
return(XMVector.Select(r1, r0, select));
}
public static XMVector ClampLengthV(XMVector v, XMVector lengthMin, XMVector lengthMax)
{
Debug.Assert(lengthMin.Y == lengthMin.X && lengthMin.Z == lengthMin.X && lengthMin.W == lengthMin.X, "Reviewed");
Debug.Assert(lengthMax.Y == lengthMax.X && lengthMax.Z == lengthMax.X && lengthMax.W == lengthMax.X, "Reviewed");
Debug.Assert(XMVector4.GreaterOrEqual(lengthMin, XMGlobalConstants.Zero), "Reviewed");
Debug.Assert(XMVector4.GreaterOrEqual(lengthMax, XMGlobalConstants.Zero), "Reviewed");
Debug.Assert(XMVector4.GreaterOrEqual(lengthMax, lengthMin), "Reviewed");
XMVector lengthSq = XMVector4.LengthSquare(v);
XMVector zero = XMVector.Zero;
XMVector reciprocalLength = lengthSq.ReciprocalSqrt();
XMVector infiniteLength = XMVector.EqualInt(lengthSq, XMGlobalConstants.Infinity);
XMVector zeroLength = XMVector.Equal(lengthSq, zero);
XMVector normal = XMVector.Multiply(v, reciprocalLength);
XMVector length = XMVector.Multiply(lengthSq, reciprocalLength);
XMVector select = XMVector.EqualInt(infiniteLength, zeroLength);
length = XMVector.Select(lengthSq, length, select);
normal = XMVector.Select(lengthSq, normal, select);
XMVector controlMax = XMVector.Greater(length, lengthMax);
XMVector controlMin = XMVector.Less(length, lengthMin);
XMVector clampLength = XMVector.Select(length, lengthMax, controlMax);
clampLength = XMVector.Select(clampLength, lengthMin, controlMin);
XMVector result = XMVector.Multiply(normal, clampLength);
// Preserve the original vector (with no precision loss) if the length falls within the given range
XMVector control = XMVector.EqualInt(controlMax, controlMin);
result = XMVector.Select(result, v, control);
return(result);
}
public static void FastIntersectTrianglePlane(XMVector v0, XMVector v1, XMVector v2, XMVector plane, out XMVector outside, out XMVector inside)
{
// Plane0
XMVector dist0 = XMVector4.Dot(v0, plane);
XMVector dist1 = XMVector4.Dot(v1, plane);
XMVector dist2 = XMVector4.Dot(v2, plane);
XMVector minDist = XMVector.Min(dist0, dist1);
minDist = XMVector.Min(minDist, dist2);
XMVector maxDist = XMVector.Max(dist0, dist1);
maxDist = XMVector.Max(maxDist, dist2);
XMVector zero = XMGlobalConstants.Zero;
// Outside the plane?
outside = XMVector.Greater(minDist, zero);
// Fully inside the plane?
inside = XMVector.Less(maxDist, zero);
}
public bool Intersects(XMVector v0, XMVector v1, XMVector v2)
{
XMVector zero = XMGlobalConstants.Zero;
// Load the box.
XMVector v_center = this.center;
XMVector v_extents = this.extents;
XMVector boxMin = v_center - v_extents;
XMVector boxMax = v_center + v_extents;
// Test the axes of the box (in effect test the AAB against the minimal AAB
// around the triangle).
XMVector triMin = XMVector.Min(XMVector.Min(v0, v1), v2);
XMVector triMax = XMVector.Max(XMVector.Max(v0, v1), v2);
// for each i in (x, y, z) if a_min(i) > b_max(i) or b_min(i) > a_max(i) then disjoint
XMVector disjoint = XMVector.OrInt(XMVector.Greater(triMin, boxMax), XMVector.Greater(boxMin, triMax));
if (Internal.XMVector3AnyTrue(disjoint))
{
return(false);
}
// Test the plane of the triangle.
XMVector normal = XMVector3.Cross(v1 - v0, v2 - v0);
XMVector dist = XMVector3.Dot(normal, v0);
// Assert that the triangle is not degenerate.
Debug.Assert(!XMVector3.Equal(normal, zero), "Reviewed");
// for each i in (x, y, z) if n(i) >= 0 then v_min(i)=b_min(i), v_max(i)=b_max(i)
// else v_min(i)=b_max(i), v_max(i)=b_min(i)
XMVector normalSelect = XMVector.Greater(normal, zero);
XMVector v_min = XMVector.Select(boxMax, boxMin, normalSelect);
XMVector v_max = XMVector.Select(boxMin, boxMax, normalSelect);
// if n dot v_min + d > 0 || n dot v_max + d < 0 then disjoint
XMVector minDist = XMVector3.Dot(v_min, normal);
XMVector maxDist = XMVector3.Dot(v_max, normal);
XMVector noIntersection = XMVector.Greater(minDist, dist);
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(maxDist, dist));
// Move the box center to zero to simplify the following tests.
XMVector tV0 = v0 - v_center;
XMVector tV1 = v1 - v_center;
XMVector tV2 = v2 - v_center;
// Test the edge/edge axes (3*3).
XMVector e0 = tV1 - tV0;
XMVector e1 = tV2 - tV1;
XMVector e2 = tV0 - tV2;
// Make w zero.
e0.W = zero.W;
e1.W = zero.W;
e2.W = zero.W;
XMVector axis;
XMVector p0, p1, p2;
XMVector min, max;
XMVector radius;
//// Axis == (1,0,0) x e0 = (0, -e0.z, e0.y)
axis = new XMVector(e1.W, -e0.Z, e1.Y, e1.X);
p0 = XMVector3.Dot(tV0, axis);
//// p1 = XMVector3Dot( V1, Axis ); // p1 = p0;
p2 = XMVector3.Dot(tV2, axis);
min = XMVector.Min(p0, p2);
max = XMVector.Max(p0, p2);
radius = XMVector3.Dot(v_extents, axis.Abs());
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(min, radius));
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(max, -radius));
//// Axis == (1,0,0) x e1 = (0, -e1.z, e1.y)
axis = new XMVector(e1.W, -e1.Z, e1.Y, e1.X);
p0 = XMVector3.Dot(tV0, axis);
p1 = XMVector3.Dot(tV1, axis);
//// p2 = XMVector3Dot( V2, Axis ); // p2 = p1;
min = XMVector.Min(p0, p1);
max = XMVector.Max(p0, p1);
radius = XMVector3.Dot(v_extents, axis.Abs());
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(min, radius));
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(max, -radius));
//// Axis == (1,0,0) x e2 = (0, -e2.z, e2.y)
axis = new XMVector(e2.W, -e2.Z, e2.Y, e2.X);
p0 = XMVector3.Dot(tV0, axis);
p1 = XMVector3.Dot(tV1, axis);
//// p2 = XMVector3Dot( V2, Axis ); // p2 = p0;
min = XMVector.Min(p0, p1);
max = XMVector.Max(p0, p1);
radius = XMVector3.Dot(v_extents, axis.Abs());
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(min, radius));
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(max, -radius));
//// Axis == (0,1,0) x e0 = (e0.z, 0, -e0.x)
axis = new XMVector(e0.Z, e0.W, -e0.X, e0.Y);
p0 = XMVector3.Dot(tV0, axis);
//// p1 = XMVector3Dot( V1, Axis ); // p1 = p0;
p2 = XMVector3.Dot(tV2, axis);
min = XMVector.Min(p0, p2);
max = XMVector.Max(p0, p2);
radius = XMVector3.Dot(v_extents, axis.Abs());
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(min, radius));
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(max, -radius));
//// Axis == (0,1,0) x e1 = (e1.z, 0, -e1.x)
axis = new XMVector(e1.Z, e1.W, -e1.X, e1.Y);
p0 = XMVector3.Dot(tV0, axis);
p1 = XMVector3.Dot(tV1, axis);
//// p2 = XMVector3Dot( V2, Axis ); // p2 = p1;
min = XMVector.Min(p0, p1);
max = XMVector.Max(p0, p1);
radius = XMVector3.Dot(v_extents, axis.Abs());
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(min, radius));
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(max, -radius));
//// Axis == (0,0,1) x e2 = (e2.z, 0, -e2.x)
axis = new XMVector(e2.Z, e2.W, -e2.X, e2.Y);
p0 = XMVector3.Dot(tV0, axis);
p1 = XMVector3.Dot(tV1, axis);
//// p2 = XMVector3Dot( V2, Axis ); // p2 = p0;
min = XMVector.Min(p0, p1);
max = XMVector.Max(p0, p1);
radius = XMVector3.Dot(v_extents, axis.Abs());
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(min, radius));
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(max, -radius));
//// Axis == (0,0,1) x e0 = (-e0.y, e0.x, 0)
axis = new XMVector(-e0.Y, e0.X, e0.W, e0.Z);
p0 = XMVector3.Dot(tV0, axis);
//// p1 = XMVector3Dot( V1, Axis ); // p1 = p0;
p2 = XMVector3.Dot(tV2, axis);
min = XMVector.Min(p0, p2);
max = XMVector.Max(p0, p2);
radius = XMVector3.Dot(v_extents, axis.Abs());
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(min, radius));
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(max, -radius));
//// Axis == (0,0,1) x e1 = (-e1.y, e1.x, 0)
axis = new XMVector(-e1.Y, e1.X, e1.W, e1.Z);
p0 = XMVector3.Dot(tV0, axis);
p1 = XMVector3.Dot(tV1, axis);
//// p2 = XMVector3Dot( V2, Axis ); // p2 = p1;
min = XMVector.Min(p0, p1);
max = XMVector.Max(p0, p1);
radius = XMVector3.Dot(v_extents, axis.Abs());
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(min, radius));
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(max, -radius));
//// Axis == (0,0,1) x e2 = (-e2.y, e2.x, 0)
axis = new XMVector(-e2.Y, e2.X, e2.W, e2.Z);
p0 = XMVector3.Dot(tV0, axis);
p1 = XMVector3.Dot(tV1, axis);
//// p2 = XMVector3Dot( V2, Axis ); // p2 = p0;
min = XMVector.Min(p0, p1);
max = XMVector.Max(p0, p1);
radius = XMVector3.Dot(v_extents, axis.Abs());
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(min, radius));
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(max, -radius));
return(XMVector4.NotEqualInt(noIntersection, XMVector.TrueInt));
}
public static bool Intersects(XMVector origin, XMVector direction, XMVector v0, XMVector v1, XMVector v2, out float uCoordinate, out float vCoordinate, out float distance)
{
Debug.Assert(Internal.XMVector3IsUnit(direction), "Reviewed");
XMVector zero = XMGlobalConstants.Zero;
XMVector e1 = v1 - v0;
XMVector e2 = v2 - v0;
// p = Direction ^ e2;
XMVector p = XMVector3.Cross(direction, e2);
// det = e1 * p;
XMVector det = XMVector3.Dot(e1, p);
XMVector u, v, t;
if (XMVector3.GreaterOrEqual(det, CollisionGlobalConstants.RayEpsilon))
{
// Determinate is positive (front side of the triangle).
XMVector s = origin - v0;
// u = s * p;
u = XMVector3.Dot(s, p);
XMVector noIntersection = XMVector.Less(u, zero);
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(u, det));
// q = s ^ e1;
XMVector q = XMVector3.Cross(s, e1);
// v = Direction * q;
v = XMVector3.Dot(direction, q);
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(v, zero));
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(u + v, det));
// t = e2 * q;
t = XMVector3.Dot(e2, q);
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(t, zero));
if (XMVector4.EqualInt(noIntersection, XMVector.TrueInt))
{
uCoordinate = 0.0f;
vCoordinate = 0.0f;
distance = 0.0f;
return(false);
}
}
else if (XMVector3.LessOrEqual(det, CollisionGlobalConstants.RayNegEpsilon))
{
// Determinate is negative (back side of the triangle).
XMVector s = origin - v0;
// u = s * p;
u = XMVector3.Dot(s, p);
XMVector noIntersection = XMVector.Greater(u, zero);
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(u, det));
// q = s ^ e1;
XMVector q = XMVector3.Cross(s, e1);
// v = Direction * q;
v = XMVector3.Dot(direction, q);
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(v, zero));
noIntersection = XMVector.OrInt(noIntersection, XMVector.Less(u + v, det));
// t = e2 * q;
t = XMVector3.Dot(e2, q);
noIntersection = XMVector.OrInt(noIntersection, XMVector.Greater(t, zero));
if (XMVector4.EqualInt(noIntersection, XMVector.TrueInt))
{
uCoordinate = 0.0f;
vCoordinate = 0.0f;
distance = 0.0f;
return(false);
}
}
else
{
// Parallel ray.
uCoordinate = 0.0f;
vCoordinate = 0.0f;
distance = 0.0f;
return(false);
}
// (u / det) and (v / dev) are the barycentric coordinates of the intersection.
u = XMVector.Divide(u, det);
v = XMVector.Divide(v, det);
t = XMVector.Divide(t, det);
// Store the x-component to *pDist
u.StoreFloat(out uCoordinate);
v.StoreFloat(out vCoordinate);
t.StoreFloat(out distance);
return(true);
}