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 PlaneIntersectionType Intersects(XMVector plane)
{
Debug.Assert(Internal.XMPlaneIsUnit(plane), "Reviewed");
// Load the box.
XMVector v_center = this.center;
XMVector v_extents = this.extents;
// Set w of the center to one so we can dot4 with a plane.
v_center.W = 1.0f;
XMVector outside, inside;
Internal.FastIntersectAxisAlignedBoxPlane(v_center, v_extents, plane, out outside, out inside);
// If the box is outside any plane it is outside.
if (XMVector4.EqualInt(outside, XMVector.TrueInt))
{
return(PlaneIntersectionType.Front);
}
// If the box is inside all planes it is inside.
if (XMVector4.EqualInt(inside, XMVector.TrueInt))
{
return(PlaneIntersectionType.Back);
}
// The box is not inside all planes or outside a plane it intersects.
return(PlaneIntersectionType.Intersecting);
}
public static bool XMVector3AllTrue(XMVector v)
{
// Duplicate the fourth element from the first element.
XMVector c = new XMVector(v.X, v.Y, v.Z, v.X);
return(XMVector4.EqualIntR(c, XMVector.TrueInt).IsAllTrue);
}
public static PlaneIntersectionType Intersects(XMVector v0, XMVector v1, XMVector v2, XMVector plane)
{
XMVector one = XMGlobalConstants.One;
Debug.Assert(Internal.XMPlaneIsUnit(plane), "Reviewed");
// Set w of the points to one so we can dot4 with a plane.
XMVector tV0 = new XMVector(v0.X, v0.Y, v0.Z, one.W);
XMVector tV1 = new XMVector(v1.X, v1.Y, v1.Z, one.W);
XMVector tV2 = new XMVector(v2.X, v2.Y, v2.Z, one.W);
XMVector outside, inside;
Internal.FastIntersectTrianglePlane(tV0, tV1, tV2, plane, out outside, out inside);
// If the triangle is outside any plane it is outside.
if (XMVector4.EqualInt(outside, XMVector.TrueInt))
{
return(PlaneIntersectionType.Front);
}
// If the triangle is inside all planes it is inside.
if (XMVector4.EqualInt(inside, XMVector.TrueInt))
{
return(PlaneIntersectionType.Back);
}
// The triangle is not inside all planes or outside a plane it intersects.
return(PlaneIntersectionType.Intersecting);
}
public PlaneIntersectionType Intersects(XMVector plane)
{
Debug.Assert(Internal.XMPlaneIsUnit(plane), "Reviewed");
// Load the sphere.
XMVector v_center = this.center;
XMVector v_radius = XMVector.Replicate(this.radius);
// Set w of the center to one so we can dot4 with a plane.
v_center.W = 1.0f;
XMVector outside, inside;
Internal.FastIntersectSpherePlane(v_center, v_radius, plane, out outside, out inside);
// If the sphere is outside any plane it is outside.
if (XMVector4.EqualInt(outside, XMVector.TrueInt))
{
return(PlaneIntersectionType.Front);
}
// If the sphere is inside all planes it is inside.
if (XMVector4.EqualInt(inside, XMVector.TrueInt))
{
return(PlaneIntersectionType.Back);
}
// The sphere is not inside all planes or outside a plane it intersects.
return(PlaneIntersectionType.Intersecting);
}
public ContainmentType ContainedBy(
XMVector plane0,
XMVector plane1,
XMVector plane2,
XMVector plane3,
XMVector plane4,
XMVector plane5)
{
// Load the box.
XMVector v_center = this.center;
XMVector v_extents = this.extents;
// Set w of the center to one so we can dot4 with a plane.
v_center.W = 1.0f;
XMVector outside, inside;
// Test against each plane.
Internal.FastIntersectAxisAlignedBoxPlane(v_center, v_extents, plane0, out outside, out inside);
XMVector anyOutside = outside;
XMVector allInside = inside;
Internal.FastIntersectAxisAlignedBoxPlane(v_center, v_extents, plane1, out outside, out inside);
anyOutside = XMVector.OrInt(anyOutside, outside);
allInside = XMVector.AndInt(allInside, inside);
Internal.FastIntersectAxisAlignedBoxPlane(v_center, v_extents, plane2, out outside, out inside);
anyOutside = XMVector.OrInt(anyOutside, outside);
allInside = XMVector.AndInt(allInside, inside);
Internal.FastIntersectAxisAlignedBoxPlane(v_center, v_extents, plane3, out outside, out inside);
anyOutside = XMVector.OrInt(anyOutside, outside);
allInside = XMVector.AndInt(allInside, inside);
Internal.FastIntersectAxisAlignedBoxPlane(v_center, v_extents, plane4, out outside, out inside);
anyOutside = XMVector.OrInt(anyOutside, outside);
allInside = XMVector.AndInt(allInside, inside);
Internal.FastIntersectAxisAlignedBoxPlane(v_center, v_extents, plane5, out outside, out inside);
anyOutside = XMVector.OrInt(anyOutside, outside);
allInside = XMVector.AndInt(allInside, inside);
// If the box is outside any plane it is outside.
if (XMVector4.EqualInt(anyOutside, XMVector.TrueInt))
{
return(ContainmentType.Disjoint);
}
// If the box is inside all planes it is inside.
if (XMVector4.EqualInt(allInside, XMVector.TrueInt))
{
return(ContainmentType.Contains);
}
// The box is not inside all planes or outside a plane, it may intersect.
return(ContainmentType.Intersects);
}
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 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));
}
internal void TransformFrame(SdkMeshFile file, XMMatrix parentWorld, double time)
{
// Get the tick data
XMMatrix mLocalTransform;
int tick = file.GetAnimationKeyFromTime(time);
if (this.AnimationFrameIndex == -1)
{
mLocalTransform = this.Matrix;
}
else
{
SdkMeshAnimationFrame animationFrame = file.AnimationFrames[this.AnimationFrameIndex];
SdkMeshAnimationKey animationKey = animationFrame.AnimationKeys[tick];
// turn it into a matrix (Ignore scaling for now)
XMFloat3 parentPos = animationKey.Translation;
XMMatrix mTranslate = XMMatrix.Translation(parentPos.X, parentPos.Y, parentPos.Z);
XMVector quat = animationKey.Orientation;
if (XMVector4.Equal(quat, XMVector.Zero))
{
quat = XMQuaternion.Identity;
}
quat = XMQuaternion.Normalize(quat);
XMMatrix mQuat = XMMatrix.RotationQuaternion(quat);
mLocalTransform = mQuat * mTranslate;
}
// Transform ourselves
XMMatrix mLocalWorld = mLocalTransform * parentWorld;
this.TransformedFrameMatrix = mLocalWorld;
this.WorldPoseFrameMatrix = mLocalWorld;
// Transform our siblings
if (this.SiblingFrameIndex != -1)
{
file.Frames[this.SiblingFrameIndex].TransformFrame(file, parentWorld, time);
}
// Transform our children
if (this.ChildFrameIndex != -1)
{
file.Frames[this.ChildFrameIndex].TransformFrame(file, mLocalWorld, time);
}
}
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 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 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 static bool XMPlaneIsUnit(XMVector plane)
{
XMVector difference = XMVector3.Length(plane) - XMVector.One;
return(XMVector4.Less(difference.Abs(), Internal.UnitPlaneEpsilon));
}
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));
}
public static bool XMVector3IsUnit(XMVector v)
{
XMVector difference = XMVector3.Length(v) - XMVector.One;
return(XMVector4.Less(difference.Abs(), Internal.UnitVectorEpsilon));
}
public static bool XMQuaternionIsUnit(XMVector q)
{
XMVector difference = XMVector4.Length(q) - XMVector.One;
return(XMVector4.Less(difference.Abs(), Internal.UnitQuaternionEpsilon));
}
public static ContainmentType ContainedBy(
XMVector v0,
XMVector v1,
XMVector v2,
XMVector plane0,
XMVector plane1,
XMVector plane2,
XMVector plane3,
XMVector plane4,
XMVector plane5)
{
XMVector one = XMGlobalConstants.One;
// Set w of the points to one so we can dot4 with a plane.
XMVector tV0 = new XMVector(v0.X, v0.Y, v0.Z, one.W);
XMVector tV1 = new XMVector(v1.X, v1.Y, v1.Z, one.W);
XMVector tV2 = new XMVector(v2.X, v2.Y, v2.Z, one.W);
XMVector outside, inside;
// Test against each plane.
Internal.FastIntersectTrianglePlane(tV0, tV1, tV2, plane0, out outside, out inside);
XMVector anyOutside = outside;
XMVector allInside = inside;
Internal.FastIntersectTrianglePlane(tV0, tV1, tV2, plane1, out outside, out inside);
anyOutside = XMVector.OrInt(anyOutside, outside);
allInside = XMVector.AndInt(allInside, inside);
Internal.FastIntersectTrianglePlane(tV0, tV1, tV2, plane2, out outside, out inside);
anyOutside = XMVector.OrInt(anyOutside, outside);
allInside = XMVector.AndInt(allInside, inside);
Internal.FastIntersectTrianglePlane(tV0, tV1, tV2, plane3, out outside, out inside);
anyOutside = XMVector.OrInt(anyOutside, outside);
allInside = XMVector.AndInt(allInside, inside);
Internal.FastIntersectTrianglePlane(tV0, tV1, tV2, plane4, out outside, out inside);
anyOutside = XMVector.OrInt(anyOutside, outside);
allInside = XMVector.AndInt(allInside, inside);
Internal.FastIntersectTrianglePlane(tV0, tV1, tV2, plane5, out outside, out inside);
anyOutside = XMVector.OrInt(anyOutside, outside);
allInside = XMVector.AndInt(allInside, inside);
// If the triangle is outside any plane it is outside.
if (XMVector4.EqualInt(anyOutside, XMVector.TrueInt))
{
return(ContainmentType.Disjoint);
}
// If the triangle is inside all planes it is inside.
if (XMVector4.EqualInt(allInside, XMVector.TrueInt))
{
return(ContainmentType.Contains);
}
// The triangle is not inside all planes or outside a plane, it may intersect.
return(ContainmentType.Intersects);
}
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);
}
private void RenderShadowMap(out XMFloat4X4 mViewProjLight, out XMFloat3 vLightDir)
{
var context = this.deviceResources.D3DContext;
D3D11Rect[] oldRects = context.RasterizerStageGetScissorRects();
D3D11Viewport[] oldVp = context.RasterizerStageGetViewports();
D3D11Rect[] rects = new D3D11Rect[1] {
new D3D11Rect(0, (int)g_fShadowMapWidth, 0, (int)g_fShadowMapHeight)
};
context.RasterizerStageSetScissorRects(rects);
D3D11Viewport[] vp = new D3D11Viewport[1] {
new D3D11Viewport(0, 0, g_fShadowMapWidth, g_fShadowMapHeight, 0.0f, 1.0f)
};
context.RasterizerStageSetViewports(vp);
// Set our scene render target & keep original depth buffer
D3D11RenderTargetView[] pRTVs = new D3D11RenderTargetView[2];
context.OutputMergerSetRenderTargets(pRTVs, this.g_pDepthStencilTextureDSV);
// Clear the render target
context.ClearDepthStencilView(this.g_pDepthStencilTextureDSV, D3D11ClearOptions.Depth | D3D11ClearOptions.Stencil, 1.0f, 0);
// Get the projection & view matrix from the camera class
XMFloat3 up = new XMFloat3(0, 1, 0);
XMFloat4 vLight = new XMFloat4(0.0f, 0.0f, 0.0f, 1.0f);
XMFloat4 vLightLookAt = new XMFloat4(0.0f, -0.5f, 1.0f, 0.0f);
vLightLookAt = vLight.ToVector() + vLightLookAt.ToVector();
vLight = XMVector4.Transform(vLight, this.LightWorldMatrix);
vLightLookAt = XMVector4.Transform(vLightLookAt, this.LightWorldMatrix);
vLightDir = XMVector.Subtract(vLightLookAt, vLight);
XMMatrix mProj = XMMatrix.OrthographicOffCenterLH(-8.5f, 9, -15, 11, -20, 20);
XMMatrix mView = XMMatrix.LookAtLH(vLight, vLightLookAt, up);
mViewProjLight = mView * mProj;
// Setup the constant buffer for the scene vertex shader
ConstantBufferConstants pConstants = new ConstantBufferConstants
{
WorldViewProjection = mViewProjLight.ToMatrix().Transpose(),
WorldViewProjLight = mViewProjLight.ToMatrix().Transpose(),
ShadowMapDimensions = new XMFloat4(
g_fShadowMapWidth,
g_fShadowMapHeight,
1.0f / g_fShadowMapWidth,
1.0f / g_fShadowMapHeight),
LightDir = new XMFloat4(vLightDir.X, vLightDir.Y, vLightDir.Z, 0.0f),
SunWidth = this.SunWidth
};
context.UpdateSubresource(this.g_pcbConstants, 0, null, pConstants, 0, 0);
context.VertexShaderSetConstantBuffers(g_iConstantsConstantBufferBind, new[] { this.g_pcbConstants });
context.PixelShaderSetConstantBuffers(g_iConstantsConstantBufferBind, new[] { this.g_pcbConstants });
// Set the shaders
context.VertexShaderSetShader(this.g_pShadowMapVS, null);
context.PixelShaderSetShader(null, null);
// Set the vertex buffer format
context.InputAssemblerSetInputLayout(this.g_pSceneVertexLayout);
// Render the scene
this.g_Poles.Render(0, -1, -1);
// reset the old viewport etc.
context.RasterizerStageSetScissorRects(oldRects);
context.RasterizerStageSetViewports(oldVp);
}
