float3_soa4 cross(float3_soa4 l, float3_soa4 r) =>
new float3_soa4
{
x = l.y * r.z - l.z * r.y,
y = l.z * r.x - l.x * r.z,
z = l.x * r.y - l.y * r.x,
};
public bool IsInside(AABB bbox)
{
var n = this.plane4.xyz;
var d = this.plane4.w;
var c = bbox.Center.ExpandToSoa4();
var e = bbox.Extents.ExpandToSoa4();
var l = new float3_soa4()
{
x = c.x + e.x * math.sign(n.x),
y = c.y + e.y * math.sign(n.y),
z = c.z + e.z * math.sign(n.z),
};
return(math.all(dot(l, n) + d >= 0.0f));
}
float3_soa4 rotate(float4_soa4 q, float3_soa4 v)
{
var qv = cross(q.xyz, v);
var t = new float3_soa4
{
x = 2.0f * qv.x,
y = 2.0f * qv.y,
z = 2.0f * qv.z,
};
var qt = cross(q.xyz, t);
var o = new float3_soa4
{
x = v.x + q.w * t.x + qt.x,
y = v.y + q.w * t.y + qt.y,
z = v.z + q.w * t.z + qt.z,
};
return(o);
}
bool isInside <TScaling>(AABB localBbox, Rotation rot, Translation pos, NonUniformScale scl)
where TScaling : IScaling, new()
{
var pl = this.plane4;
var ir = math.inverse(rot.Value).value.ExpandToSoa4();
var t = pos.Value.ExpandToSoa4();
var n = rotate(ir, pl.xyz);
var d = pl.w + dot(pl.xyz, t);
var c = localBbox.Center.ExpandToSoa4();
var e = localBbox.Extents.SmartScaling <TScaling>(scl).ExpandToSoa4();
var l = new float3_soa4()
{
x = c.x + e.x * math.sign(n.x),
y = c.y + e.y * math.sign(n.y),
z = c.z + e.z * math.sign(n.z),
};
return(math.all(dot(l, n) + d >= 0.0f));
}
float4 dot(float3_soa4 l, float3_soa4 r) => l.x * r.x + l.y * r.y + l.z * r.z;
