public static XMVector XMPlaneTransform(XMVector plane, XMVector rotation, XMVector translation)
{
XMVector v_normal = XMVector3.Rotate(plane, rotation);
XMVector vD = XMVector.SplatW(plane) - XMVector3.Dot(v_normal, translation);
return(new XMVector(v_normal.X, v_normal.Y, v_normal.Z, vD.W));
}
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 BoundingBox Transform(float scale, XMVector rotation, XMVector translation)
{
Debug.Assert(Internal.XMQuaternionIsUnit(rotation), "Reviewed");
// Load center and extents.
XMVector boxCenter = this.center;
XMVector boxExtents = this.extents;
XMVector vectorScale = XMVector.Replicate(scale);
// Compute and transform the corners and find new min/max bounds.
XMVector corner = XMVector.MultiplyAdd(boxExtents, CollisionGlobalConstants.BoxOffsets[0], boxCenter);
corner = XMVector3.Rotate(corner * vectorScale, rotation) + translation;
XMVector min, max;
min = max = corner;
for (int i = 1; i < BoundingBox.CornerCount; i++)
{
corner = XMVector.MultiplyAdd(boxExtents, CollisionGlobalConstants.BoxOffsets[i], boxCenter);
corner = XMVector3.Rotate(corner * vectorScale, rotation) + translation;
min = XMVector.Min(min, corner);
max = XMVector.Max(max, corner);
}
// Store center and extents.
return(new BoundingBox((min + max) * 0.5f, (max - min) * 0.5f));
}
public ContainmentType Contains(BoundingOrientedBox box)
{
if (!box.Intersects(this))
{
return(ContainmentType.Disjoint);
}
XMVector v_center = this.center;
XMVector v_radius = XMVector.Replicate(this.radius);
XMVector radiusSq = v_radius * v_radius;
XMVector boxCenter = box.Center;
XMVector boxExtents = box.Extents;
XMVector boxOrientation = box.Orientation;
Debug.Assert(Internal.XMQuaternionIsUnit(boxOrientation), "Reviewed");
XMVector insideAll = XMVector.TrueInt;
for (int i = 0; i < BoundingOrientedBox.CornerCount; i++)
{
XMVector c = XMVector3.Rotate(boxExtents * CollisionGlobalConstants.BoxOffsets[i], boxOrientation) + boxCenter;
XMVector d = XMVector3.LengthSquare(XMVector.Subtract(v_center, c));
insideAll = XMVector.AndInt(insideAll, XMVector.LessOrEqual(d, radiusSq));
}
return(XMVector3.EqualInt(insideAll, XMVector.TrueInt) ? ContainmentType.Contains : ContainmentType.Intersects);
}
public ContainmentType Contains(BoundingFrustum fr)
{
if (!fr.Intersects(this))
{
return(ContainmentType.Disjoint);
}
XMVector v_center = this.center;
XMVector v_radius = XMVector.Replicate(this.radius);
XMVector radiusSq = v_radius * v_radius;
XMVector v_origin = fr.Origin;
XMVector v_orientation = fr.Orientation;
Debug.Assert(Internal.XMQuaternionIsUnit(v_orientation), "Reviewed");
// Build the corners of the frustum.
XMVector v_rightTop = new XMVector(fr.RightSlope, fr.TopSlope, 1.0f, 0.0f);
XMVector v_rightBottom = new XMVector(fr.RightSlope, fr.BottomSlope, 1.0f, 0.0f);
XMVector v_leftTop = new XMVector(fr.LeftSlope, fr.TopSlope, 1.0f, 0.0f);
XMVector v_leftBottom = new XMVector(fr.LeftSlope, fr.BottomSlope, 1.0f, 0.0f);
XMVector v_near = XMVector.Replicate(fr.Near);
XMVector v_far = XMVector.Replicate(fr.Far);
XMVector[] corners = new XMVector[BoundingFrustum.CornerCount];
corners[0] = v_rightTop * v_near;
corners[1] = v_rightBottom * v_near;
corners[2] = v_leftTop * v_near;
corners[3] = v_leftBottom * v_near;
corners[4] = v_rightTop * v_far;
corners[5] = v_rightBottom * v_far;
corners[6] = v_leftTop * v_far;
corners[7] = v_leftBottom * v_far;
XMVector insideAll = XMVector.TrueInt;
for (int i = 0; i < BoundingFrustum.CornerCount; i++)
{
XMVector c = XMVector3.Rotate(corners[i], v_orientation) + v_origin;
XMVector d = XMVector3.LengthSquare(XMVector.Subtract(v_center, c));
insideAll = XMVector.AndInt(insideAll, XMVector.LessOrEqual(d, radiusSq));
}
return(XMVector3.EqualInt(insideAll, XMVector.TrueInt) ? ContainmentType.Contains : ContainmentType.Intersects);
}
public BoundingSphere Transform(float scale, XMVector rotation, XMVector translation)
{
// Load the center of the sphere.
XMVector v_center = this.center;
// Transform the center of the sphere.
v_center = XMVector3.Rotate(v_center * XMVector.Replicate(scale), rotation) + translation;
BoundingSphere result;
// Store the center sphere.
result.center = v_center;
// Scale the radius of the pshere.
result.radius = this.radius * scale;
return(result);
}
