public static XMVector FresnelTerm(XMVector cosIncidentAngle, XMVector refractionIndex) { Debug.Assert(!XMVector4.IsInfinite(cosIncidentAngle), "Reviewed"); //// Result = 0.5f * (g - c)^2 / (g + c)^2 * ((c * (g + c) - 1)^2 / (c * (g - c) + 1)^2 + 1) where //// c = CosIncidentAngle //// g = sqrt(c^2 + RefractionIndex^2 - 1) XMVector g = XMVector.MultiplyAdd(refractionIndex, refractionIndex, XMGlobalConstants.NegativeOne); g = XMVector.MultiplyAdd(cosIncidentAngle, cosIncidentAngle, g); g = g.Abs().Sqrt(); XMVector s = XMVector.Add(g, cosIncidentAngle); XMVector d = XMVector.Subtract(g, cosIncidentAngle); XMVector v0 = XMVector.Multiply(d, d); XMVector v1 = XMVector.Multiply(s, s).Reciprocal(); v0 = XMVector.Multiply(XMGlobalConstants.OneHalf, v0); v0 = XMVector.Multiply(v0, v1); XMVector v2 = XMVector.MultiplyAdd(cosIncidentAngle, s, XMGlobalConstants.NegativeOne); XMVector v3 = XMVector.MultiplyAdd(cosIncidentAngle, d, XMGlobalConstants.One); v2 = XMVector.Multiply(v2, v2); v3 = XMVector.Multiply(v3, v3); v3 = v3.Reciprocal(); v2 = XMVector.MultiplyAdd(v2, v3, XMGlobalConstants.One); return(XMVector.Multiply(v0, v2).Saturate()); }
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 ContainmentType Contains(BoundingOrientedBox box) { if (!box.Intersects(this)) { return(ContainmentType.Disjoint); } XMVector boxCenter = this.center; XMVector boxExtents = this.extents; // Subtract off the AABB center to remove a subtract below XMVector o_center = box.Center - boxCenter; XMVector o_extents = box.Extents; XMVector o_orientation = box.Orientation; Debug.Assert(Internal.XMQuaternionIsUnit(o_orientation), "Reviewed"); XMVector inside = XMVector.TrueInt; for (int i = 0; i < BoundingOrientedBox.CornerCount; i++) { XMVector c = XMVector3.Rotate(o_extents * CollisionGlobalConstants.BoxOffsets[i], o_orientation) + o_center; XMVector d = c.Abs(); inside = XMVector.AndInt(inside, XMVector.LessOrEqual(d, boxExtents)); } return(XMVector3.EqualInt(inside, XMVector.TrueInt) ? ContainmentType.Contains : ContainmentType.Intersects); }
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 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 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 bool XMPlaneIsUnit(XMVector plane) { XMVector difference = XMVector3.Length(plane) - XMVector.One; return(XMVector4.Less(difference.Abs(), Internal.UnitPlaneEpsilon)); }
public static bool XMQuaternionIsUnit(XMVector q) { XMVector difference = XMVector4.Length(q) - XMVector.One; return(XMVector4.Less(difference.Abs(), Internal.UnitQuaternionEpsilon)); }
public static bool XMVector3IsUnit(XMVector v) { XMVector difference = XMVector3.Length(v) - XMVector.One; return(XMVector4.Less(difference.Abs(), Internal.UnitVectorEpsilon)); }
public static bool Intersects(XMVector a0, XMVector a1, XMVector a2, XMVector b0, XMVector b1, XMVector b2) { XMVector selectY = XMVector.FromInt((uint)XMSelection.Select0, (uint)XMSelection.Select1, (uint)XMSelection.Select0, (uint)XMSelection.Select0); XMVector selectZ = XMVector.FromInt((uint)XMSelection.Select0, (uint)XMSelection.Select0, (uint)XMSelection.Select1, (uint)XMSelection.Select0); XMVector select0111 = XMVector.FromInt((uint)XMSelection.Select0, (uint)XMSelection.Select1, (uint)XMSelection.Select1, (uint)XMSelection.Select1); XMVector select1011 = XMVector.FromInt((uint)XMSelection.Select1, (uint)XMSelection.Select0, (uint)XMSelection.Select1, (uint)XMSelection.Select1); XMVector select1101 = XMVector.FromInt((uint)XMSelection.Select1, (uint)XMSelection.Select1, (uint)XMSelection.Select0, (uint)XMSelection.Select1); XMVector zero = XMGlobalConstants.Zero; // Compute the normal of triangle A. XMVector n1 = XMVector3.Cross(a1 - a0, a2 - a0); // Assert that the triangle is not degenerate. Debug.Assert(!XMVector3.Equal(n1, zero), "Reviewed"); // Test points of B against the plane of A. XMVector b_dist = XMVector3.Dot(n1, b0 - a0); b_dist = XMVector.Select(b_dist, XMVector3.Dot(n1, b1 - a0), selectY); b_dist = XMVector.Select(b_dist, XMVector3.Dot(n1, b2 - a0), selectZ); // Ensure robustness with co-planar triangles by zeroing small distances. XMComparisonRecord b_distIsZeroCR; XMVector b_distIsZero = XMVector.GreaterR(out b_distIsZeroCR, CollisionGlobalConstants.RayEpsilon, b_dist.Abs()); b_dist = XMVector.Select(b_dist, zero, b_distIsZero); XMComparisonRecord b_distIsLessCR; XMVector b_distIsLess = XMVector.GreaterR(out b_distIsLessCR, zero, b_dist); XMComparisonRecord b_distIsGreaterCR; XMVector b_distIsGreater = XMVector.GreaterR(out b_distIsGreaterCR, b_dist, zero); // If all the points are on the same side we don't intersect. if (b_distIsLessCR.IsAllTrue || b_distIsGreaterCR.IsAllTrue) { return(false); } // Compute the normal of triangle B. XMVector n2 = XMVector3.Cross(b1 - b0, b2 - b0); // Assert that the triangle is not degenerate. Debug.Assert(!XMVector3.Equal(n2, zero), "Reviewed"); // Test points of A against the plane of B. XMVector a_dist = XMVector3.Dot(n2, a0 - b0); a_dist = XMVector.Select(a_dist, XMVector3.Dot(n2, a1 - b0), selectY); a_dist = XMVector.Select(a_dist, XMVector3.Dot(n2, a2 - b0), selectZ); // Ensure robustness with co-planar triangles by zeroing small distances. XMComparisonRecord a_distIsZeroCR; XMVector a_distIsZero = XMVector.GreaterR(out a_distIsZeroCR, CollisionGlobalConstants.RayEpsilon, b_dist.Abs()); a_dist = XMVector.Select(a_dist, zero, a_distIsZero); XMComparisonRecord a_distIsLessCR; XMVector a_distIsLess = XMVector.GreaterR(out a_distIsLessCR, zero, a_dist); XMComparisonRecord a_distIsGreaterCR; XMVector a_distIsGreater = XMVector.GreaterR(out a_distIsGreaterCR, a_dist, zero); // If all the points are on the same side we don't intersect. if (a_distIsLessCR.IsAllTrue || a_distIsGreaterCR.IsAllTrue) { return(false); } // Special case for co-planar triangles. if (a_distIsZeroCR.IsAllTrue || b_distIsZeroCR.IsAllTrue) { XMVector axis, dist, minDist; // Compute an axis perpindicular to the edge (points out). axis = XMVector3.Cross(n1, a1 - a0); dist = XMVector3.Dot(axis, a0); // Test points of B against the axis. minDist = XMVector3.Dot(b0, axis); minDist = XMVector.Min(minDist, XMVector3.Dot(b1, axis)); minDist = XMVector.Min(minDist, XMVector3.Dot(b2, axis)); if (XMVector4.GreaterOrEqual(minDist, dist)) { return(false); } // Edge (A1, A2) axis = XMVector3.Cross(n1, a2 - a1); dist = XMVector3.Dot(axis, a1); minDist = XMVector3.Dot(b0, axis); minDist = XMVector.Min(minDist, XMVector3.Dot(b1, axis)); minDist = XMVector.Min(minDist, XMVector3.Dot(b2, axis)); if (XMVector4.GreaterOrEqual(minDist, dist)) { return(false); } // Edge (A2, A0) axis = XMVector3.Cross(n1, a0 - a2); dist = XMVector3.Dot(axis, a2); minDist = XMVector3.Dot(b0, axis); minDist = XMVector.Min(minDist, XMVector3.Dot(b1, axis)); minDist = XMVector.Min(minDist, XMVector3.Dot(b2, axis)); if (XMVector4.GreaterOrEqual(minDist, dist)) { return(false); } // Edge (B0, B1) axis = XMVector3.Cross(n2, b1 - b0); dist = XMVector3.Dot(axis, b0); minDist = XMVector3.Dot(a0, axis); minDist = XMVector.Min(minDist, XMVector3.Dot(a1, axis)); minDist = XMVector.Min(minDist, XMVector3.Dot(a2, axis)); if (XMVector4.GreaterOrEqual(minDist, dist)) { return(false); } // Edge (B1, B2) axis = XMVector3.Cross(n2, b2 - b1); dist = XMVector3.Dot(axis, b1); minDist = XMVector3.Dot(a0, axis); minDist = XMVector.Min(minDist, XMVector3.Dot(a1, axis)); minDist = XMVector.Min(minDist, XMVector3.Dot(a2, axis)); if (XMVector4.GreaterOrEqual(minDist, dist)) { return(false); } // Edge (B2,B0) axis = XMVector3.Cross(n2, b0 - b2); dist = XMVector3.Dot(axis, b2); minDist = XMVector3.Dot(a0, axis); minDist = XMVector.Min(minDist, XMVector3.Dot(a1, axis)); minDist = XMVector.Min(minDist, XMVector3.Dot(a2, axis)); if (XMVector4.GreaterOrEqual(minDist, dist)) { return(false); } return(true); } //// Find the single vertex of A and B (ie the vertex on the opposite side //// of the plane from the other two) and reorder the edges so we can compute //// the signed edge/edge distances. //// //// if ( (V0 >= 0 && V1 < 0 && V2 < 0) || //// (V0 > 0 && V1 <= 0 && V2 <= 0) || //// (V0 <= 0 && V1 > 0 && V2 > 0) || //// (V0 < 0 && V1 >= 0 && V2 >= 0) ) then V0 is singular; //// //// If our singular vertex is not on the positive side of the plane we reverse //// the triangle winding so that the overlap comparisons will compare the //// correct edges with the correct signs. XMVector a_distIsLessEqual = XMVector.OrInt(a_distIsLess, a_distIsZero); XMVector a_distIsGreaterEqual = XMVector.OrInt(a_distIsGreater, a_distIsZero); XMVector aa0, aa1, aa2; bool b_positiveA; if (Internal.XMVector3AllTrue(XMVector.Select(a_distIsGreaterEqual, a_distIsLess, select0111)) || Internal.XMVector3AllTrue(XMVector.Select(a_distIsGreater, a_distIsLessEqual, select0111))) { // A0 is singular, crossing from positive to negative. aa0 = a0; aa1 = a1; aa2 = a2; b_positiveA = true; } else if (Internal.XMVector3AllTrue(XMVector.Select(a_distIsLessEqual, a_distIsGreater, select0111)) || Internal.XMVector3AllTrue(XMVector.Select(a_distIsLess, a_distIsGreaterEqual, select0111))) { // A0 is singular, crossing from negative to positive. aa0 = a0; aa1 = a2; aa2 = a1; b_positiveA = false; } else if (Internal.XMVector3AllTrue(XMVector.Select(a_distIsGreaterEqual, a_distIsLess, select1011)) || Internal.XMVector3AllTrue(XMVector.Select(a_distIsGreater, a_distIsLessEqual, select1011))) { // A1 is singular, crossing from positive to negative. aa0 = a1; aa1 = a2; aa2 = a0; b_positiveA = true; } else if (Internal.XMVector3AllTrue(XMVector.Select(a_distIsLessEqual, a_distIsGreater, select1011)) || Internal.XMVector3AllTrue(XMVector.Select(a_distIsLess, a_distIsGreaterEqual, select1011))) { // A1 is singular, crossing from negative to positive. aa0 = a1; aa1 = a0; aa2 = a2; b_positiveA = false; } else if (Internal.XMVector3AllTrue(XMVector.Select(a_distIsGreaterEqual, a_distIsLess, select1101)) || Internal.XMVector3AllTrue(XMVector.Select(a_distIsGreater, a_distIsLessEqual, select1101))) { // A2 is singular, crossing from positive to negative. aa0 = a2; aa1 = a0; aa2 = a1; b_positiveA = true; } else if (Internal.XMVector3AllTrue(XMVector.Select(a_distIsLessEqual, a_distIsGreater, select1101)) || Internal.XMVector3AllTrue(XMVector.Select(a_distIsLess, a_distIsGreaterEqual, select1101))) { // A2 is singular, crossing from negative to positive. aa0 = a2; aa1 = a1; aa2 = a0; b_positiveA = false; } else { Debug.Assert(false, "Reviewed"); return(false); } XMVector b_distIsLessEqual = XMVector.OrInt(b_distIsLess, b_distIsZero); XMVector b_distIsGreaterEqual = XMVector.OrInt(b_distIsGreater, b_distIsZero); XMVector bb0, bb1, bb2; bool b_positiveB; if (Internal.XMVector3AllTrue(XMVector.Select(b_distIsGreaterEqual, b_distIsLess, select0111)) || Internal.XMVector3AllTrue(XMVector.Select(b_distIsGreater, b_distIsLessEqual, select0111))) { // B0 is singular, crossing from positive to negative. bb0 = b0; bb1 = b1; bb2 = b2; b_positiveB = true; } else if (Internal.XMVector3AllTrue(XMVector.Select(b_distIsLessEqual, b_distIsGreater, select0111)) || Internal.XMVector3AllTrue(XMVector.Select(b_distIsLess, b_distIsGreaterEqual, select0111))) { // B0 is singular, crossing from negative to positive. bb0 = b0; bb1 = b2; bb2 = b1; b_positiveB = false; } else if (Internal.XMVector3AllTrue(XMVector.Select(b_distIsGreaterEqual, b_distIsLess, select1011)) || Internal.XMVector3AllTrue(XMVector.Select(b_distIsGreater, b_distIsLessEqual, select1011))) { // B1 is singular, crossing from positive to negative. bb0 = b1; bb1 = b2; bb2 = b0; b_positiveB = true; } else if (Internal.XMVector3AllTrue(XMVector.Select(b_distIsLessEqual, b_distIsGreater, select1011)) || Internal.XMVector3AllTrue(XMVector.Select(b_distIsLess, b_distIsGreaterEqual, select1011))) { // B1 is singular, crossing from negative to positive. bb0 = b1; bb1 = b0; bb2 = b2; b_positiveB = false; } else if (Internal.XMVector3AllTrue(XMVector.Select(b_distIsGreaterEqual, b_distIsLess, select1101)) || Internal.XMVector3AllTrue(XMVector.Select(b_distIsGreater, b_distIsLessEqual, select1101))) { // B2 is singular, crossing from positive to negative. bb0 = b2; bb1 = b0; bb2 = b1; b_positiveB = true; } else if (Internal.XMVector3AllTrue(XMVector.Select(b_distIsLessEqual, b_distIsGreater, select1101)) || Internal.XMVector3AllTrue(XMVector.Select(b_distIsLess, b_distIsGreaterEqual, select1101))) { // B2 is singular, crossing from negative to positive. bb0 = b2; bb1 = b1; bb2 = b0; b_positiveB = false; } else { Debug.Assert(false, "Reviewed"); return(false); } XMVector delta0, delta1; // Reverse the direction of the test depending on whether the singular vertices are // the same sign or different signs. if (b_positiveA ^ b_positiveB) { delta0 = bb0 - aa0; delta1 = aa0 - bb0; } else { delta0 = aa0 - bb0; delta1 = bb0 - aa0; } // Check if the triangles overlap on the line of intersection between the // planes of the two triangles by finding the signed line distances. XMVector dist0 = XMVector3.Dot(delta0, XMVector3.Cross(bb2 - bb0, aa2 - aa0)); if (XMVector4.Greater(dist0, zero)) { return(false); } XMVector dist1 = XMVector3.Dot(delta1, XMVector3.Cross(bb1 - bb0, aa1 - aa0)); if (XMVector4.Greater(dist1, zero)) { return(false); } return(true); }
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)); }