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 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 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 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));
}
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);
}
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);
}