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DirectXCollision.h
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//-------------------------------------------------------------------------------------
// DirectXCollision.h -- C++ Collision Math library
//
// Copyright (c) Microsoft Corporation.
// Licensed under the MIT License.
//
// http://go.microsoft.com/fwlink/?LinkID=615560
//-------------------------------------------------------------------------------------
#pragma once
#include "DirectXMath.h"
namespace DirectX
{
enum ContainmentType
{
DISJOINT = 0,
INTERSECTS = 1,
CONTAINS = 2
};
enum PlaneIntersectionType
{
FRONT = 0,
INTERSECTING = 1,
BACK = 2
};
struct BoundingBox;
struct BoundingOrientedBox;
struct BoundingFrustum;
#pragma warning(push)
#pragma warning(disable:4324 4820)
// C4324: alignment padding warnings
// C4820: Off by default noise
//-------------------------------------------------------------------------------------
// Bounding sphere
//-------------------------------------------------------------------------------------
struct BoundingSphere
{
XMFLOAT3 Center; // Center of the sphere.
float Radius; // Radius of the sphere.
// Creators
BoundingSphere() noexcept : Center(0, 0, 0), Radius(1.f) {}
BoundingSphere(const BoundingSphere&) = default;
BoundingSphere& operator=(const BoundingSphere&) = default;
BoundingSphere(BoundingSphere&&) = default;
BoundingSphere& operator=(BoundingSphere&&) = default;
constexpr BoundingSphere(_In_ const XMFLOAT3& center, _In_ float radius) noexcept
: Center(center), Radius(radius) {}
// Methods
void XM_CALLCONV Transform(_Out_ BoundingSphere& Out, _In_ FXMMATRIX M) const noexcept;
void XM_CALLCONV Transform(_Out_ BoundingSphere& Out, _In_ float Scale, _In_ FXMVECTOR Rotation, _In_ FXMVECTOR Translation) const noexcept;
// Transform the sphere
ContainmentType XM_CALLCONV Contains(_In_ FXMVECTOR Point) const noexcept;
ContainmentType XM_CALLCONV Contains(_In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2) const noexcept;
ContainmentType Contains(_In_ const BoundingSphere& sh) const noexcept;
ContainmentType Contains(_In_ const BoundingBox& box) const noexcept;
ContainmentType Contains(_In_ const BoundingOrientedBox& box) const noexcept;
ContainmentType Contains(_In_ const BoundingFrustum& fr) const noexcept;
bool Intersects(_In_ const BoundingSphere& sh) const noexcept;
bool Intersects(_In_ const BoundingBox& box) const noexcept;
bool Intersects(_In_ const BoundingOrientedBox& box) const noexcept;
bool Intersects(_In_ const BoundingFrustum& fr) const noexcept;
bool XM_CALLCONV Intersects(_In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2) const noexcept;
// Triangle-sphere test
PlaneIntersectionType XM_CALLCONV Intersects(_In_ FXMVECTOR Plane) const noexcept;
// Plane-sphere test
bool XM_CALLCONV Intersects(_In_ FXMVECTOR Origin, _In_ FXMVECTOR Direction, _Out_ float& Dist) const noexcept;
// Ray-sphere test
ContainmentType XM_CALLCONV ContainedBy(_In_ FXMVECTOR Plane0, _In_ FXMVECTOR Plane1, _In_ FXMVECTOR Plane2,
_In_ GXMVECTOR Plane3, _In_ HXMVECTOR Plane4, _In_ HXMVECTOR Plane5) const noexcept;
// Test sphere against six planes (see BoundingFrustum::GetPlanes)
// Static methods
static void CreateMerged(_Out_ BoundingSphere& Out, _In_ const BoundingSphere& S1, _In_ const BoundingSphere& S2) noexcept;
static void CreateFromBoundingBox(_Out_ BoundingSphere& Out, _In_ const BoundingBox& box) noexcept;
static void CreateFromBoundingBox(_Out_ BoundingSphere& Out, _In_ const BoundingOrientedBox& box) noexcept;
static void CreateFromPoints(_Out_ BoundingSphere& Out, _In_ size_t Count,
_In_reads_bytes_(sizeof(XMFLOAT3) + Stride * (Count - 1)) const XMFLOAT3* pPoints, _In_ size_t Stride) noexcept;
static void CreateFromFrustum(_Out_ BoundingSphere& Out, _In_ const BoundingFrustum& fr) noexcept;
};
//-------------------------------------------------------------------------------------
// Axis-aligned bounding box
//-------------------------------------------------------------------------------------
struct BoundingBox
{
static const size_t CORNER_COUNT = 8;
XMFLOAT3 Center; // Center of the box.
XMFLOAT3 Extents; // Distance from the center to each side.
// Creators
BoundingBox() noexcept : Center(0, 0, 0), Extents(1.f, 1.f, 1.f) {}
BoundingBox(const BoundingBox&) = default;
BoundingBox& operator=(const BoundingBox&) = default;
BoundingBox(BoundingBox&&) = default;
BoundingBox& operator=(BoundingBox&&) = default;
constexpr BoundingBox(_In_ const XMFLOAT3& center, _In_ const XMFLOAT3& extents) noexcept
: Center(center), Extents(extents) {}
// Methods
void XM_CALLCONV Transform(_Out_ BoundingBox& Out, _In_ FXMMATRIX M) const noexcept;
void XM_CALLCONV Transform(_Out_ BoundingBox& Out, _In_ float Scale, _In_ FXMVECTOR Rotation, _In_ FXMVECTOR Translation) const noexcept;
void GetCorners(_Out_writes_(8) XMFLOAT3* Corners) const noexcept;
// Gets the 8 corners of the box
ContainmentType XM_CALLCONV Contains(_In_ FXMVECTOR Point) const noexcept;
ContainmentType XM_CALLCONV Contains(_In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2) const noexcept;
ContainmentType Contains(_In_ const BoundingSphere& sh) const noexcept;
ContainmentType Contains(_In_ const BoundingBox& box) const noexcept;
ContainmentType Contains(_In_ const BoundingOrientedBox& box) const noexcept;
ContainmentType Contains(_In_ const BoundingFrustum& fr) const noexcept;
bool Intersects(_In_ const BoundingSphere& sh) const noexcept;
bool Intersects(_In_ const BoundingBox& box) const noexcept;
bool Intersects(_In_ const BoundingOrientedBox& box) const noexcept;
bool Intersects(_In_ const BoundingFrustum& fr) const noexcept;
bool XM_CALLCONV Intersects(_In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2) const noexcept;
// Triangle-Box test
PlaneIntersectionType XM_CALLCONV Intersects(_In_ FXMVECTOR Plane) const noexcept;
// Plane-box test
bool XM_CALLCONV Intersects(_In_ FXMVECTOR Origin, _In_ FXMVECTOR Direction, _Out_ float& Dist) const noexcept;
// Ray-Box test
ContainmentType XM_CALLCONV ContainedBy(_In_ FXMVECTOR Plane0, _In_ FXMVECTOR Plane1, _In_ FXMVECTOR Plane2,
_In_ GXMVECTOR Plane3, _In_ HXMVECTOR Plane4, _In_ HXMVECTOR Plane5) const noexcept;
// Test box against six planes (see BoundingFrustum::GetPlanes)
// Static methods
static void CreateMerged(_Out_ BoundingBox& Out, _In_ const BoundingBox& b1, _In_ const BoundingBox& b2) noexcept;
static void CreateFromSphere(_Out_ BoundingBox& Out, _In_ const BoundingSphere& sh) noexcept;
static void XM_CALLCONV CreateFromPoints(_Out_ BoundingBox& Out, _In_ FXMVECTOR pt1, _In_ FXMVECTOR pt2) noexcept;
static void CreateFromPoints(_Out_ BoundingBox& Out, _In_ size_t Count,
_In_reads_bytes_(sizeof(XMFLOAT3) + Stride * (Count - 1)) const XMFLOAT3* pPoints, _In_ size_t Stride) noexcept;
};
//-------------------------------------------------------------------------------------
// Oriented bounding box
//-------------------------------------------------------------------------------------
struct BoundingOrientedBox
{
static const size_t CORNER_COUNT = 8;
XMFLOAT3 Center; // Center of the box.
XMFLOAT3 Extents; // Distance from the center to each side.
XMFLOAT4 Orientation; // Unit quaternion representing rotation (box -> world).
// Creators
BoundingOrientedBox() noexcept : Center(0, 0, 0), Extents(1.f, 1.f, 1.f), Orientation(0, 0, 0, 1.f) {}
BoundingOrientedBox(const BoundingOrientedBox&) = default;
BoundingOrientedBox& operator=(const BoundingOrientedBox&) = default;
BoundingOrientedBox(BoundingOrientedBox&&) = default;
BoundingOrientedBox& operator=(BoundingOrientedBox&&) = default;
constexpr BoundingOrientedBox(_In_ const XMFLOAT3& _Center, _In_ const XMFLOAT3& _Extents, _In_ const XMFLOAT4& _Orientation) noexcept
: Center(_Center), Extents(_Extents), Orientation(_Orientation) {}
// Methods
void XM_CALLCONV Transform(_Out_ BoundingOrientedBox& Out, _In_ FXMMATRIX M) const noexcept;
void XM_CALLCONV Transform(_Out_ BoundingOrientedBox& Out, _In_ float Scale, _In_ FXMVECTOR Rotation, _In_ FXMVECTOR Translation) const noexcept;
void GetCorners(_Out_writes_(8) XMFLOAT3* Corners) const noexcept;
// Gets the 8 corners of the box
ContainmentType XM_CALLCONV Contains(_In_ FXMVECTOR Point) const noexcept;
ContainmentType XM_CALLCONV Contains(_In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2) const noexcept;
ContainmentType Contains(_In_ const BoundingSphere& sh) const noexcept;
ContainmentType Contains(_In_ const BoundingBox& box) const noexcept;
ContainmentType Contains(_In_ const BoundingOrientedBox& box) const noexcept;
ContainmentType Contains(_In_ const BoundingFrustum& fr) const noexcept;
bool Intersects(_In_ const BoundingSphere& sh) const noexcept;
bool Intersects(_In_ const BoundingBox& box) const noexcept;
bool Intersects(_In_ const BoundingOrientedBox& box) const noexcept;
bool Intersects(_In_ const BoundingFrustum& fr) const noexcept;
bool XM_CALLCONV Intersects(_In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2) const noexcept;
// Triangle-OrientedBox test
PlaneIntersectionType XM_CALLCONV Intersects(_In_ FXMVECTOR Plane) const noexcept;
// Plane-OrientedBox test
bool XM_CALLCONV Intersects(_In_ FXMVECTOR Origin, _In_ FXMVECTOR Direction, _Out_ float& Dist) const noexcept;
// Ray-OrientedBox test
ContainmentType XM_CALLCONV ContainedBy(_In_ FXMVECTOR Plane0, _In_ FXMVECTOR Plane1, _In_ FXMVECTOR Plane2,
_In_ GXMVECTOR Plane3, _In_ HXMVECTOR Plane4, _In_ HXMVECTOR Plane5) const noexcept;
// Test OrientedBox against six planes (see BoundingFrustum::GetPlanes)
// Static methods
static void CreateFromBoundingBox(_Out_ BoundingOrientedBox& Out, _In_ const BoundingBox& box) noexcept;
static void CreateFromPoints(_Out_ BoundingOrientedBox& Out, _In_ size_t Count,
_In_reads_bytes_(sizeof(XMFLOAT3) + Stride * (Count - 1)) const XMFLOAT3* pPoints, _In_ size_t Stride) noexcept;
};
//-------------------------------------------------------------------------------------
// Bounding frustum
//-------------------------------------------------------------------------------------
struct BoundingFrustum
{
static const size_t CORNER_COUNT = 8;
XMFLOAT3 Origin; // Origin of the frustum (and projection).
XMFLOAT4 Orientation; // Quaternion representing rotation.
float RightSlope; // Positive X (X/Z)
float LeftSlope; // Negative X
float TopSlope; // Positive Y (Y/Z)
float BottomSlope; // Negative Y
float Near, Far; // Z of the near plane and far plane.
// Creators
BoundingFrustum() noexcept :
Origin(0, 0, 0), Orientation(0, 0, 0, 1.f), RightSlope(1.f), LeftSlope(-1.f),
TopSlope(1.f), BottomSlope(-1.f), Near(0), Far(1.f) {}
BoundingFrustum(const BoundingFrustum&) = default;
BoundingFrustum& operator=(const BoundingFrustum&) = default;
BoundingFrustum(BoundingFrustum&&) = default;
BoundingFrustum& operator=(BoundingFrustum&&) = default;
constexpr BoundingFrustum(_In_ const XMFLOAT3& _Origin, _In_ const XMFLOAT4& _Orientation,
_In_ float _RightSlope, _In_ float _LeftSlope, _In_ float _TopSlope, _In_ float _BottomSlope,
_In_ float _Near, _In_ float _Far) noexcept
: Origin(_Origin), Orientation(_Orientation),
RightSlope(_RightSlope), LeftSlope(_LeftSlope), TopSlope(_TopSlope), BottomSlope(_BottomSlope),
Near(_Near), Far(_Far) {}
BoundingFrustum(_In_ CXMMATRIX Projection, bool rhcoords = false) noexcept;
// Methods
void XM_CALLCONV Transform(_Out_ BoundingFrustum& Out, _In_ FXMMATRIX M) const noexcept;
void XM_CALLCONV Transform(_Out_ BoundingFrustum& Out, _In_ float Scale, _In_ FXMVECTOR Rotation, _In_ FXMVECTOR Translation) const noexcept;
void GetCorners(_Out_writes_(8) XMFLOAT3* Corners) const noexcept;
// Gets the 8 corners of the frustum
ContainmentType XM_CALLCONV Contains(_In_ FXMVECTOR Point) const noexcept;
ContainmentType XM_CALLCONV Contains(_In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2) const noexcept;
ContainmentType Contains(_In_ const BoundingSphere& sp) const noexcept;
ContainmentType Contains(_In_ const BoundingBox& box) const noexcept;
ContainmentType Contains(_In_ const BoundingOrientedBox& box) const noexcept;
ContainmentType Contains(_In_ const BoundingFrustum& fr) const noexcept;
// Frustum-Frustum test
bool Intersects(_In_ const BoundingSphere& sh) const noexcept;
bool Intersects(_In_ const BoundingBox& box) const noexcept;
bool Intersects(_In_ const BoundingOrientedBox& box) const noexcept;
bool Intersects(_In_ const BoundingFrustum& fr) const noexcept;
bool XM_CALLCONV Intersects(_In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2) const noexcept;
// Triangle-Frustum test
PlaneIntersectionType XM_CALLCONV Intersects(_In_ FXMVECTOR Plane) const noexcept;
// Plane-Frustum test
bool XM_CALLCONV Intersects(_In_ FXMVECTOR rayOrigin, _In_ FXMVECTOR Direction, _Out_ float& Dist) const noexcept;
// Ray-Frustum test
ContainmentType XM_CALLCONV ContainedBy(_In_ FXMVECTOR Plane0, _In_ FXMVECTOR Plane1, _In_ FXMVECTOR Plane2,
_In_ GXMVECTOR Plane3, _In_ HXMVECTOR Plane4, _In_ HXMVECTOR Plane5) const noexcept;
// Test frustum against six planes (see BoundingFrustum::GetPlanes)
void GetPlanes(_Out_opt_ XMVECTOR* NearPlane, _Out_opt_ XMVECTOR* FarPlane, _Out_opt_ XMVECTOR* RightPlane,
_Out_opt_ XMVECTOR* LeftPlane, _Out_opt_ XMVECTOR* TopPlane, _Out_opt_ XMVECTOR* BottomPlane) const noexcept;
// Create 6 Planes representation of Frustum
// Static methods
static void XM_CALLCONV CreateFromMatrix(_Out_ BoundingFrustum& Out, _In_ FXMMATRIX Projection, bool rhcoords = false) noexcept;
};
//-----------------------------------------------------------------------------
// Triangle intersection testing routines.
//-----------------------------------------------------------------------------
namespace TriangleTests
{
bool XM_CALLCONV Intersects(_In_ FXMVECTOR Origin, _In_ FXMVECTOR Direction, _In_ FXMVECTOR V0, _In_ GXMVECTOR V1, _In_ HXMVECTOR V2, _Out_ float& Dist) noexcept;
// Ray-Triangle
bool XM_CALLCONV Intersects(_In_ FXMVECTOR A0, _In_ FXMVECTOR A1, _In_ FXMVECTOR A2, _In_ GXMVECTOR B0, _In_ HXMVECTOR B1, _In_ HXMVECTOR B2) noexcept;
// Triangle-Triangle
PlaneIntersectionType XM_CALLCONV Intersects(_In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2, _In_ GXMVECTOR Plane) noexcept;
// Plane-Triangle
ContainmentType XM_CALLCONV ContainedBy(_In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2,
_In_ GXMVECTOR Plane0, _In_ HXMVECTOR Plane1, _In_ HXMVECTOR Plane2,
_In_ CXMVECTOR Plane3, _In_ CXMVECTOR Plane4, _In_ CXMVECTOR Plane5) noexcept;
// Test a triangle against six planes at once (see BoundingFrustum::GetPlanes)
}
#pragma warning(pop)
/****************************************************************************
*
* Implementation
*
****************************************************************************/
#pragma warning(push)
#pragma warning(disable : 4068 4365 4616 6001)
// C4068/4616: ignore unknown pragmas
// C4365: Off by default noise
// C6001: False positives
#ifdef _PREFAST_
#pragma prefast(push)
#pragma prefast(disable : 25000, "FXMVECTOR is 16 bytes")
#pragma prefast(disable : 26495, "Union initialization confuses /analyze")
#endif
#include "DirectXCollision.inl"
#ifdef _PREFAST_
#pragma prefast(pop)
#endif
#pragma warning(pop)
} // namespace DirectX