//------------------------------------------------------------------------------------- // 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; #ifdef _MSC_VER #pragma warning(push) #pragma warning(disable:4324 4820) // C4324: alignment padding warnings // C4820: Off by default noise #endif //------------------------------------------------------------------------------------- // 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 constexpr 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 constexpr 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 constexpr 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) } #ifdef _MSC_VER #pragma warning(pop) #endif /**************************************************************************** * * Implementation * ****************************************************************************/ #ifdef _MSC_VER #pragma warning(push) #pragma warning(disable : 4068 4365 4616 6001) // C4068/4616: ignore unknown pragmas // C4365: Off by default noise // C6001: False positives #endif #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 #ifdef _MSC_VER #pragma warning(pop) #endif } // namespace DirectX