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