//------------------------------------------------------------------------------------- // DirectXCollision.h -- C++ Collision Math library // // THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF // ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO // THE IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A // PARTICULAR PURPOSE. // // Copyright (c) Microsoft Corporation. All rights reserved. //------------------------------------------------------------------------------------- #ifdef _MSC_VER #pragma once #endif #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) //------------------------------------------------------------------------------------- // Bounding sphere //------------------------------------------------------------------------------------- struct BoundingSphere { XMFLOAT3 Center; // Center of the sphere. float Radius; // Radius of the sphere. // Creators BoundingSphere() : Center(0,0,0), Radius( 1.f ) {} BoundingSphere( _In_ const XMFLOAT3& center, _In_ float radius ) : Center(center), Radius(radius) { assert( radius >= 0.f ); }; BoundingSphere( _In_ const BoundingSphere& sp ) : Center(sp.Center), Radius(sp.Radius) {} // Methods BoundingSphere& operator=( _In_ const BoundingSphere& sp ) { Center = sp.Center; Radius = sp.Radius; return *this; } void Transform( _Out_ BoundingSphere& Out, _In_ CXMMATRIX M ) const; void Transform( _Out_ BoundingSphere& Out, _In_ float Scale, _In_ FXMVECTOR Rotation, _In_ FXMVECTOR Translation ) const; // Transform the sphere ContainmentType Contains( _In_ FXMVECTOR Point ) const; ContainmentType Contains( _In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2 ) const; ContainmentType Contains( _In_ const BoundingSphere& sh ) const; ContainmentType Contains( _In_ const BoundingBox& box ) const; ContainmentType Contains( _In_ const BoundingOrientedBox& box ) const; ContainmentType Contains( _In_ const BoundingFrustum& fr ) const; bool Intersects( _In_ const BoundingSphere& sh ) const; bool Intersects( _In_ const BoundingBox& box ) const; bool Intersects( _In_ const BoundingOrientedBox& box ) const; bool Intersects( _In_ const BoundingFrustum& fr ) const; bool Intersects( _In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2 ) const; // Triangle-sphere test PlaneIntersectionType Intersects( _In_ FXMVECTOR Plane ) const; // Plane-sphere test bool Intersects( _In_ FXMVECTOR Origin, _In_ FXMVECTOR Direction, _Out_ float& Dist ) const; // Ray-sphere test ContainmentType ContainedBy( _In_ FXMVECTOR Plane0, _In_ FXMVECTOR Plane1, _In_ FXMVECTOR Plane2, _In_ GXMVECTOR Plane3, _In_ CXMVECTOR Plane4, _In_ CXMVECTOR Plane5 ) const; // Test sphere against six planes (see BoundingFrustum::GetPlanes) // Static methods static void CreateMerged( _Out_ BoundingSphere& Out, _In_ const BoundingSphere& S1, _In_ const BoundingSphere& S2 ); static void CreateFromBoundingBox( _Out_ BoundingSphere& Out, _In_ const BoundingBox& box ); static void CreateFromBoundingBox( _Out_ BoundingSphere& Out, _In_ const BoundingOrientedBox& box ); 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 ); static void CreateFromFrustum( _Out_ BoundingSphere& Out, _In_ const BoundingFrustum& fr ); }; //------------------------------------------------------------------------------------- // 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() : Center(0,0,0), Extents( 1.f, 1.f, 1.f ) {} BoundingBox( _In_ const XMFLOAT3& center, _In_ const XMFLOAT3& extents ) : Center(center), Extents(extents) { assert(extents.x >= 0 && extents.y >= 0 && extents.z >= 0); } BoundingBox( _In_ const BoundingBox& box ) : Center(box.Center), Extents(box.Extents) {} // Methods BoundingBox& operator=( _In_ const BoundingBox& box) { Center = box.Center; Extents = box.Extents; return *this; } void Transform( _Out_ BoundingBox& Out, _In_ CXMMATRIX M ) const; void Transform( _Out_ BoundingBox& Out, _In_ float Scale, _In_ FXMVECTOR Rotation, _In_ FXMVECTOR Translation ) const; void GetCorners( _Out_writes_(8) XMFLOAT3* Corners ) const; // Gets the 8 corners of the box ContainmentType Contains( _In_ FXMVECTOR Point ) const; ContainmentType Contains( _In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2 ) const; ContainmentType Contains( _In_ const BoundingSphere& sh ) const; ContainmentType Contains( _In_ const BoundingBox& box ) const; ContainmentType Contains( _In_ const BoundingOrientedBox& box ) const; ContainmentType Contains( _In_ const BoundingFrustum& fr ) const; bool Intersects( _In_ const BoundingSphere& sh ) const; bool Intersects( _In_ const BoundingBox& box ) const; bool Intersects( _In_ const BoundingOrientedBox& box ) const; bool Intersects( _In_ const BoundingFrustum& fr ) const; bool Intersects( _In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2 ) const; // Triangle-Box test PlaneIntersectionType Intersects( _In_ FXMVECTOR Plane ) const; // Plane-box test bool Intersects( _In_ FXMVECTOR Origin, _In_ FXMVECTOR Direction, _Out_ float& Dist ) const; // Ray-Box test ContainmentType ContainedBy( _In_ FXMVECTOR Plane0, _In_ FXMVECTOR Plane1, _In_ FXMVECTOR Plane2, _In_ GXMVECTOR Plane3, _In_ CXMVECTOR Plane4, _In_ CXMVECTOR Plane5 ) const; // Test box against six planes (see BoundingFrustum::GetPlanes) // Static methods static void CreateMerged( _Out_ BoundingBox& Out, _In_ const BoundingBox& b1, _In_ const BoundingBox& b2 ); static void CreateFromSphere( _Out_ BoundingBox& Out, _In_ const BoundingSphere& sh ); static void CreateFromPoints( _Out_ BoundingBox& Out, _In_ FXMVECTOR pt1, _In_ FXMVECTOR pt2 ); 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 ); }; //------------------------------------------------------------------------------------- // 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() : Center(0,0,0), Extents( 1.f, 1.f, 1.f ), Orientation(0,0,0, 1.f ) {} BoundingOrientedBox( _In_ const XMFLOAT3& _Center, _In_ const XMFLOAT3& _Extents, _In_ const XMFLOAT4& _Orientation ) : Center(_Center), Extents(_Extents), Orientation(_Orientation) { assert(_Extents.x >= 0 && _Extents.y >= 0 && _Extents.z >= 0); } BoundingOrientedBox( _In_ const BoundingOrientedBox& box ) : Center(box.Center), Extents(box.Extents), Orientation(box.Orientation) {} // Methods BoundingOrientedBox& operator=( _In_ const BoundingOrientedBox& box ) { Center = box.Center; Extents = box.Extents; Orientation = box.Orientation; return *this; } void Transform( _Out_ BoundingOrientedBox& Out, _In_ CXMMATRIX M ) const; void Transform( _Out_ BoundingOrientedBox& Out, _In_ float Scale, _In_ FXMVECTOR Rotation, _In_ FXMVECTOR Translation ) const; void GetCorners( _Out_writes_(8) XMFLOAT3* Corners ) const; // Gets the 8 corners of the box ContainmentType Contains( _In_ FXMVECTOR Point ) const; ContainmentType Contains( _In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2 ) const; ContainmentType Contains( _In_ const BoundingSphere& sh ) const; ContainmentType Contains( _In_ const BoundingBox& box ) const; ContainmentType Contains( _In_ const BoundingOrientedBox& box ) const; ContainmentType Contains( _In_ const BoundingFrustum& fr ) const; bool Intersects( _In_ const BoundingSphere& sh ) const; bool Intersects( _In_ const BoundingBox& box ) const; bool Intersects( _In_ const BoundingOrientedBox& box ) const; bool Intersects( _In_ const BoundingFrustum& fr ) const; bool Intersects( _In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2 ) const; // Triangle-OrientedBox test PlaneIntersectionType Intersects( _In_ FXMVECTOR Plane ) const; // Plane-OrientedBox test bool Intersects( _In_ FXMVECTOR Origin, _In_ FXMVECTOR Direction, _Out_ float& Dist ) const; // Ray-OrientedBox test ContainmentType ContainedBy( _In_ FXMVECTOR Plane0, _In_ FXMVECTOR Plane1, _In_ FXMVECTOR Plane2, _In_ GXMVECTOR Plane3, _In_ CXMVECTOR Plane4, _In_ CXMVECTOR Plane5 ) const; // Test OrientedBox against six planes (see BoundingFrustum::GetPlanes) // Static methods static void CreateFromBoundingBox( _Out_ BoundingOrientedBox& Out, _In_ const BoundingBox& box ); 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 ); }; //------------------------------------------------------------------------------------- // 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 slope (X/Z). float LeftSlope; // Negative X slope. float TopSlope; // Positive Y slope (Y/Z). float BottomSlope; // Negative Y slope. float Near, Far; // Z of the near plane and far plane. // Creators BoundingFrustum() : 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( _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 ) : Origin(_Origin), Orientation(_Orientation), RightSlope(_RightSlope), LeftSlope(_LeftSlope), TopSlope(_TopSlope), BottomSlope(_BottomSlope), Near(_Near), Far(_Far) { assert( _Near <= _Far ); } BoundingFrustum( _In_ const BoundingFrustum& fr ) : Origin(fr.Origin), Orientation(fr.Orientation), RightSlope(fr.RightSlope), LeftSlope(fr.LeftSlope), TopSlope(fr.TopSlope), BottomSlope(fr.BottomSlope), Near(fr.Near), Far(fr.Far) {} BoundingFrustum( _In_ CXMMATRIX Projection ) { CreateFromMatrix( *this, Projection ); } // Methods BoundingFrustum& operator=( _In_ const BoundingFrustum& fr ) { Origin=fr.Origin; Orientation=fr.Orientation; RightSlope=fr.RightSlope; LeftSlope=fr.LeftSlope; TopSlope=fr.TopSlope; BottomSlope=fr.BottomSlope; Near=fr.Near; Far=fr.Far; return *this; } void Transform( _Out_ BoundingFrustum& Out, _In_ CXMMATRIX M ) const; void Transform( _Out_ BoundingFrustum& Out, _In_ float Scale, _In_ FXMVECTOR Rotation, _In_ FXMVECTOR Translation ) const; void GetCorners( _Out_writes_(8) XMFLOAT3* Corners ) const; // Gets the 8 corners of the frustum ContainmentType Contains( _In_ FXMVECTOR Point ) const; ContainmentType Contains( _In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2 ) const; ContainmentType Contains( _In_ const BoundingSphere& sp ) const; ContainmentType Contains( _In_ const BoundingBox& box ) const; ContainmentType Contains( _In_ const BoundingOrientedBox& box ) const; ContainmentType Contains( _In_ const BoundingFrustum& fr ) const; // Frustum-Frustum test bool Intersects( _In_ const BoundingSphere& sh ) const; bool Intersects( _In_ const BoundingBox& box ) const; bool Intersects( _In_ const BoundingOrientedBox& box ) const; bool Intersects( _In_ const BoundingFrustum& fr ) const; bool Intersects( _In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2 ) const; // Triangle-Frustum test PlaneIntersectionType Intersects( _In_ FXMVECTOR Plane ) const; // Plane-Frustum test bool Intersects( _In_ FXMVECTOR Origin, _In_ FXMVECTOR Direction, _Out_ float& Dist ) const; // Ray-Frustum test ContainmentType ContainedBy( _In_ FXMVECTOR Plane0, _In_ FXMVECTOR Plane1, _In_ FXMVECTOR Plane2, _In_ GXMVECTOR Plane3, _In_ CXMVECTOR Plane4, _In_ CXMVECTOR Plane5 ) const; // 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; // Create 6 Planes representation of Frustum // Static methods static void CreateFromMatrix( _Out_ BoundingFrustum& Out, _In_ CXMMATRIX Projection ); }; //----------------------------------------------------------------------------- // Triangle intersection testing routines. //----------------------------------------------------------------------------- namespace TriangleTests { bool Intersects( _In_ FXMVECTOR Origin, _In_ FXMVECTOR Direction, _In_ FXMVECTOR V0, _In_ GXMVECTOR V1, _In_ CXMVECTOR V2, _Out_ float& Dist ); // Ray-Triangle bool Intersects( _In_ FXMVECTOR A0, _In_ FXMVECTOR A1, _In_ FXMVECTOR A2, _In_ GXMVECTOR B0, _In_ CXMVECTOR B1, _In_ CXMVECTOR B2 ); // Triangle-Triangle PlaneIntersectionType Intersects( _In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2, _In_ GXMVECTOR Plane ); // Plane-Triangle ContainmentType ContainedBy( _In_ FXMVECTOR V0, _In_ FXMVECTOR V1, _In_ FXMVECTOR V2, _In_ GXMVECTOR Plane0, _In_ CXMVECTOR Plane1, _In_ CXMVECTOR Plane2, _In_ CXMVECTOR Plane3, _In_ CXMVECTOR Plane4, _In_ CXMVECTOR Plane5 ); // Test a triangle against six planes at once (see BoundingFrustum::GetPlanes) }; #pragma warning(pop) /**************************************************************************** * * Implementation * ****************************************************************************/ #pragma warning(push) #pragma warning(disable : 4068 4616 6001) #pragma prefast(push) #pragma prefast(disable : 25000, "FXMVECTOR is 16 bytes") #include "DirectXCollision.inl" #pragma prefast(pop) #pragma warning(pop) }; // namespace DirectX