C# Class Fusion.Core.Mathematics.Collision

Contains static methods to help in determining intersections, containment, etc.

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Public Methods

Method	Description
BoxContainsBox ( BoundingBox &box1, BoundingBox &box2 ) : ContainmentType	Determines whether a BoundingBox contains a BoundingBox.
BoxContainsPoint ( BoundingBox &box, System.Vector3 &point ) : ContainmentType	Determines whether a BoundingBox contains a point.
BoxContainsSphere ( BoundingBox &box, BoundingSphere &sphere ) : ContainmentType	Determines whether a BoundingBox contains a BoundingSphere.
BoxIntersectsBox ( BoundingBox &box1, BoundingBox &box2 ) : bool	Determines whether there is an intersection between a BoundingBox and a BoundingBox.
BoxIntersectsSphere ( BoundingBox &box, BoundingSphere &sphere ) : bool	Determines whether there is an intersection between a BoundingBox and a BoundingSphere.
ClosestPointBoxPoint ( BoundingBox &box, System.Vector3 &point, System.Vector3 &result ) : void	Determines the closest point between a BoundingBox and a point.
ClosestPointPlanePoint ( Plane &plane, System.Vector3 &point, System.Vector3 &result ) : void	Determines the closest point between a Plane and a point.
ClosestPointPointTriangle ( System.Vector3 &point, System.Vector3 &vertex1, System.Vector3 &vertex2, System.Vector3 &vertex3, System.Vector3 &result ) : void	Determines the closest point between a point and a triangle.
ClosestPointSpherePoint ( BoundingSphere &sphere, System.Vector3 &point, System.Vector3 &result ) : void	Determines the closest point between a BoundingSphere and a point.
ClosestPointSphereSphere ( BoundingSphere &sphere1, BoundingSphere &sphere2, System.Vector3 &result ) : void	Determines the closest point between a BoundingSphere and a BoundingSphere. If the two spheres are overlapping, but not directly on top of each other, the closest point is the 'closest' point of intersection. This can also be considered is the deepest point of intersection.
DistanceBoxBox ( BoundingBox &box1, BoundingBox &box2 ) : float	Determines the distance between a BoundingBox and a BoundingBox.
DistanceBoxPoint ( BoundingBox &box, System.Vector3 &point ) : float	Determines the distance between a BoundingBox and a point.
DistancePlanePoint ( Plane &plane, System.Vector3 &point ) : float	Determines the distance between a Plane and a point.
DistanceSpherePoint ( BoundingSphere &sphere, System.Vector3 &point ) : float	Determines the distance between a BoundingSphere and a point.
DistanceSphereSphere ( BoundingSphere &sphere1, BoundingSphere &sphere2 ) : float	Determines the distance between a BoundingSphere and a BoundingSphere.
PlaneIntersectsBox ( Plane &plane, BoundingBox &box ) : PlaneIntersectionType	Determines whether there is an intersection between a Plane and a BoundingBox.
PlaneIntersectsPlane ( Plane &plane1, Plane &plane2 ) : bool	Determines whether there is an intersection between a Plane and a Plane.
PlaneIntersectsPlane ( Plane &plane1, Plane &plane2, Ray &line ) : bool	Determines whether there is an intersection between a Plane and a Plane. Although a ray is set to have an origin, the ray returned by this method is really a line in three dimensions which has no real origin. The ray is considered valid when both the positive direction is used and when the negative direction is used.
PlaneIntersectsPoint ( Plane &plane, System.Vector3 &point ) : PlaneIntersectionType	Determines whether there is an intersection between a Plane and a point.
PlaneIntersectsSphere ( Plane &plane, BoundingSphere &sphere ) : PlaneIntersectionType	Determines whether there is an intersection between a Plane and a BoundingSphere.
PlaneIntersectsTriangle ( Plane &plane, System.Vector3 &vertex1, System.Vector3 &vertex2, System.Vector3 &vertex3 ) : PlaneIntersectionType	Determines whether there is an intersection between a Plane and a triangle.
RayIntersectsBox ( Ray &ray, BoundingBox &box, System.Vector3 &point ) : bool	Determines whether there is an intersection between a Ray and a Plane.
RayIntersectsBox ( Ray &ray, BoundingBox &box, float &distance ) : bool	Determines whether there is an intersection between a Ray and a BoundingBox.
RayIntersectsPlane ( Ray &ray, Plane &plane, System.Vector3 &point ) : bool	Determines whether there is an intersection between a Ray and a Plane.
RayIntersectsPlane ( Ray &ray, Plane &plane, float &distance ) : bool	Determines whether there is an intersection between a Ray and a Plane.
RayIntersectsPoint ( Ray &ray, System.Vector3 &point ) : bool	Determines whether there is an intersection between a Ray and a point.
RayIntersectsRay ( Ray &ray1, Ray &ray2, System.Vector3 &point ) : bool	Determines whether there is an intersection between a Ray and a Ray. This method performs a ray vs ray intersection test based on the following formula from Goldman. `s = det([o_2 - o_1, d_2, d_1 x d_2]) / \|\|d_1 x d_2\|\|^2` `t = det([o_2 - o_1, d_1, d_1 x d_2]) / \|\|d_1 x d_2\|\|^2` Where o_1 is the position of the first ray, o_2 is the position of the second ray, d_1 is the normalized direction of the first ray, d_2 is the normalized direction of the second ray, det denotes the determinant of a matrix, x denotes the cross product, [ ] denotes a matrix, and \|\| \|\| denotes the length or magnitude of a vector.
RayIntersectsSphere ( Ray &ray, BoundingSphere &sphere, System.Vector3 &point ) : bool	Determines whether there is an intersection between a Ray and a BoundingSphere.
RayIntersectsSphere ( Ray &ray, BoundingSphere &sphere, float &distance ) : bool	Determines whether there is an intersection between a Ray and a BoundingSphere.
RayIntersectsTriangle ( Ray &ray, System.Vector3 &vertex1, System.Vector3 &vertex2, System.Vector3 &vertex3, System.Vector3 &point ) : bool	Determines whether there is an intersection between a Ray and a triangle.
RayIntersectsTriangle ( Ray &ray, System.Vector3 &vertex1, System.Vector3 &vertex2, System.Vector3 &vertex3, float &distance ) : bool	Determines whether there is an intersection between a Ray and a triangle. This method tests if the ray intersects either the front or back of the triangle. If the ray is parallel to the triangle's plane, no intersection is assumed to have happened. If the intersection of the ray and the triangle is behind the origin of the ray, no intersection is assumed to have happened. In both cases of assumptions, this method returns false.
SphereContainsBox ( BoundingSphere &sphere, BoundingBox &box ) : ContainmentType	Determines whether a BoundingSphere contains a BoundingBox.
SphereContainsPoint ( BoundingSphere &sphere, System.Vector3 &point ) : ContainmentType	Determines whether a BoundingSphere contains a point.
SphereContainsSphere ( BoundingSphere &sphere1, BoundingSphere &sphere2 ) : ContainmentType	Determines whether a BoundingSphere contains a BoundingSphere.
SphereContainsTriangle ( BoundingSphere &sphere, System.Vector3 &vertex1, System.Vector3 &vertex2, System.Vector3 &vertex3 ) : ContainmentType	Determines whether a BoundingSphere contains a triangle.
SphereIntersectsSphere ( BoundingSphere &sphere1, BoundingSphere &sphere2 ) : bool	Determines whether there is an intersection between a BoundingSphere and a BoundingSphere.
SphereIntersectsTriangle ( BoundingSphere &sphere, System.Vector3 &vertex1, System.Vector3 &vertex2, System.Vector3 &vertex3 ) : bool	Determines whether there is an intersection between a BoundingSphere and a triangle.

Method Details

BoxContainsBox() public static method

Determines whether a BoundingBox contains a BoundingBox.

public static BoxContainsBox ( BoundingBox &box1, BoundingBox &box2 ) : ContainmentType
box1	BoundingBox	The first box to test.
box2	BoundingBox	The second box to test.
return	ContainmentType

BoxContainsPoint() public static method

Determines whether a BoundingBox contains a point.

public static BoxContainsPoint ( BoundingBox &box, System.Vector3 &point ) : ContainmentType
box	BoundingBox	The box to test.
point	System.Vector3	The point to test.
return	ContainmentType

BoxContainsSphere() public static method

Determines whether a BoundingBox contains a BoundingSphere.

public static BoxContainsSphere ( BoundingBox &box, BoundingSphere &sphere ) : ContainmentType
box	BoundingBox	The box to test.
sphere	BoundingSphere	The sphere to test.
return	ContainmentType

BoxIntersectsBox() public static method

Determines whether there is an intersection between a BoundingBox and a BoundingBox.

public static BoxIntersectsBox ( BoundingBox &box1, BoundingBox &box2 ) : bool
box1	BoundingBox	The first box to test.
box2	BoundingBox	The second box to test.
return	bool

BoxIntersectsSphere() public static method

Determines whether there is an intersection between a BoundingBox and a BoundingSphere.

public static BoxIntersectsSphere ( BoundingBox &box, BoundingSphere &sphere ) : bool
box	BoundingBox	The box to test.
sphere	BoundingSphere	The sphere to test.
return	bool

ClosestPointBoxPoint() public static method

Determines the closest point between a BoundingBox and a point.

public static ClosestPointBoxPoint ( BoundingBox &box, System.Vector3 &point, System.Vector3 &result ) : void
box	BoundingBox	The box to test.
point	System.Vector3	The point to test.
result	System.Vector3	When the method completes, contains the closest point between the two objects.
return	void

ClosestPointPlanePoint() public static method

Determines the closest point between a Plane and a point.

public static ClosestPointPlanePoint ( Plane &plane, System.Vector3 &point, System.Vector3 &result ) : void
plane	Plane	The plane to test.
point	System.Vector3	The point to test.
result	System.Vector3	When the method completes, contains the closest point between the two objects.
return	void

ClosestPointPointTriangle() public static method

Determines the closest point between a point and a triangle.

public static ClosestPointPointTriangle ( System.Vector3 &point, System.Vector3 &vertex1, System.Vector3 &vertex2, System.Vector3 &vertex3, System.Vector3 &result ) : void
point	System.Vector3	The point to test.
vertex1	System.Vector3	The first vertex to test.
vertex2	System.Vector3	The second vertex to test.
vertex3	System.Vector3	The third vertex to test.
result	System.Vector3	When the method completes, contains the closest point between the two objects.
return	void

ClosestPointSpherePoint() public static method

Determines the closest point between a BoundingSphere and a point.

public static ClosestPointSpherePoint ( BoundingSphere &sphere, System.Vector3 &point, System.Vector3 &result ) : void
sphere	BoundingSphere
point	System.Vector3	The point to test.
result	System.Vector3	When the method completes, contains the closest point between the two objects; /// or, if the point is directly in the center of the sphere, contains .
return	void

ClosestPointSphereSphere() public static method

Determines the closest point between a BoundingSphere and a BoundingSphere.

If the two spheres are overlapping, but not directly on top of each other, the closest point is the 'closest' point of intersection. This can also be considered is the deepest point of intersection.

public static ClosestPointSphereSphere ( BoundingSphere &sphere1, BoundingSphere &sphere2, System.Vector3 &result ) : void
sphere1	BoundingSphere	The first sphere to test.
sphere2	BoundingSphere	The second sphere to test.
result	System.Vector3	When the method completes, contains the closest point between the two objects; /// or, if the point is directly in the center of the sphere, contains .
return	void

DistanceBoxBox() public static method

Determines the distance between a BoundingBox and a BoundingBox.

public static DistanceBoxBox ( BoundingBox &box1, BoundingBox &box2 ) : float
box1	BoundingBox	The first box to test.
box2	BoundingBox	The second box to test.
return	float

DistanceBoxPoint() public static method

Determines the distance between a BoundingBox and a point.

public static DistanceBoxPoint ( BoundingBox &box, System.Vector3 &point ) : float
box	BoundingBox	The box to test.
point	System.Vector3	The point to test.
return	float

DistancePlanePoint() public static method

Determines the distance between a Plane and a point.

public static DistancePlanePoint ( Plane &plane, System.Vector3 &point ) : float
plane	Plane	The plane to test.
point	System.Vector3	The point to test.
return	float

DistanceSpherePoint() public static method

Determines the distance between a BoundingSphere and a point.

public static DistanceSpherePoint ( BoundingSphere &sphere, System.Vector3 &point ) : float
sphere	BoundingSphere	The sphere to test.
point	System.Vector3	The point to test.
return	float

DistanceSphereSphere() public static method

Determines the distance between a BoundingSphere and a BoundingSphere.

public static DistanceSphereSphere ( BoundingSphere &sphere1, BoundingSphere &sphere2 ) : float
sphere1	BoundingSphere	The first sphere to test.
sphere2	BoundingSphere	The second sphere to test.
return	float

PlaneIntersectsBox() public static method

Determines whether there is an intersection between a Plane and a BoundingBox.

public static PlaneIntersectsBox ( Plane &plane, BoundingBox &box ) : PlaneIntersectionType
plane	Plane	The plane to test.
box	BoundingBox	The box to test.
return	PlaneIntersectionType

PlaneIntersectsPlane() public static method

Determines whether there is an intersection between a Plane and a Plane.

public static PlaneIntersectsPlane ( Plane &plane1, Plane &plane2 ) : bool
plane1	Plane	The first plane to test.
plane2	Plane	The second plane to test.
return	bool

PlaneIntersectsPlane() public static method

Determines whether there is an intersection between a Plane and a Plane.

Although a ray is set to have an origin, the ray returned by this method is really a line in three dimensions which has no real origin. The ray is considered valid when both the positive direction is used and when the negative direction is used.

public static PlaneIntersectsPlane ( Plane &plane1, Plane &plane2, Ray &line ) : bool
plane1	Plane	The first plane to test.
plane2	Plane	The second plane to test.
line	Ray	When the method completes, contains the line of intersection /// as a , or a zero ray if there was no intersection.
return	bool

PlaneIntersectsPoint() public static method

Determines whether there is an intersection between a Plane and a point.

public static PlaneIntersectsPoint ( Plane &plane, System.Vector3 &point ) : PlaneIntersectionType
plane	Plane	The plane to test.
point	System.Vector3	The point to test.
return	PlaneIntersectionType

PlaneIntersectsSphere() public static method

Determines whether there is an intersection between a Plane and a BoundingSphere.

public static PlaneIntersectsSphere ( Plane &plane, BoundingSphere &sphere ) : PlaneIntersectionType
plane	Plane	The plane to test.
sphere	BoundingSphere	The sphere to test.
return	PlaneIntersectionType

PlaneIntersectsTriangle() public static method

Determines whether there is an intersection between a Plane and a triangle.

public static PlaneIntersectsTriangle ( Plane &plane, System.Vector3 &vertex1, System.Vector3 &vertex2, System.Vector3 &vertex3 ) : PlaneIntersectionType
plane	Plane	The plane to test.
vertex1	System.Vector3	The first vertex of the triangle to test.
vertex2	System.Vector3	The second vertex of the triangle to test.
vertex3	System.Vector3	The third vertex of the triangle to test.
return	PlaneIntersectionType

RayIntersectsBox() public static method

Determines whether there is an intersection between a Ray and a Plane.

public static RayIntersectsBox ( Ray &ray, BoundingBox &box, System.Vector3 &point ) : bool
ray	Ray	The ray to test.
box	BoundingBox	The box to test.
point	System.Vector3	When the method completes, contains the point of intersection, /// or if there was no intersection.
return	bool

RayIntersectsBox() public static method

Determines whether there is an intersection between a Ray and a BoundingBox.

public static RayIntersectsBox ( Ray &ray, BoundingBox &box, float &distance ) : bool
ray	Ray	The ray to test.
box	BoundingBox	The box to test.
distance	float	When the method completes, contains the distance of the intersection, /// or 0 if there was no intersection.
return	bool

RayIntersectsPlane() public static method

Determines whether there is an intersection between a Ray and a Plane.

public static RayIntersectsPlane ( Ray &ray, Plane &plane, System.Vector3 &point ) : bool
ray	Ray	The ray to test.
plane	Plane	The plane to test
point	System.Vector3	When the method completes, contains the point of intersection, /// or if there was no intersection.
return	bool

RayIntersectsPlane() public static method

Determines whether there is an intersection between a Ray and a Plane.

public static RayIntersectsPlane ( Ray &ray, Plane &plane, float &distance ) : bool
ray	Ray	The ray to test.
plane	Plane	The plane to test.
distance	float	When the method completes, contains the distance of the intersection, /// or 0 if there was no intersection.
return	bool

RayIntersectsPoint() public static method

Determines whether there is an intersection between a Ray and a point.

public static RayIntersectsPoint ( Ray &ray, System.Vector3 &point ) : bool
ray	Ray	The ray to test.
point	System.Vector3	The point to test.
return	bool

RayIntersectsRay() public static method

Determines whether there is an intersection between a Ray and a Ray.

This method performs a ray vs ray intersection test based on the following formula from Goldman. s = det([o_2 - o_1, d_2, d_1 x d_2]) / ||d_1 x d_2||^2 t = det([o_2 - o_1, d_1, d_1 x d_2]) / ||d_1 x d_2||^2 Where o_1 is the position of the first ray, o_2 is the position of the second ray, d_1 is the normalized direction of the first ray, d_2 is the normalized direction of the second ray, det denotes the determinant of a matrix, x denotes the cross product, [ ] denotes a matrix, and || || denotes the length or magnitude of a vector.

public static RayIntersectsRay ( Ray &ray1, Ray &ray2, System.Vector3 &point ) : bool
ray1	Ray	The first ray to test.
ray2	Ray	The second ray to test.
point	System.Vector3	When the method completes, contains the point of intersection, /// or if there was no intersection.
return	bool

RayIntersectsSphere() public static method

Determines whether there is an intersection between a Ray and a BoundingSphere.

public static RayIntersectsSphere ( Ray &ray, BoundingSphere &sphere, System.Vector3 &point ) : bool
ray	Ray	The ray to test.
sphere	BoundingSphere	The sphere to test.
point	System.Vector3	When the method completes, contains the point of intersection, /// or if there was no intersection.
return	bool

RayIntersectsSphere() public static method

Determines whether there is an intersection between a Ray and a BoundingSphere.

public static RayIntersectsSphere ( Ray &ray, BoundingSphere &sphere, float &distance ) : bool
ray	Ray	The ray to test.
sphere	BoundingSphere	The sphere to test.
distance	float	When the method completes, contains the distance of the intersection, /// or 0 if there was no intersection.
return	bool

RayIntersectsTriangle() public static method

Determines whether there is an intersection between a Ray and a triangle.

public static RayIntersectsTriangle ( Ray &ray, System.Vector3 &vertex1, System.Vector3 &vertex2, System.Vector3 &vertex3, System.Vector3 &point ) : bool
ray	Ray	The ray to test.
vertex1	System.Vector3	The first vertex of the triangle to test.
vertex2	System.Vector3	The second vertex of the triangle to test.
vertex3	System.Vector3	The third vertex of the triangle to test.
point	System.Vector3	When the method completes, contains the point of intersection, /// or if there was no intersection.
return	bool

RayIntersectsTriangle() public static method

Determines whether there is an intersection between a Ray and a triangle.

This method tests if the ray intersects either the front or back of the triangle. If the ray is parallel to the triangle's plane, no intersection is assumed to have happened. If the intersection of the ray and the triangle is behind the origin of the ray, no intersection is assumed to have happened. In both cases of assumptions, this method returns false.

public static RayIntersectsTriangle ( Ray &ray, System.Vector3 &vertex1, System.Vector3 &vertex2, System.Vector3 &vertex3, float &distance ) : bool
ray	Ray	The ray to test.
vertex1	System.Vector3	The first vertex of the triangle to test.
vertex2	System.Vector3	The second vertex of the triangle to test.
vertex3	System.Vector3	The third vertex of the triangle to test.
distance	float	When the method completes, contains the distance of the intersection, /// or 0 if there was no intersection.
return	bool

SphereContainsBox() public static method

Determines whether a BoundingSphere contains a BoundingBox.

public static SphereContainsBox ( BoundingSphere &sphere, BoundingBox &box ) : ContainmentType
sphere	BoundingSphere	The sphere to test.
box	BoundingBox	The box to test.
return	ContainmentType

SphereContainsPoint() public static method

Determines whether a BoundingSphere contains a point.

public static SphereContainsPoint ( BoundingSphere &sphere, System.Vector3 &point ) : ContainmentType
sphere	BoundingSphere	The sphere to test.
point	System.Vector3	The point to test.
return	ContainmentType

SphereContainsSphere() public static method

Determines whether a BoundingSphere contains a BoundingSphere.

public static SphereContainsSphere ( BoundingSphere &sphere1, BoundingSphere &sphere2 ) : ContainmentType
sphere1	BoundingSphere	The first sphere to test.
sphere2	BoundingSphere	The second sphere to test.
return	ContainmentType

SphereContainsTriangle() public static method

Determines whether a BoundingSphere contains a triangle.

public static SphereContainsTriangle ( BoundingSphere &sphere, System.Vector3 &vertex1, System.Vector3 &vertex2, System.Vector3 &vertex3 ) : ContainmentType
sphere	BoundingSphere	The sphere to test.
vertex1	System.Vector3	The first vertex of the triangle to test.
vertex2	System.Vector3	The second vertex of the triangle to test.
vertex3	System.Vector3	The third vertex of the triangle to test.
return	ContainmentType

SphereIntersectsSphere() public static method

Determines whether there is an intersection between a BoundingSphere and a BoundingSphere.

public static SphereIntersectsSphere ( BoundingSphere &sphere1, BoundingSphere &sphere2 ) : bool
sphere1	BoundingSphere	First sphere to test.
sphere2	BoundingSphere	Second sphere to test.
return	bool

SphereIntersectsTriangle() public static method

Determines whether there is an intersection between a BoundingSphere and a triangle.

public static SphereIntersectsTriangle ( BoundingSphere &sphere, System.Vector3 &vertex1, System.Vector3 &vertex2, System.Vector3 &vertex3 ) : bool
sphere	BoundingSphere	The sphere to test.
vertex1	System.Vector3	The first vertex of the triangle to test.
vertex2	System.Vector3	The second vertex of the triangle to test.
vertex3	System.Vector3	The third vertex of the triangle to test.
return	bool