492 lines
21 KiB
C++
492 lines
21 KiB
C++
//========= Copyright © 1996-2005, Valve Corporation, All rights reserved. ============//
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//
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// Purpose: Common collision utility methods
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//
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// $Header: $
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// $NoKeywords: $
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//=============================================================================//
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#ifndef COLLISIONUTILS_H
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#define COLLISIONUTILS_H
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#include "tier0/platform.h"
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#ifdef _WIN32
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#pragma once
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#endif
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#include "mathlib/ssemath.h"
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//-----------------------------------------------------------------------------
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// forward declarations
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//-----------------------------------------------------------------------------
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struct Ray_t;
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class Vector;
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class Vector2D;
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class Vector4D;
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struct cplane_t;
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class QAngle;
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class CBaseTrace;
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struct matrix3x4_t;
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//-----------------------------------------------------------------------------
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//
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// IntersectRayWithTriangle
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//
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// Intersects a ray with a triangle, returns distance t along ray.
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// t will be less than zero if no intersection occurred
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// oneSided will cull collisions which approach the triangle from the back
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// side, assuming the vertices are specified in counter-clockwise order
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// The vertices need not be specified in that order if oneSided is not used
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//
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//-----------------------------------------------------------------------------
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float IntersectRayWithTriangle( const Ray_t& ray,
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const Vector& v1, const Vector& v2, const Vector& v3,
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bool oneSided );
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//-----------------------------------------------------------------------------
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//
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// ComputeIntersectionBarycentricCoordinates
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//
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// Figures out the barycentric coordinates (u,v) where a ray hits a
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// triangle. Note that this will ignore the ray extents, and it also ignores
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// the ray length. Note that the edge from v1->v2 represents u (v2: u = 1),
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// and the edge from v1->v3 represents v (v3: v = 1). It returns false
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// if the ray is parallel to the triangle (or when t is specified if t is less
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// than zero).
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//
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//-----------------------------------------------------------------------------
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bool ComputeIntersectionBarycentricCoordinates( const Ray_t& ray,
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const Vector& v1, const Vector& v2, const Vector& v3, float& u, float& v,
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float *t = 0 );
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//-----------------------------------------------------------------------------
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//
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// IntersectRayWithRay
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//
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// Returns whether or not there was an intersection. The "t" paramter is the
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// distance along ray0 and the "s" parameter is the distance along ray1. If
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// the two lines to not intersect the "t" and "s" represent the closest approach.
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// "t" and "s" will not change if the rays are parallel.
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//
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//-----------------------------------------------------------------------------
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bool IntersectRayWithRay( const Ray_t &ray0, const Ray_t &ray1, float &t, float &s );
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//-----------------------------------------------------------------------------
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//
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// IntersectRayWithSphere
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//
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// Returns whether or not there was an intersection. Returns the two intersection points.
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// NOTE: The point of closest approach can be found at the average t value.
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//
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//-----------------------------------------------------------------------------
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bool IntersectRayWithSphere( const Vector &vecRayOrigin, const Vector &vecRayDelta, const Vector &vecSphereCenter, float flRadius, float *pT1, float *pT2 );
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//-----------------------------------------------------------------------------
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//
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// IntersectInfiniteRayWithSphere
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//
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// Returns whether or not there was an intersection of a sphere against an infinitely
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// extending ray.
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// Returns the two intersection points
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//
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//-----------------------------------------------------------------------------
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bool IntersectInfiniteRayWithSphere( const Vector &vecRayOrigin, const Vector &vecRayDelta,
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const Vector &vecSphereCenter, float flRadius, float *pT1, float *pT2 );
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// returns true if the sphere and cone intersect
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// NOTE: cone sine/cosine are the half angle of the cone
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bool IsSphereIntersectingCone( const Vector &sphereCenter, float sphereRadius, const Vector &coneOrigin, const Vector &coneNormal, float coneSine, float coneCosine );
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//-----------------------------------------------------------------------------
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//
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// IntersectRayWithPlane
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//
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// Intersects a ray with a plane, returns distance t along ray.
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// t will be less than zero the intersection occurs in the opposite direction of the ray.
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//
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//-----------------------------------------------------------------------------
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float IntersectRayWithPlane( const Ray_t& ray, const cplane_t& plane );
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float IntersectRayWithPlane( const Vector& org, const Vector& dir, const cplane_t& plane );
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float IntersectRayWithPlane( const Vector& org, const Vector& dir, const Vector& normal, float dist );
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// This version intersects a ray with an axis-aligned plane
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float IntersectRayWithAAPlane( const Vector& vecStart, const Vector& vecEnd, int nAxis, float flSign, float flDist );
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//-----------------------------------------------------------------------------
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// IntersectRayWithBox
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//
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// Purpose: Computes the intersection of a ray with a box (AABB)
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// Output : Returns true if there is an intersection + trace information
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//-----------------------------------------------------------------------------
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bool IntersectRayWithBox( const Vector &rayStart, const Vector &rayDelta, const Vector &boxMins, const Vector &boxMaxs, float epsilon, CBaseTrace *pTrace, float *pFractionLeftSolid = NULL );
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bool IntersectRayWithBox( const Ray_t &ray, const Vector &boxMins, const Vector &boxMaxs, float epsilon, CBaseTrace *pTrace, float *pFractionLeftSolid = NULL );
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//-----------------------------------------------------------------------------
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// Intersects a ray against a box
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//-----------------------------------------------------------------------------
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struct BoxTraceInfo_t
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{
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float t1;
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float t2;
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int hitside;
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bool startsolid;
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};
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bool IntersectRayWithBox( const Vector &vecRayStart, const Vector &vecRayDelta,
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const Vector &boxMins, const Vector &boxMaxs, float flTolerance, BoxTraceInfo_t *pTrace );
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//-----------------------------------------------------------------------------
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// IntersectRayWithOBB
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//
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// Purpose: Computes the intersection of a ray with a oriented box (OBB)
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// Output : Returns true if there is an intersection + trace information
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//-----------------------------------------------------------------------------
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bool IntersectRayWithOBB( const Vector &vecRayStart, const Vector &vecRayDelta,
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const matrix3x4_t &matOBBToWorld, const Vector &vecOBBMins, const Vector &vecOBBMaxs,
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float flTolerance, CBaseTrace *pTrace );
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bool IntersectRayWithOBB( const Vector &vecRayOrigin, const Vector &vecRayDelta,
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const Vector &vecBoxOrigin, const QAngle &angBoxRotation,
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const Vector &vecOBBMins, const Vector &vecOBBMaxs, float flTolerance, CBaseTrace *pTrace );
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bool IntersectRayWithOBB( const Ray_t &ray, const Vector &vecBoxOrigin, const QAngle &angBoxRotation,
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const Vector &vecOBBMins, const Vector &vecOBBMaxs, float flTolerance, CBaseTrace *pTrace );
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bool IntersectRayWithOBB( const Ray_t &ray, const matrix3x4_t &matOBBToWorld,
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const Vector &vecOBBMins, const Vector &vecOBBMaxs, float flTolerance, CBaseTrace *pTrace );
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bool IntersectRayWithOBB( const Vector &vecRayStart, const Vector &vecRayDelta,
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const matrix3x4_t &matOBBToWorld, const Vector &vecOBBMins, const Vector &vecOBBMaxs,
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float flTolerance, BoxTraceInfo_t *pTrace );
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//-----------------------------------------------------------------------------
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//
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// IsSphereIntersectingSphere
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//
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// returns true if there's an intersection between sphere and sphere
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//
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//-----------------------------------------------------------------------------
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bool IsSphereIntersectingSphere( const Vector& center1, float radius1,
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const Vector& center2, float radius2 );
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//-----------------------------------------------------------------------------
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//
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// IsBoxIntersectingSphere
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//
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// returns true if there's an intersection between box and sphere
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//
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//-----------------------------------------------------------------------------
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bool IsBoxIntersectingSphere( const Vector& boxMin, const Vector& boxMax,
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const Vector& center, float radius );
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bool IsBoxIntersectingSphereExtents( const Vector& boxCenter, const Vector& boxHalfDiag,
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const Vector& center, float radius );
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//-----------------------------------------------------------------------------
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// Returns true if a box intersects with a sphere
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// NOTE: f4RadiusSq must have the radius sq in all components
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//-----------------------------------------------------------------------------
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FORCEINLINE bool IsBoxIntersectingSphere( const Vector& boxMin, const Vector& boxMax,
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const fltx4& f4Center, const fltx4& f4RadiusSq )
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{
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// See Graphics Gems, box-sphere intersection
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fltx4 f4Mins = LoadUnalignedSIMD( &boxMin.x );
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fltx4 f4Maxs = LoadUnalignedSIMD( &boxMax.x );
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fltx4 f4MinDelta = SubSIMD( f4Mins, f4Center );
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fltx4 f4MaxDelta = SubSIMD( f4Center, f4Maxs );
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f4MinDelta = MaxSIMD( f4MinDelta, Four_Zeros );
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f4MaxDelta = MaxSIMD( f4MaxDelta, Four_Zeros );
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fltx4 f4Delta = AddSIMD( f4MinDelta, f4MaxDelta );
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fltx4 f4DistSq = Dot3SIMD( f4Delta, f4Delta );
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return IsAllGreaterThan( f4RadiusSq, f4DistSq );
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}
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//-----------------------------------------------------------------------------
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// returns true if there's an intersection between ray and sphere
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//-----------------------------------------------------------------------------
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bool IsRayIntersectingSphere( const Vector &vecRayOrigin, const Vector &vecRayDelta,
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const Vector &vecSphereCenter, float flRadius, float flTolerance = 0.0f );
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//-----------------------------------------------------------------------------
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//
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// IsCircleIntersectingRectangle
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//
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// returns true if there's an intersection between rectangle and circle
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//
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//-----------------------------------------------------------------------------
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bool IsCircleIntersectingRectangle( const Vector2D& boxMin, const Vector2D& boxMax,
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const Vector2D& center, float radius );
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//-----------------------------------------------------------------------------
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//
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// IsBoxIntersectingBox
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//
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// returns true if there's an intersection between two boxes
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//
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//-----------------------------------------------------------------------------
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bool IsBoxIntersectingBox( const Vector& boxMin1, const Vector& boxMax1,
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const Vector& boxMin2, const Vector& boxMax2 );
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bool IsBoxIntersectingBoxExtents( const Vector& boxCenter1, const Vector& boxHalfDiagonal1,
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const Vector& boxCenter2, const Vector& boxHalfDiagonal2 );
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#ifdef _X360
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// inline version:
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#include "mathlib/ssemath.h"
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inline bool IsBoxIntersectingBoxExtents( const fltx4 boxCenter1, const fltx4 boxHalfDiagonal1,
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const fltx4 boxCenter2, const fltx4 boxHalfDiagonal2 );
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#endif
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//-----------------------------------------------------------------------------
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//
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// IsOBBIntersectingOBB
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//
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// returns true if there's an intersection between two OBBs
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//
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//-----------------------------------------------------------------------------
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bool IsOBBIntersectingOBB( const Vector &vecOrigin1, const QAngle &vecAngles1, const Vector& boxMin1, const Vector& boxMax1,
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const Vector &vecOrigin2, const QAngle &vecAngles2, const Vector& boxMin2, const Vector& boxMax2, float flTolerance = 0.0f );
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//-----------------------------------------------------------------------------
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//
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// IsBoxIntersectingRay
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//
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// returns true if there's an intersection between box and ray
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//
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//-----------------------------------------------------------------------------
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bool FASTCALL IsBoxIntersectingRay( const Vector& boxMin, const Vector& boxMax,
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const Vector& origin, const Vector& delta, float flTolerance = 0.0f );
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bool FASTCALL IsBoxIntersectingRay( const Vector& boxMin, const Vector& boxMax,
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const Ray_t& ray, float flTolerance = 0.0f );
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bool FASTCALL IsBoxIntersectingRay( const Vector& boxMin, const Vector& boxMax,
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const Vector& origin, const Vector& delta,
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const Vector& invDelta, float flTolerance = 0.0f );
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// On the PC, we can't pass fltx4's in registers like this. On the x360, it is
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// much better if we do.
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#ifdef _X360
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bool FASTCALL IsBoxIntersectingRay( fltx4 boxMin, fltx4 boxMax,
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fltx4 origin, fltx4 delta, fltx4 invDelta, // ray parameters
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fltx4 vTolerance = LoadZeroSIMD() ///< eg from ReplicateX4(flTolerance)
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);
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#else
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bool FASTCALL IsBoxIntersectingRay( const fltx4 &boxMin, const fltx4 &boxMax,
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const fltx4 & origin, const fltx4 & delta, const fltx4 & invDelta, // ray parameters
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const fltx4 & vTolerance = Four_Zeros ///< eg from ReplicateX4(flTolerance)
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);
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#endif
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bool inline FASTCALL IsBoxIntersectingRay( const fltx4& boxMin, const fltx4& boxMax,
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const fltx4& origin, const fltx4& delta, float flTolerance = 0.0f )
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{
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return IsBoxIntersectingRay( boxMin, boxMax, origin, delta, ReciprocalSIMD(delta), ReplicateX4(flTolerance) );
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}
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bool FASTCALL IsBoxIntersectingRay( const fltx4& boxMin, const fltx4& boxMax,
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const Ray_t& ray, float flTolerance = 0.0f );
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//-----------------------------------------------------------------------------
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//
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// IsPointInBox
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//
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// returns true if the point is in the box
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//
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//-----------------------------------------------------------------------------
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bool IsPointInBox( const Vector& pt, const Vector& boxMin, const Vector& boxMax );
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// SIMD version
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FORCEINLINE bool IsPointInBox( const fltx4& pt, const fltx4& boxMin, const fltx4& boxMax )
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{
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fltx4 greater = CmpGtSIMD( pt,boxMax );
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fltx4 less = CmpLtSIMD( pt, boxMin );
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return (IsAllZeros(SetWToZeroSIMD(OrSIMD(greater,less))));
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}
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//-----------------------------------------------------------------------------
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// Purpose: returns true if pt intersects the truncated cone
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// origin - cone tip, axis unit cone axis, cosAngle - cosine of cone axis to surface angle
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//-----------------------------------------------------------------------------
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bool IsPointInCone( const Vector &pt, const Vector &origin, const Vector &axis, float cosAngle, float length );
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//-----------------------------------------------------------------------------
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// Intersects a plane with a triangle (using barycentric definition)
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// The return value, in pIntersection, is an array of barycentric coordinates
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// describing at most 2 intersection points.
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// The return value is the number of intersection points
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//-----------------------------------------------------------------------------
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int IntersectTriangleWithPlaneBarycentric( const Vector& org, const Vector& edgeU, const Vector& edgeV,
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const Vector4D& plane, Vector2D* pIntersection );
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//-----------------------------------------------------------------------------
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//
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// PointInQuadBarycentric
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//
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// Given a point and a quad in a plane return the u and v (barycentric) positions
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// of the point relative to the quad. The points (v1,v2,v3,v4) should be given
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// in a counter-clockwise order with v1 acting as the primary corner (u=0, v=0).
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// Thus, u0 = v2 - v1, and v0 = v4 - v1.
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//
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//-----------------------------------------------------------------------------
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enum QuadBarycentricRetval_t
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{
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BARY_QUADRATIC_FALSE = 0,
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BARY_QUADRATIC_TRUE = 1,
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BARY_QUADRATIC_NEGATIVE_DISCRIMINANT = 2
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};
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QuadBarycentricRetval_t PointInQuadToBarycentric( const Vector &v1, const Vector &v2,
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const Vector &v3, const Vector &v4, const Vector &point, Vector2D &uv );
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void PointInQuadFromBarycentric( const Vector &v1, const Vector &v2, const Vector &v3, const Vector &v4,
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const Vector2D &uv, Vector &point );
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void TexCoordInQuadFromBarycentric( const Vector2D &v1, const Vector2D &v2, const Vector2D &v3, const Vector2D &v4,
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const Vector2D &uv, Vector2D &texCoord );
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//-----------------------------------------------------------------------------
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// Compute point from barycentric specification
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// Edge u goes from v0 to v1, edge v goes from v0 to v2
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//-----------------------------------------------------------------------------
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void ComputePointFromBarycentric( const Vector& v0, const Vector& v1, const Vector& v2,
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float u, float v, Vector& pt );
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void ComputePointFromBarycentric( const Vector2D& v0, const Vector2D& v1, const Vector2D& v2,
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float u, float v, Vector2D& pt );
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//-----------------------------------------------------------------------------
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// Swept OBB test
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//-----------------------------------------------------------------------------
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bool IsRayIntersectingOBB( const Ray_t &ray, const Vector& org, const QAngle& angles,
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const Vector& mins, const Vector& maxs );
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//-----------------------------------------------------------------------------
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// Compute a separating plane between two boxes (expensive!)
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// Returns false if no separating plane exists
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//-----------------------------------------------------------------------------
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bool ComputeSeparatingPlane( const Vector& org1, const QAngle& angles1, const Vector& min1, const Vector& max1,
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const Vector& org2, const QAngle& angles2, const Vector& min2, const Vector& max2,
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float tolerance, cplane_t* pPlane );
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//-----------------------------------------------------------------------------
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// IsBoxIntersectingTriangle
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//
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// Test for an intersection (overlap) between an axial-aligned bounding
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// box (AABB) and a triangle.
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//
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// Triangle points are in counter-clockwise order with the normal facing "out."
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//
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// Using the "Separating-Axis Theorem" to test for intersections between
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// a triangle and an axial-aligned bounding box (AABB).
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// 1. 3 Axis Plane Tests - x, y, z
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// 2. 9 Edge Planes Tests - the 3 edges of the triangle crossed with all 3 axial
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// planes (x, y, z)
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// 3. 1 Face Plane Test - the plane the triangle resides in (cplane_t plane)
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//-----------------------------------------------------------------------------
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bool IsBoxIntersectingTriangle( const Vector &vecBoxCenter, const Vector &vecBoxExtents,
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const Vector &v1, const Vector &v2, const Vector &v3,
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const cplane_t &plane, float flTolerance );
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Vector CalcClosestPointOnTriangle( const Vector &P, const Vector &v0, const Vector &v1, const Vector &v2 );
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//-----------------------------------------------------------------------------
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// Compute if the OBB intersects the quad plane, and whether the entire
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// OBB/Quad intersection is contained within the quad itself
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//
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// False if no intersection exists, or if part of the intersection is
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// outside the quad's extents
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//-----------------------------------------------------------------------------
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bool OBBHasFullyContainedIntersectionWithQuad( const Vector &vOBBExtent1_Scaled, const Vector &vOBBExtent2_Scaled, const Vector &vOBBExtent3_Scaled, const Vector &ptOBBCenter,
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const Vector &vQuadNormal, float fQuadPlaneDist, const Vector &ptQuadCenter,
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const Vector &vQuadExtent1_Normalized, float fQuadExtent1Length,
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const Vector &vQuadExtent2_Normalized, float fQuadExtent2Length );
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//-----------------------------------------------------------------------------
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// Compute if the Ray intersects the quad plane, and whether the entire
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// Ray/Quad intersection is contained within the quad itself
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//
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// False if no intersection exists, or if part of the intersection is
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// outside the quad's extents
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//-----------------------------------------------------------------------------
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bool RayHasFullyContainedIntersectionWithQuad( const Ray_t &ray,
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const Vector &vQuadNormal, float fQuadPlaneDist, const Vector &ptQuadCenter,
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const Vector &vQuadExtent1_Normalized, float fQuadExtent1Length,
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const Vector &vQuadExtent2_Normalized, float fQuadExtent2Length );
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//-----------------------------------------------------------------------------
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// Compute the intersection of a line and a circle
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//-----------------------------------------------------------------------------
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bool LineCircleIntersection(const Vector2D ¢er,
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const float radius,
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const Vector2D &vLinePt,
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const Vector2D &vLineDir,
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float *fIntersection1,
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float *fIntersection2);
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//-----------------------------------------------------------------------------
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// Find the intersection of a ray with an axis-aligned cylinder
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//-----------------------------------------------------------------------------
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bool IntersectRayWithAACylinder( const Ray_t &ray,
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const Vector ¢er,
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float radius,
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float height,
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CBaseTrace *pTrace );
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//-----------------------------------------------------------------------------
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// INLINES
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//-----------------------------------------------------------------------------
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#ifdef _X360
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inline bool IsBoxIntersectingBoxExtents( const fltx4 boxCenter1, const fltx4 boxHalfDiagonal1,
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const fltx4 boxCenter2, const fltx4 boxHalfDiagonal2 )
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{
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fltx4 vecDelta, vecSize;
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vecDelta = SubSIMD(boxCenter1, boxCenter2);
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vecSize = AddSIMD(boxHalfDiagonal1, boxHalfDiagonal2);
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uint condition;
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XMVectorInBoundsR(&condition, vecDelta, vecSize);
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// we want the top three words to be all 1's ; that means in bounds
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return XMComparisonAllInBounds( condition );
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}
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#endif
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#endif // COLLISIONUTILS_H
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