public ContainmentType Contains(BoundingBox box)
{
XMVector centerA = this.center;
XMVector extentsA = this.extents;
XMVector centerB = box.center;
XMVector extentsB = box.extents;
XMVector minA = centerA - extentsA;
XMVector maxA = centerA + extentsA;
XMVector minB = centerB - extentsB;
XMVector maxB = centerB + extentsB;
// for each i in (x, y, z) if a_min(i) > b_max(i) or b_min(i) > a_max(i) then return false
XMVector disjoint = XMVector.OrInt(XMVector.Greater(minA, maxB), XMVector.Greater(minB, maxA));
if (Internal.XMVector3AnyTrue(disjoint))
{
return(ContainmentType.Disjoint);
}
// for each i in (x, y, z) if a_min(i) <= b_min(i) and b_max(i) <= a_max(i) then A contains B
XMVector inside = XMVector.AndInt(XMVector.LessOrEqual(minA, minB), XMVector.LessOrEqual(maxB, maxA));
return(Internal.XMVector3AllTrue(inside) ? ContainmentType.Contains : ContainmentType.Intersects);
}
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 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(BoundingBox 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 insideAll = XMVector.TrueInt;
XMVector offset = boxCenter - v_center;
for (int i = 0; i < BoundingBox.CornerCount; i++)
{
XMVector c = XMVector.MultiplyAdd(boxExtents, CollisionGlobalConstants.BoxOffsets[i], offset);
XMVector d = XMVector3.LengthSquare(c);
insideAll = XMVector.AndInt(insideAll, XMVector.LessOrEqual(d, radiusSq));
}
return(XMVector3.EqualInt(insideAll, XMVector.TrueInt) ? ContainmentType.Contains : ContainmentType.Intersects);
}
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 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 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 ContainmentType Contains(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);
if (XMVector3.Greater(d2, XMVector.Multiply(sphereRadius, sphereRadius)))
{
return(ContainmentType.Disjoint);
}
XMVector insideAll = XMVector.LessOrEqual(boxMin + sphereRadius, sphereCenter);
insideAll = XMVector.AndInt(insideAll, XMVector.LessOrEqual(sphereCenter, boxMax - sphereRadius));
insideAll = XMVector.AndInt(insideAll, XMVector.Greater(boxMax - boxMin, sphereRadius));
return(XMVector3.EqualInt(insideAll, XMVector.TrueInt) ? ContainmentType.Contains : ContainmentType.Intersects);
}
public static XMVector PointOnPlaneInsideTriangle(XMVector p, XMVector v0, XMVector v1, XMVector v2)
{
// Compute the triangle normal.
XMVector n = XMVector3.Cross(v2 - v0, v1 - v0);
// Compute the cross products of the vector from the base of each edge to
// the point with each edge vector.
XMVector c0 = XMVector3.Cross(p - v0, v1 - v0);
XMVector c1 = XMVector3.Cross(p - v1, v2 - v1);
XMVector c2 = XMVector3.Cross(p - v2, v0 - v2);
// If the cross product points in the same direction as the normal the the
// point is inside the edge (it is zero if is on the edge).
XMVector zero = XMGlobalConstants.Zero;
XMVector inside0 = XMVector.GreaterOrEqual(XMVector3.Dot(c0, n), zero);
XMVector inside1 = XMVector.GreaterOrEqual(XMVector3.Dot(c1, n), zero);
XMVector inside2 = XMVector.GreaterOrEqual(XMVector3.Dot(c2, n), zero);
// If the point inside all of the edges it is inside.
return(XMVector.AndInt(XMVector.AndInt(inside0, inside1), inside2));
}
public ContainmentType Contains(XMVector v0, XMVector v1, XMVector v2)
{
if (!this.Intersects(v0, v1, v2))
{
return(ContainmentType.Disjoint);
}
XMVector boxCenter = this.center;
XMVector boxExtents = this.extents;
XMVector d = XMVector.Subtract(v0, boxCenter).Abs();
XMVector inside = XMVector.LessOrEqual(d, boxExtents);
d = XMVector.Subtract(v1, boxCenter).Abs();
inside = XMVector.AndInt(inside, XMVector.LessOrEqual(d, boxExtents));
d = XMVector.Subtract(v2, boxCenter).Abs();
inside = XMVector.AndInt(inside, XMVector.LessOrEqual(d, boxExtents));
return(XMVector3.EqualInt(inside, XMVector.TrueInt) ? ContainmentType.Contains : ContainmentType.Intersects);
}
public ContainmentType Contains(XMVector v0, XMVector v1, XMVector v2)
{
if (!this.Intersects(v0, v1, v2))
{
return(ContainmentType.Disjoint);
}
XMVector v_center = this.center;
XMVector v_radius = XMVector.Replicate(this.radius);
XMVector radiusSquared = XMVector.Multiply(v_radius, v_radius);
XMVector distanceSquared = XMVector3.LengthSquare(v0 - v_center);
XMVector inside = XMVector.LessOrEqual(distanceSquared, radiusSquared);
distanceSquared = XMVector3.LengthSquare(v1 - v_center);
inside = XMVector.AndInt(inside, XMVector.LessOrEqual(distanceSquared, radiusSquared));
distanceSquared = XMVector3.LengthSquare(v2 - v_center);
inside = XMVector.AndInt(inside, XMVector.LessOrEqual(distanceSquared, radiusSquared));
return(XMVector3.EqualInt(inside, XMVector.TrueInt) ? ContainmentType.Contains : ContainmentType.Intersects);
}
public ContainmentType Contains(BoundingFrustum fr)
{
if (!fr.Intersects(this))
{
return(ContainmentType.Disjoint);
}
XMFloat3[] corners = fr.GetCorners();
XMVector v_center = this.center;
XMVector v_extents = this.extents;
XMVector inside = XMVector.TrueInt;
for (int i = 0; i < BoundingFrustum.CornerCount; i++)
{
XMVector point = corners[i];
XMVector d = XMVector.Subtract(point, v_center).Abs();
inside = XMVector.AndInt(inside, XMVector.LessOrEqual(d, v_extents));
}
return(XMVector3.EqualInt(inside, XMVector.TrueInt) ? ContainmentType.Contains : ContainmentType.Intersects);
}
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);
}