DirectXMath/Inc/DirectXCollision.h

//-------------------------------------------------------------------------------------
// 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