541 lines
23 KiB
C#
541 lines
23 KiB
C#
// Copyright (c) Xenko contributors (https://xenko.com) and Silicon Studio Corp. (https://www.siliconstudio.co.jp)
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// Distributed under the MIT license. See the LICENSE.md file in the project root for more information.
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//
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// -----------------------------------------------------------------------------
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// Original code from SlimMath project. http://code.google.com/p/slimmath/
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// Greetings to SlimDX Group. Original code published with the following license:
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// -----------------------------------------------------------------------------
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/*
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* Copyright (c) 2007-2011 SlimDX Group
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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using System;
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using System.Globalization;
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using System.Runtime.InteropServices;
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using System.Runtime.Serialization;
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namespace math
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{
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/// <summary>
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/// Represents a bounding sphere in three dimensional space.
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/// </summary>
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[DataContract]
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[StructLayout( LayoutKind.Sequential, Pack = 4 )]
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public struct BoundingSphere : IEquatable<BoundingSphere>, IFormattable
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{
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/// <summary>
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/// An empty bounding sphere (Center = 0 and Radius = 0).
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/// </summary>
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public static readonly BoundingSphere Empty = new BoundingSphere();
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/// <summary>
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/// The center of the sphere in three dimensional space.
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/// </summary>
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public Vec3 Center;
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/// <summary>
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/// The radious of the sphere.
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/// </summary>
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public float Radius;
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/// <summary>
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/// Initializes a new instance of the <see cref="BoundingSphere"/> struct.
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/// </summary>
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/// <param name="center">The center of the sphere in three dimensional space.</param>
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/// <param name="radius">The radius of the sphere.</param>
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public BoundingSphere( Vec3 center, float radius )
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{
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this.Center = center;
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this.Radius = radius;
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}
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/// <summary>
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/// Determines if there is an intersection between the current object and a <see cref="math.Ray"/>.
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/// </summary>
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/// <param name="ray">The ray to test.</param>
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/// <returns>Whether the two objects intersected.</returns>
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public bool Intersects( ref Ray ray )
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{
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float distance;
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return CollisionHelper.RayIntersectsSphere( ref ray, ref this, out distance );
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}
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/// <summary>
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/// Determines if there is an intersection between the current object and a <see cref="math.Ray"/>.
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/// </summary>
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/// <param name="ray">The ray to test.</param>
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/// <param name="distance">When the method completes, contains the distance of the intersection,
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/// or 0 if there was no intersection.</param>
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/// <returns>Whether the two objects intersected.</returns>
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public bool Intersects( ref Ray ray, out float distance )
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{
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return CollisionHelper.RayIntersectsSphere( ref ray, ref this, out distance );
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}
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/// <summary>
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/// Determines if there is an intersection between the current object and a <see cref="math.Ray"/>.
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/// </summary>
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/// <param name="ray">The ray to test.</param>
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/// <param name="point">When the method completes, contains the point of intersection,
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/// or <see cref="math.Vec3.Zero"/> if there was no intersection.</param>
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/// <returns>Whether the two objects intersected.</returns>
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public bool Intersects( ref Ray ray, out Vec3 point )
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{
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return CollisionHelper.RayIntersectsSphere( ref ray, ref this, out point );
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}
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/// <summary>
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/// Determines if there is an intersection between the current object and a <see cref="math.Plane"/>.
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/// </summary>
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/// <param name="plane">The plane to test.</param>
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/// <returns>Whether the two objects intersected.</returns>
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public PlaneIntersectionType Intersects( ref Plane plane )
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{
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return CollisionHelper.PlaneIntersectsSphere( ref plane, ref this );
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}
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/// <summary>
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/// Determines if there is an intersection between the current object and a triangle.
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/// </summary>
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/// <param name="vertex1">The first vertex of the triangle to test.</param>
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/// <param name="vertex2">The second vertex of the triagnle to test.</param>
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/// <param name="vertex3">The third vertex of the triangle to test.</param>
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/// <returns>Whether the two objects intersected.</returns>
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public bool Intersects( ref Vec3 vertex1, ref Vec3 vertex2, ref Vec3 vertex3 )
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{
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return CollisionHelper.SphereIntersectsTriangle( ref this, ref vertex1, ref vertex2, ref vertex3 );
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}
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/// <summary>
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/// Determines if there is an intersection between the current object and a <see cref="math.BoundingBox"/>.
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/// </summary>
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/// <param name="box">The box to test.</param>
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/// <returns>Whether the two objects intersected.</returns>
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public bool Intersects( ref BoundingBox box )
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{
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return CollisionHelper.BoxIntersectsSphere( ref box, ref this );
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}
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/// <summary>
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/// Determines if there is an intersection between the current object and a <see cref="math.BoundingSphere"/>.
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/// </summary>
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/// <param name="sphere">The sphere to test.</param>
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/// <returns>Whether the two objects intersected.</returns>
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public bool Intersects( ref BoundingSphere sphere )
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{
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return CollisionHelper.SphereIntersectsSphere( ref this, ref sphere );
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}
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/// <summary>
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/// Determines whether the current objects contains a point.
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/// </summary>
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/// <param name="point">The point to test.</param>
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/// <returns>The type of containment the two objects have.</returns>
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public ContainmentType Contains( ref Vec3 point )
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{
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return CollisionHelper.SphereContainsPoint( ref this, ref point );
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}
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/// <summary>
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/// Determines whether the current objects contains a triangle.
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/// </summary>
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/// <param name="vertex1">The first vertex of the triangle to test.</param>
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/// <param name="vertex2">The second vertex of the triagnle to test.</param>
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/// <param name="vertex3">The third vertex of the triangle to test.</param>
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/// <returns>The type of containment the two objects have.</returns>
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public ContainmentType Contains( ref Vec3 vertex1, ref Vec3 vertex2, ref Vec3 vertex3 )
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{
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return CollisionHelper.SphereContainsTriangle( ref this, ref vertex1, ref vertex2, ref vertex3 );
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}
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/// <summary>
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/// Determines whether the current objects contains a <see cref="math.BoundingBox"/>.
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/// </summary>
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/// <param name="box">The box to test.</param>
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/// <returns>The type of containment the two objects have.</returns>
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public ContainmentType Contains( ref BoundingBox box )
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{
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return CollisionHelper.SphereContainsBox( ref this, ref box );
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}
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/// <summary>
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/// Determines whether the current objects contains a <see cref="math.BoundingSphere"/>.
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/// </summary>
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/// <param name="sphere">The sphere to test.</param>
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/// <returns>The type of containment the two objects have.</returns>
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public ContainmentType Contains( ref BoundingSphere sphere )
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{
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return CollisionHelper.SphereContainsSphere( ref this, ref sphere );
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}
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/// <summary>
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/// Constructs a <see cref="math.BoundingSphere"/> that fully contains the given points.
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/// </summary>
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/// <param name="points">The points that will be contained by the sphere.</param>
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/// <param name="result">When the method completes, contains the newly constructed bounding sphere.</param>
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public static unsafe void FromPoints( Vec3[] points, out BoundingSphere result )
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{
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if( points == null )
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throw new ArgumentNullException( "points" );
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fixed( void* pointsPtr = points )
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{
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FromPoints( (IntPtr)pointsPtr, 0, points.Length, lib.Util.SizeOf<Vec3>(), out result );
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}
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}
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/// <summary>
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/// Constructs a <see cref="math.BoundingSphere" /> that fully contains the given unmanaged points.
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/// </summary>
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/// <param name="vertexBufferPtr">A pointer to of vertices containing points.</param>
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/// <param name="vertexPositionOffsetInBytes">The point offset in bytes starting from the vertex structure.</param>
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/// <param name="vertexCount">The verterx vertexCount.</param>
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/// <param name="vertexStride">The vertex stride (size of vertex).</param>
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/// <param name="result">When the method completes, contains the newly constructed bounding sphere.</param>
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public static unsafe void FromPoints( IntPtr vertexBufferPtr, int vertexPositionOffsetInBytes, int vertexCount, int vertexStride, out BoundingSphere result )
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{
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if( vertexBufferPtr == IntPtr.Zero )
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{
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throw new ArgumentNullException( "vertexBufferPtr" );
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}
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var startPoint = (byte*)vertexBufferPtr + vertexPositionOffsetInBytes;
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//Find the center of all points.
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Vec3 center = Vec3.Zero;
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var nextPoint = startPoint;
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for( int i = 0; i < vertexCount; ++i )
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{
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Vec3.Add( ref *(Vec3*)nextPoint, ref center, out center );
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nextPoint += vertexStride;
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}
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//This is the center of our sphere.
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center /= (float)vertexCount;
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//Find the radius of the sphere
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float radius = 0f;
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nextPoint = startPoint;
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for( int i = 0; i < vertexCount; ++i )
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{
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//We are doing a relative distance comparasin to find the maximum distance
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//from the center of our sphere.
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float distance;
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Vec3.DistanceSquared( ref center, ref *(Vec3*)nextPoint, out distance );
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if( distance > radius )
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radius = distance;
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nextPoint += vertexStride;
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}
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//Find the real distance from the DistanceSquared.
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radius = (float)Math.Sqrt( radius );
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//Construct the sphere.
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result.Center = center;
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result.Radius = radius;
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}
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/// <summary>
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/// Constructs a <see cref="math.BoundingSphere"/> that fully contains the given points.
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/// </summary>
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/// <param name="points">The points that will be contained by the sphere.</param>
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/// <returns>The newly constructed bounding sphere.</returns>
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public static BoundingSphere FromPoints( Vec3[] points )
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{
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BoundingSphere result;
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FromPoints( points, out result );
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return result;
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}
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/// <summary>
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/// Constructs a <see cref="math.BoundingSphere"/> from a given box.
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/// </summary>
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/// <param name="box">The box that will designate the extents of the sphere.</param>
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/// <param name="result">When the method completes, the newly constructed bounding sphere.</param>
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public static void FromBox( ref BoundingBox box, out BoundingSphere result )
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{
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Vec3.Lerp( ref box.Minimum, ref box.Maximum, 0.5f, out result.Center );
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float x = box.Minimum.X - box.Maximum.X;
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float y = box.Minimum.Y - box.Maximum.Y;
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float z = box.Minimum.Z - box.Maximum.Z;
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float distance = (float)( Math.Sqrt( ( x * x ) + ( y * y ) + ( z * z ) ) );
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result.Radius = distance * 0.5f;
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}
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/// <summary>
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/// Constructs a <see cref="math.BoundingSphere"/> from a given box.
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/// </summary>
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/// <param name="box">The box that will designate the extents of the sphere.</param>
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/// <returns>The newly constructed bounding sphere.</returns>
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public static BoundingSphere FromBox( BoundingBox box )
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{
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BoundingSphere result;
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FromBox( ref box, out result );
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return result;
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}
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/// <summary>
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/// Transforms a bounding bounding sphere, yielding the bounding sphere of all points contained by the original one, transformed by the specified transform.
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/// </summary>
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/// <param name="value">The original bounding sphere.</param>
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/// <param name="transform">The transform to apply to the bounding sphere.</param>
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/// <param name="result">The transformed bounding sphere.</param>
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public static void Transform( ref BoundingSphere value, ref Matrix transform, out BoundingSphere result )
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{
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Vec3.TransformCoordinate( ref value.Center, ref transform, out result.Center );
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var majorAxisLengthSquared = Math.Max(
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( transform.M11 * transform.M11 ) + ( transform.M12 * transform.M12 ) + ( transform.M13 * transform.M13 ), Math.Max(
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( transform.M21 * transform.M21 ) + ( transform.M22 * transform.M22 ) + ( transform.M23 * transform.M23 ),
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( transform.M31 * transform.M31 ) + ( transform.M32 * transform.M32 ) + ( transform.M33 * transform.M33 ) ) );
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result.Radius = value.Radius * (float)Math.Sqrt( majorAxisLengthSquared );
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}
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/// <summary>
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/// Constructs a <see cref="math.BoundingSphere"/> that is the as large as the total combined area of the two specified spheres.
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/// </summary>
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/// <param name="value1">The first sphere to merge.</param>
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/// <param name="value2">The second sphere to merge.</param>
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/// <param name="result">When the method completes, contains the newly constructed bounding sphere.</param>
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public static void Merge( ref BoundingSphere value1, ref BoundingSphere value2, out BoundingSphere result )
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{
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// Pre-exit if one of the bounding sphere by assuming that a merge with an empty sphere is equivalent at taking the non-empty sphere
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if( value1 == Empty )
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{
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result = value2;
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return;
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}
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if( value2 == Empty )
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{
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result = value1;
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return;
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}
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Vec3 difference = value2.Center - value1.Center;
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float length = difference.Length();
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float radius = value1.Radius;
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float radius2 = value2.Radius;
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if( radius + radius2 >= length )
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{
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if( radius - radius2 >= length )
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{
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result = value1;
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return;
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}
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if( radius2 - radius >= length )
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{
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result = value2;
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return;
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}
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}
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Vec3 vector = difference * ( 1.0f / length );
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float min = Math.Min( -radius, length - radius2 );
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float max = ( Math.Max( radius, length + radius2 ) - min ) * 0.5f;
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result.Center = value1.Center + vector * ( max + min );
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result.Radius = max;
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}
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/// <summary>
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/// Constructs a <see cref="math.BoundingSphere"/> that is the as large as the total combined area of the two specified spheres.
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/// </summary>
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/// <param name="value1">The first sphere to merge.</param>
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/// <param name="value2">The second sphere to merge.</param>
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/// <returns>The newly constructed bounding sphere.</returns>
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public static BoundingSphere Merge( BoundingSphere value1, BoundingSphere value2 )
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{
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BoundingSphere result;
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Merge( ref value1, ref value2, out result );
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return result;
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}
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/// <summary>
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/// Tests for equality between two objects.
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/// </summary>
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/// <param name="left">The first value to compare.</param>
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/// <param name="right">The second value to compare.</param>
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/// <returns><c>true</c> if <paramref name="left"/> has the same value as <paramref name="right"/>; otherwise, <c>false</c>.</returns>
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public static bool operator ==( BoundingSphere left, BoundingSphere right )
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{
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return left.Equals( right );
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}
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/// <summary>
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/// Tests for inequality between two objects.
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/// </summary>
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/// <param name="left">The first value to compare.</param>
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/// <param name="right">The second value to compare.</param>
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/// <returns><c>true</c> if <paramref name="left"/> has a different value than <paramref name="right"/>; otherwise, <c>false</c>.</returns>
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public static bool operator !=( BoundingSphere left, BoundingSphere right )
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{
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return !left.Equals( right );
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}
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/// <summary>
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/// Returns a <see cref="string"/> that represents this instance.
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/// </summary>
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/// <returns>
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/// A <see cref="string"/> that represents this instance.
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/// </returns>
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public override string ToString()
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{
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return string.Format( CultureInfo.CurrentCulture, "Center:{0} Radius:{1}", Center.ToString(), Radius.ToString() );
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}
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/// <summary>
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/// Returns a <see cref="string"/> that represents this instance.
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/// </summary>
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/// <param name="format">The format.</param>
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/// <returns>
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/// A <see cref="string"/> that represents this instance.
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/// </returns>
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public string ToString( string format )
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{
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if( format == null )
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return ToString();
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return string.Format( CultureInfo.CurrentCulture, "Center:{0} Radius:{1}", Center.ToString( format, CultureInfo.CurrentCulture ),
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Radius.ToString( format, CultureInfo.CurrentCulture ) );
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}
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/// <summary>
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/// Returns a <see cref="string"/> that represents this instance.
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/// </summary>
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/// <param name="formatProvider">The format provider.</param>
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/// <returns>
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/// A <see cref="string"/> that represents this instance.
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/// </returns>
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public string ToString( IFormatProvider formatProvider )
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{
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return string.Format( formatProvider, "Center:{0} Radius:{1}", Center.ToString(), Radius.ToString() );
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}
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/// <summary>
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/// Returns a <see cref="string"/> that represents this instance.
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/// </summary>
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/// <param name="format">The format.</param>
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/// <param name="formatProvider">The format provider.</param>
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/// <returns>
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/// A <see cref="string"/> that represents this instance.
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/// </returns>
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public string ToString( string format, IFormatProvider formatProvider )
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{
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if( format == null )
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return ToString( formatProvider );
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return string.Format( formatProvider, "Center:{0} Radius:{1}", Center.ToString( format, formatProvider ),
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Radius.ToString( format, formatProvider ) );
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}
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/// <summary>
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/// Returns a hash code for this instance.
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/// </summary>
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/// <returns>
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/// A hash code for this instance, suitable for use in hashing algorithms and data structures like a hash table.
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/// </returns>
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public override int GetHashCode()
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{
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return Center.GetHashCode() + Radius.GetHashCode();
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}
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/// <summary>
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/// Determines whether the specified <see cref="math.Vec4"/> is equal to this instance.
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/// </summary>
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/// <param name="value">The <see cref="math.Vec4"/> to compare with this instance.</param>
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/// <returns>
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/// <c>true</c> if the specified <see cref="math.Vec4"/> is equal to this instance; otherwise, <c>false</c>.
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/// </returns>
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public bool Equals( BoundingSphere value )
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{
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return Center == value.Center && Radius == value.Radius;
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}
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/// <summary>
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/// Determines whether the specified <see cref="object"/> is equal to this instance.
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/// </summary>
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/// <param name="value">The <see cref="object"/> to compare with this instance.</param>
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/// <returns>
|
|
/// <c>true</c> if the specified <see cref="object"/> is equal to this instance; otherwise, <c>false</c>.
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|
/// </returns>
|
|
public override bool Equals( object value )
|
|
{
|
|
if( value == null )
|
|
return false;
|
|
|
|
if( value.GetType() != GetType() )
|
|
return false;
|
|
|
|
return Equals( (BoundingSphere)value );
|
|
}
|
|
|
|
#if SlimDX1xInterop
|
|
/// <summary>
|
|
/// Performs an implicit conversion from <see cref="math.BoundingSphere"/> to <see cref="SlimDX.BoundingSphere"/>.
|
|
/// </summary>
|
|
/// <param name="value">The value.</param>
|
|
/// <returns>The result of the conversion.</returns>
|
|
public static implicit operator SlimDX.BoundingSphere(BoundingSphere value)
|
|
{
|
|
return new SlimDX.BoundingSphere(value.Center, value.Radius);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Performs an implicit conversion from <see cref="SlimDX.BoundingSphere"/> to <see cref="math.BoundingSphere"/>.
|
|
/// </summary>
|
|
/// <param name="value">The value.</param>
|
|
/// <returns>The result of the conversion.</returns>
|
|
public static implicit operator BoundingSphere(SlimDX.BoundingSphere value)
|
|
{
|
|
return new BoundingSphere(value.Center, value.Radius);
|
|
}
|
|
#endif
|
|
|
|
#if SlimDX1xInterop
|
|
/// <summary>
|
|
/// Performs an implicit conversion from <see cref="math.BoundingSphere"/> to <see cref="Microsoft.Xna.Framework.BoundingSphere"/>.
|
|
/// </summary>
|
|
/// <param name="value">The value.</param>
|
|
/// <returns>The result of the conversion.</returns>
|
|
public static implicit operator Microsoft.Xna.Framework.BoundingSphere(BoundingSphere value)
|
|
{
|
|
return new Microsoft.Xna.Framework.BoundingSphere(value.Center, value.Radius);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Performs an implicit conversion from <see cref="Microsoft.Xna.Framework.BoundingSphere"/> to <see cref="math.BoundingSphere"/>.
|
|
/// </summary>
|
|
/// <param name="value">The value.</param>
|
|
/// <returns>The result of the conversion.</returns>
|
|
public static implicit operator BoundingSphere(Microsoft.Xna.Framework.BoundingSphere value)
|
|
{
|
|
return new BoundingSphere(value.Center, value.Radius);
|
|
}
|
|
#endif
|
|
}
|
|
}
|