Classes
class	SegmentTriangleHitTester

Enumerations
enum	RayAABBIsectTypes : AZ::s32 { ISECT_RAY_AABB_NONE = 0 , ISECT_RAY_AABB_SA_INSIDE , ISECT_RAY_AABB_ISECT }
	Ray aabb intersection result types. More...

enum	SphereIsectTypes : AZ::s32 { ISECT_RAY_SPHERE_SA_INSIDE = -1 , ISECT_RAY_SPHERE_NONE , ISECT_RAY_SPHERE_ISECT }
	Ray sphere intersection result types. More...

enum	CylinderIsectTypes : AZ::s32 { RR_ISECT_RAY_CYL_SA_INSIDE = -1 , RR_ISECT_RAY_CYL_NONE , RR_ISECT_RAY_CYL_PQ , RR_ISECT_RAY_CYL_P_SIDE , RR_ISECT_RAY_CYL_Q_SIDE }
	Ray cylinder intersection types. More...

enum	CapsuleIsectTypes { ISECT_RAY_CAPSULE_SA_INSIDE = -1 , ISECT_RAY_CAPSULE_NONE , ISECT_RAY_CAPSULE_PQ , ISECT_RAY_CAPSULE_P_SIDE , ISECT_RAY_CAPSULE_Q_SIDE }
	Capsule ray intersect types. More...

Functions
AZ_MATH_INLINE Vector3	Barycentric (const Vector3 &a, const Vector3 &b, const Vector3 &c, const Vector3 &p)

AZ_MATH_INLINE bool	TestPointTriangle (const Vector3 &p, const Vector3 &a, const Vector3 &b, const Vector3 &c)
	Test if point p lies inside the triangle (a,b,c).

AZ_MATH_INLINE bool	TestPointTriangleCCW (const Vector3 &p, const Vector3 &a, const Vector3 &b, const Vector3 &c)
	Test if point p lies inside the counter clock wise triangle (a,b,c).

AZ_MATH_INLINE float	ClosestPointPlane (const Vector3 &p, const Plane &plane, Vector3 &ptOnPlane)

Vector3	ClosestPointTriangle (const Vector3 &p, const Vector3 &a, const Vector3 &b, const Vector3 &c)

AZ_INLINE bool	PointSphere (const Vector3 &centerPosition, float radiusSquared, const Vector3 &testPoint)

AZ_INLINE bool	PointCylinder (const AZ::Vector3 &baseCenterPoint, const AZ::Vector3 &axisVector, float axisLengthSquared, float radiusSquared, const AZ::Vector3 &testPoint)

AZCORE_API float	LineToPointDistanceTime (const Vector3 &s1, const Vector3 &s21, const Vector3 &p)

AZCORE_API Vector3	LineToPointDistance (const Vector3 &s1, const Vector3 &s2, const Vector3 &p, float &u)

AZCORE_API bool	IntersectSegmentTriangleCCW (const Vector3 &p, const Vector3 &q, const Vector3 &a, const Vector3 &b, const Vector3 &c, Vector3 &normal, float &t)

AZCORE_API bool	IntersectSegmentTriangle (const Vector3 &p, const Vector3 &q, const Vector3 &a, const Vector3 &b, const Vector3 &c, Vector3 &normal, float &t)

AZCORE_API RayAABBIsectTypes	IntersectRayAABB (const Vector3 &rayStart, const Vector3 &dir, const Vector3 &dirRCP, const Aabb &aabb, float &tStart, float &tEnd, Vector3 &startNormal)

AZCORE_API RayAABBIsectTypes	IntersectRayAABB2 (const Vector3 &rayStart, const Vector3 &dirRCP, const Aabb &aabb, float &start, float &end)

AZCORE_API bool	ClipRayWithAabb (const Aabb &aabb, Vector3 &rayStart, Vector3 &rayEnd, float &tClipStart, float &tClipEnd)

AZCORE_API bool	TestSegmentAABBOrigin (const Vector3 &midPoint, const Vector3 &halfVector, const Vector3 &aabbExtends)

AZCORE_API bool	TestSegmentAABB (const Vector3 &p0, const Vector3 &p1, const Aabb &aabb)

AZCORE_API SphereIsectTypes	IntersectRaySphereOrigin (const Vector3 &rayStart, const Vector3 &rayDirNormalized, const float sphereRadius, float &t)

AZCORE_API SphereIsectTypes	IntersectRaySphere (const Vector3 &rayStart, const Vector3 &rayDirNormalized, const Vector3 &sphereCenter, const float sphereRadius, float &t)

AZCORE_API bool	IntersectRayDisk (const Vector3 &rayOrigin, const Vector3 &rayDir, const Vector3 &diskCenter, const float diskRadius, const AZ::Vector3 &diskNormal, float &t)

AZCORE_API int	IntersectRayCappedCylinder (const Vector3 &rayOrigin, const Vector3 &rayDir, const Vector3 &cylinderEnd1, const Vector3 &cylinderDir, float cylinderHeight, float cylinderRadius, float &t1, float &t2)

AZCORE_API int	IntersectRayCone (const Vector3 &rayOrigin, const Vector3 &rayDir, const Vector3 &coneApex, const Vector3 &coneDir, float coneHeight, float coneBaseRadius, float &t1, float &t2)

AZCORE_API int	IntersectRayPlane (const Vector3 &rayOrigin, const Vector3 &rayDir, const Vector3 &planePos, const Vector3 &planeNormal, float &t)

AZCORE_API int	IntersectRayQuad (const Vector3 &rayOrigin, const Vector3 &rayDir, const Vector3 &vertexA, const Vector3 &vertexB, const Vector3 &vertexC, const Vector3 &vertexD, float &t)

AZCORE_API bool	IntersectRayBox (const Vector3 &rayOrigin, const Vector3 &rayDir, const Vector3 &boxCenter, const Vector3 &boxAxis1, const Vector3 &boxAxis2, const Vector3 &boxAxis3, float boxHalfExtent1, float boxHalfExtent2, float boxHalfExtent3, float &t)

AZCORE_API bool	IntersectRayObb (const Vector3 &rayOrigin, const Vector3 &rayDir, const Obb &obb, float &t)

AZCORE_API CylinderIsectTypes	IntersectSegmentCylinder (const Vector3 &sa, const Vector3 &dir, const Vector3 &p, const Vector3 &q, const float r, float &t)

AZCORE_API CapsuleIsectTypes	IntersectSegmentCapsule (const Vector3 &sa, const Vector3 &dir, const Vector3 &p, const Vector3 &q, const float r, float &t)

AZCORE_API bool	IntersectSegmentPolyhedron (const Vector3 &sa, const Vector3 &dir, const Plane p[], int numPlanes, float &tfirst, float &tlast, int &iFirstPlane, int &iLastPlane)

AZCORE_API void	ClosestSegmentSegment (const Vector3 &segment1Start, const Vector3 &segment1End, const Vector3 &segment2Start, const Vector3 &segment2End, float &segment1Proportion, float &segment2Proportion, Vector3 &closestPointSegment1, Vector3 &closestPointSegment2, float epsilon=1e-4f)

AZCORE_API void	ClosestSegmentSegment (const Vector3 &segment1Start, const Vector3 &segment1End, const Vector3 &segment2Start, const Vector3 &segment2End, Vector3 &closestPointSegment1, Vector3 &closestPointSegment2, float epsilon=1e-4f)

AZCORE_API void	ClosestPointSegment (const Vector3 &point, const Vector3 &segmentStart, const Vector3 &segmentEnd, float &proportion, Vector3 &closestPointOnSegment)

AZCORE_API float	PointSegmentDistanceSq (const Vector3 &point, const Vector3 &segmentStart, const Vector3 &segmentEnd)

Detailed Description

Intersect

This namespace contains, primitive intersections and overlapping tests. reference RealTimeCollisionDetection, CollisionDetection in interactive 3D environments, etc.

Enumeration Type Documentation

◆ CapsuleIsectTypes

enum AZ::Intersect::CapsuleIsectTypes

Capsule ray intersect types.

Enumerator
ISECT_RAY_CAPSULE_SA_INSIDE	The ray starts inside the cylinder.
ISECT_RAY_CAPSULE_NONE	No intersection.
ISECT_RAY_CAPSULE_PQ	Along the PQ segment.
ISECT_RAY_CAPSULE_P_SIDE	On the P side.
ISECT_RAY_CAPSULE_Q_SIDE	On the Q side.

◆ CylinderIsectTypes

enum AZ::Intersect::CylinderIsectTypes : AZ::s32

Ray cylinder intersection types.

Enumerator
RR_ISECT_RAY_CYL_SA_INSIDE	the ray starts inside the cylinder
RR_ISECT_RAY_CYL_NONE	no intersection
RR_ISECT_RAY_CYL_PQ	along the PQ segment
RR_ISECT_RAY_CYL_P_SIDE	on the P side
RR_ISECT_RAY_CYL_Q_SIDE	on the Q side

◆ RayAABBIsectTypes

enum AZ::Intersect::RayAABBIsectTypes : AZ::s32

Ray aabb intersection result types.

Enumerator
ISECT_RAY_AABB_NONE	no intersection
ISECT_RAY_AABB_SA_INSIDE	the ray starts inside the aabb
ISECT_RAY_AABB_ISECT	intersects along the PQ segment

◆ SphereIsectTypes

enum AZ::Intersect::SphereIsectTypes : AZ::s32

Ray sphere intersection result types.

Enumerator
ISECT_RAY_SPHERE_SA_INSIDE	The ray starts inside the cylinder.
ISECT_RAY_SPHERE_NONE	No intersection.
ISECT_RAY_SPHERE_ISECT	Along the PQ segment.

Function Documentation

◆ Barycentric()

AZ_MATH_INLINE Vector3 AZ::Intersect::Barycentric	(	const Vector3 &	a,
		const Vector3 &	b,
		const Vector3 &	c,
		const Vector3 &	p
	)

Compute barycentric coordinates (u,v,w) for a point P with respect to triangle (a,b,c).

◆ ClipRayWithAabb()

AZ_MATH_INLINE bool AZ::Intersect::ClipRayWithAabb	(	const Aabb &	aabb,
		Vector3 &	rayStart,
		Vector3 &	rayEnd,
		float &	tClipStart,
		float &	tClipEnd
	)

Clip a ray to an aabb. return true if ray was clipped. The ray can be inside so don't use the result if the ray intersect the box.

Parameters

	aabb	Bounds to test against.
	rayStart	The start of the ray.
	rayEnd	The end of the ray.
[out]	tClipStart	The proportion where the ray enters the Aabb.
[out]	tClipEnd	The proportion where the ray exits the Aabb.

Returns: True if the ray was clipped, otherwise false.

◆ ClosestPointPlane()

AZ_MATH_INLINE float AZ::Intersect::ClosestPointPlane	(	const Vector3 &	p,
		const Plane &	plane,
		Vector3 &	ptOnPlane
	)

Find the closest point to 'p' on a plane 'plane'.

Parameters

[out] ptOnPlane closest point on the plane.

Returns: Distance from the 'p' to 'ptOnPlane'.

◆ ClosestPointSegment()

AZCORE_API void AZ::Intersect::ClosestPointSegment	(	const Vector3 &	point,
		const Vector3 &	segmentStart,
		const Vector3 &	segmentEnd,
		float &	proportion,
		Vector3 &	closestPointOnSegment
	)

Calculate the point (closestPointOnSegment) that is the closest point on segment segmentStart/segmentEnd to point. Also calculate the value of proportion where closestPointOnSegment = segmentStart + (proportion * (segmentEnd - segmentStart))

Parameters

	point	The point to test
	segmentStart	The start of the segment
	segmentEnd	The end of the segment
[out]	proportion	The proportion of the segment L(t) = (end - start) * t
[out]	closestPointOnSegment	The point along the line segment

◆ ClosestPointTriangle()

Vector3 AZ::Intersect::ClosestPointTriangle	(	const Vector3 &	p,
		const Vector3 &	a,
		const Vector3 &	b,
		const Vector3 &	c
	)

inline

Find the closest point to 'p' on a triangle (a,b,c).

Returns: closest point to 'p' on the triangle (a,b,c).

◆ ClosestSegmentSegment() [1/2]

AZCORE_API void AZ::Intersect::ClosestSegmentSegment	(	const Vector3 &	segment1Start,
		const Vector3 &	segment1End,
		const Vector3 &	segment2Start,
		const Vector3 &	segment2End,
		float &	segment1Proportion,
		float &	segment2Proportion,
		Vector3 &	closestPointSegment1,
		Vector3 &	closestPointSegment2,
		float	epsilon = `1e-4f`
	)

Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between two segments segment1Start<->segment1End and segment2Start<->segment2End. Also calculate the values of segment1Proportion and segment2Proportion where closestPointSegment1 = segment1Start + (segment1Proportion * (segment1End - segment1Start)) closestPointSegment2 = segment2Start + (segment2Proportion * (segment2End - segment2Start)) If segments are parallel returns a solution.

Parameters

	segment1Start	Start of segment 1.
	segment1End	End of segment 1.
	segment2Start	Start of segment 2.
	segment2End	End of segment 2.
[out]	segment1Proportion	The proporition along segment 1 [0..1]
[out]	segment2Proportion	The proporition along segment 2 [0..1]
[out]	closestPointSegment1	Closest point on segment 1.
[out]	closestPointSegment2	Closest point on segment 2.
	epsilon	The minimum square distance where a line segment can be treated as a single point.

◆ ClosestSegmentSegment() [2/2]

AZCORE_API void AZ::Intersect::ClosestSegmentSegment	(	const Vector3 &	segment1Start,
		const Vector3 &	segment1End,
		const Vector3 &	segment2Start,
		const Vector3 &	segment2End,
		Vector3 &	closestPointSegment1,
		Vector3 &	closestPointSegment2,
		float	epsilon = `1e-4f`
	)

Calculate the line segment closestPointSegment1<->closestPointSegment2 that is the shortest route between two segments segment1Start<->segment1End and segment2Start<->segment2End. If segments are parallel returns a solution.

Parameters

	segment1Start	Start of segment 1.
	segment1End	End of segment 1.
	segment2Start	Start of segment 2.
	segment2End	End of segment 2.
[out]	closestPointSegment1	Closest point on segment 1.
[out]	closestPointSegment2	Closest point on segment 2.
	epsilon	The minimum square distance where a line segment can be treated as a single point.

◆ IntersectRayAABB()

AZCORE_API RayAABBIsectTypes AZ::Intersect::IntersectRayAABB	(	const Vector3 &	rayStart,
		const Vector3 &	dir,
		const Vector3 &	dirRCP,
		const Aabb &	aabb,
		float &	tStart,
		float &	tEnd,
		Vector3 &	startNormal
	)

Intersect ray R(t) = rayStart + t*d against AABB a. When intersecting, return intersection distance tmin and point q of intersection.

Parameters

rayStart	Ray starting point
dir	Ray direction and length (dir = rayEnd - rayStart)
dirRCP	1/dir (reciprocal direction - we cache this result very often so we don't need to compute it multiple times, otherwise just use dir.GetReciprocal())
aabb	Axis aligned bounding box to intersect against
tStart	Time on ray of the first intersection [0,1] or 0 if the ray starts inside the aabb - check the return value
tEnd	Time of the of the second intersection [0,1] (it can be > 1 if intersects after the rayEnd)
startNormal	Normal at the start point.

Returns: RayAABBIsectTypes

◆ IntersectRayAABB2()

AZCORE_API RayAABBIsectTypes AZ::Intersect::IntersectRayAABB2	(	const Vector3 &	rayStart,
		const Vector3 &	dirRCP,
		const Aabb &	aabb,
		float &	start,
		float &	end
	)

Intersect ray against AABB.

Parameters

rayStart	Ray starting point.
dir	Ray reciprocal direction.
aabb	Axis aligned bounding box to intersect against.
start	Length on ray of the first intersection.
end	Length of the of the second intersection.

Returns: RayAABBIsectTypes In this faster version than IntersectRayAABB we return only ISECT_RAY_AABB_NONE and ISECT_RAY_AABB_ISECT. You can check yourself for that case.

◆ IntersectRayBox()

AZCORE_API bool AZ::Intersect::IntersectRayBox	(	const Vector3 &	rayOrigin,
		const Vector3 &	rayDir,
		const Vector3 &	boxCenter,
		const Vector3 &	boxAxis1,
		const Vector3 &	boxAxis2,
		const Vector3 &	boxAxis3,
		float	boxHalfExtent1,
		float	boxHalfExtent2,
		float	boxHalfExtent3,
		float &	t
	)

Test intersection between a ray and an oriented box in 3D.

Parameters

	rayOrigin	The origin of the ray to test intersection with.
	rayDir	The direction of the ray to test intersection with.
	boxCenter	The position of the center of the box.
	boxAxis1	An axis along one dimension of the oriented box.
	boxAxis2	An axis along one dimension of the oriented box.
	boxAxis3	An axis along one dimension of the oriented box.
	boxHalfExtent1	The half extent of the box on the dimension of boxAxis1.
	boxHalfExtent2	The half extent of the box on the dimension of boxAxis2.
	boxHalfExtent3	The half extent of the box on the dimension of boxAxis3.
[out]	t	The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection".

Returns: true if there is an intersection, false otherwise.

◆ IntersectRayCappedCylinder()

AZCORE_API int AZ::Intersect::IntersectRayCappedCylinder	(	const Vector3 &	rayOrigin,
		const Vector3 &	rayDir,
		const Vector3 &	cylinderEnd1,
		const Vector3 &	cylinderDir,
		float	cylinderHeight,
		float	cylinderRadius,
		float &	t1,
		float &	t2
	)

If there is only one intersecting point, the coefficient is stored in t1.

Parameters

	rayOrigin	The origin of the ray to test.
	rayDir	The direction of the ray to test. It has to be unit length.
	cylinderEnd1	The center of the circle on one end of the cylinder.
	cylinderDir	The direction pointing from cylinderEnd1 to the other end of the cylinder. It has to be unit length.
	cylinderHeight	The distance between two centers of the circles on two ends of the cylinder respectively.
[out]	t1	A possible coefficient in the ray's explicit equation from which an intersecting point is calculated as "rayOrigin + t1 * rayDir".
[out]	t2	A possible coefficient in the ray's explicit equation from which an intersecting point is calculated as "rayOrigin + t2 * rayDir".

Returns: The number of intersecting points.

◆ IntersectRayCone()

AZCORE_API int AZ::Intersect::IntersectRayCone	(	const Vector3 &	rayOrigin,
		const Vector3 &	rayDir,
		const Vector3 &	coneApex,
		const Vector3 &	coneDir,
		float	coneHeight,
		float	coneBaseRadius,
		float &	t1,
		float &	t2
	)

If there is only one intersecting point, the coefficient is stored in t1.

Parameters

	rayOrigin	The origin of the ray to test.
	rayDir	The direction of the ray to test. It has to be unit length.
	coneApex	The apex of the cone.
	coneDir	The unit-length direction from the apex to the base.
	coneHeight	The height of the cone, from the apex to the base.
	coneBaseRadius	The radius of the cone base circle.
[out]	t1	A possible coefficient in the ray's explicit equation from which an intersecting point is calculated as "rayOrigin + t1 * rayDir".
[out]	t2	A possible coefficient in the ray's explicit equation from which an intersecting point is calculated as "rayOrigin + t2 * rayDir".

Returns: The number of intersecting points.

◆ IntersectRayDisk()

AZCORE_API bool AZ::Intersect::IntersectRayDisk	(	const Vector3 &	rayOrigin,
		const Vector3 &	rayDir,
		const Vector3 &	diskCenter,
		const float	diskRadius,
		const AZ::Vector3 &	diskNormal,
		float &	t
	)

Intersect ray (rayStarty, rayDirNormalized) and disk (center, radius, normal)

Parameters

	rayOrigin	The origin of the ray to test.
	rayDir	The direction of the ray to test. It has to be unit length.
	diskCenter	Center point of the disk.
	diskRadius	Radius of the disk.
	diskNormal	A normal perpendicular to the disk.
[out]	t	If returning 1 (indicating a hit), this contains distance from rayOrigin along the normalized rayDir that the hit occured at.

Returns: False if not interesecting and true if intersecting

◆ IntersectRayObb()

AZCORE_API bool AZ::Intersect::IntersectRayObb	(	const Vector3 &	rayOrigin,
		const Vector3 &	rayDir,
		const Obb &	obb,
		float &	t
	)

Test intersection between a ray and an OBB.

Parameters

	rayOrigin	The origin of the ray to test intersection with.
	rayDir	The direction of the ray to test intersection with.
	obb	The OBB to test for intersection with the ray.
[out]	t	The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection".

Returns: True if there is an intersection, false otherwise.

◆ IntersectRayPlane()

AZCORE_API int AZ::Intersect::IntersectRayPlane	(	const Vector3 &	rayOrigin,
		const Vector3 &	rayDir,
		const Vector3 &	planePos,
		const Vector3 &	planeNormal,
		float &	t
	)

Test intersection between a ray and a plane in 3D.

Parameters

	rayOrigin	The origin of the ray to test intersection with.
	rayDir	The direction of the ray to test intersection with.
	planePos	A point on the plane to test intersection with.
	planeNormal	The normal of the plane to test intersection with.
[out]	t	The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection".

Returns: The number of intersection point.

◆ IntersectRayQuad()

AZCORE_API int AZ::Intersect::IntersectRayQuad	(	const Vector3 &	rayOrigin,
		const Vector3 &	rayDir,
		const Vector3 &	vertexA,
		const Vector3 &	vertexB,
		const Vector3 &	vertexC,
		const Vector3 &	vertexD,
		float &	t
	)

Test intersection between a ray and a two-sided quadrilateral defined by four points in 3D. The four points that define the quadrilateral could be passed in with either counter clock-wise winding or clock-wise winding.

Parameters

	rayOrigin	The origin of the ray to test intersection with.
	rayDir	The direction of the ray to test intersection with.
	vertexA	One of the four points that define the quadrilateral.
	vertexB	One of the four points that define the quadrilateral.
	vertexC	One of the four points that define the quadrilateral.
	vertexD	One of the four points that define the quadrilateral.
[out]	t	The coefficient in the ray's explicit equation from which the intersecting point is calculated as "rayOrigin + t * rayDirection".

Returns: The number of intersection point.

◆ IntersectRaySphere()

AZ_MATH_INLINE SphereIsectTypes AZ::Intersect::IntersectRaySphere	(	const Vector3 &	rayStart,
		const Vector3 &	rayDirNormalized,
		const Vector3 &	sphereCenter,
		const float	sphereRadius,
		float &	t
	)

Intersect ray (rayStart,rayDirNormalized) and sphere (sphereCenter,sphereRadius) IntersectRaySphereOrigin

Parameters

	rayStart	The start of the ray.
	rayDirNormalized	The direction of the ray normalized.
	sphereCenter	The center of the sphere.
	sphereRadius	Radius of the sphere.
[out]	t	Coefficient in the ray's explicit equation from which an intersecting point is calculated as "rayOrigin + t1 * rayDir".

Returns: SphereIsectTypes

◆ IntersectRaySphereOrigin()

AZ_MATH_INLINE SphereIsectTypes AZ::Intersect::IntersectRaySphereOrigin	(	const Vector3 &	rayStart,
		const Vector3 &	rayDirNormalized,
		const float	sphereRadius,
		float &	t
	)

IntersectRaySphereOrigin return time t>=0 but not limited, so if you check a segment make sure t <= segmentLen.

Parameters

rayStart	ray start point.
rayDirNormalized	ray direction normalized.
shereRadius	Radius of sphere at origin.
time	of closest intersection [0,+INF] in relation to the normalized direction.

Returns: SphereIsectTypes.

◆ IntersectSegmentCapsule()

AZCORE_API CapsuleIsectTypes AZ::Intersect::IntersectSegmentCapsule	(	const Vector3 &	sa,
		const Vector3 &	dir,
		const Vector3 &	p,
		const Vector3 &	q,
		const float	r,
		float &	t
	)

This is a quick implementation of segment capsule based on segment cylinder IntersectSegmentCylinder segment sphere intersection. We can optimize it a lot once we fix the ray cylinder intersection.

Parameters

	sa	The beginning of the line segment.
	dir	The direction and length of the segment.
	p	Center point of side 1 capsule.
	q	Center point of side 1 capsule.
	r	The radius of the capsule.
[out]	t	Proporition along line segment.

Returns: CapsuleIsectTypes

◆ IntersectSegmentCylinder()

AZCORE_API CylinderIsectTypes AZ::Intersect::IntersectSegmentCylinder	(	const Vector3 &	sa,
		const Vector3 &	dir,
		const Vector3 &	p,
		const Vector3 &	q,
		const float	r,
		float &	t
	)

Reference: Real-Time Collision Detection - 5.3.7 Intersecting Ray or Segment Against Cylinder Intersect segment S(t)=sa+t(dir), 0<=t<=1 against cylinder specified by p, q and r.

Parameters

	sa	The initial point.
	dir	Magnitude and direction for sa.
	p	Center point of side 1 cylinder.
	q	Center point of side 2 cylinder.
	r	Radius of cylinder.
[out]	t	Proporition along line segment.

Returns: CylinderIsectTypes

◆ IntersectSegmentPolyhedron()

AZCORE_API bool AZ::Intersect::IntersectSegmentPolyhedron	(	const Vector3 &	sa,
		const Vector3 &	dir,
		const Plane	p[],
		int	numPlanes,
		float &	tfirst,
		float &	tlast,
		int &	iFirstPlane,
		int &	iLastPlane
	)

Intersect segment S(t)=A+t(B-A), 0<=t<=1 against convex polyhedron specified by the n halfspaces defined by the planes p[]. On exit tfirst and tlast define the intersection, if any.

Parameters

	sa	The beggining of the line segment.
	dir	The direction and length of the segment.
	p	Planes that compose a convex ponvex polyhedron.
	numPlanes	number of planes.
[out]	tfirst	Proportion along the line segment where the line enters.
[out]	tlast	Proportion along the line segment where the line exits.
[out]	iFirstPlane	The plane where the line enters.
[out]	iLastPlane	The plane where the line exits.

Returns: True if intersects else false.

◆ IntersectSegmentTriangle()

AZ_MATH_INLINE bool AZ::Intersect::IntersectSegmentTriangle	(	const Vector3 &	p,
		const Vector3 &	q,
		const Vector3 &	a,
		const Vector3 &	b,
		const Vector3 &	c,
		Vector3 &	normal,
		float &	t
	)

Same as IntersectSegmentTriangleCCW without respecting the triangle (a,b,c) vertex order (i.e. double sided). This is a convenience method on top of the SegmentTriangleHitTester to make it easier to call the API in the single ray/triangle intersection use case.

Parameters

p	Segment start point.
q	Segment end point.
a	Triangle vertex 1.
b	Triangle vertex 2.
c	Triangle vertex 3.
normal	Triangle normal at the intersection point if segment intersects triangle.
t	Time of intersection along the segment [0.0 (p), 1.0 (q)] if segment intersects triangle.

Returns: true if the segment intersects the triangle otherwise false.

◆ IntersectSegmentTriangleCCW()

AZ_MATH_INLINE bool AZ::Intersect::IntersectSegmentTriangleCCW	(	const Vector3 &	p,
		const Vector3 &	q,
		const Vector3 &	a,
		const Vector3 &	b,
		const Vector3 &	c,
		Vector3 &	normal,
		float &	t
	)

Given a segment pq and a triangle abc (CCW), returns whether the segment intersects the triangle and if so, also returns the time of intersection along the segment and the triangle normal. This is a convenience method on top of the SegmentTriangleHitTester to make it easier to call the API in the single ray/triangle intersection use case.

Parameters

p	Segment start point.
q	Segment end point.
a	Triangle vertex 1.
b	Triangle vertex 2.
c	Triangle vertex 3.
normal	Triangle normal at the intersection point if segment intersects triangle.
t	Time of intersection along the segment [0.0 (p), 1.0 (q)] if segment intersects triangle.

Returns: true if the segment intersects the triangle otherwise false.

◆ LineToPointDistance()

AZ_MATH_INLINE Vector3 AZ::Intersect::LineToPointDistance	(	const Vector3 &	s1,
		const Vector3 &	s2,
		const Vector3 &	p,
		float &	u
	)

LineToPointDistance computes the closest point to 'p' from a segment (s1,s2).

Parameters

s1	Segment start point
s2	Segment end point
p	Point to find the closest time to.
u	Time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)]

Returns: The closest point

◆ LineToPointDistanceTime()

AZ_MATH_INLINE float AZ::Intersect::LineToPointDistanceTime	(	const Vector3 &	s1,
		const Vector3 &	s21,
		const Vector3 &	p
	)

LineToPointDistanceTime computes the time of the shortest distance from point 'p' to segment (s1,s2). To calculate the point of intersection: P = s1 + u (s2 - s1)

Parameters

s1	Segment start point.
s2	Segment end point.
p	Point to find the closest time to.

Returns: Time (on the segment) for the shortest distance from 'p' to (s1,s2) [0.0f (s1),1.0f (s2)]

◆ PointCylinder()

AZ_INLINE bool AZ::Intersect::PointCylinder	(	const AZ::Vector3 &	baseCenterPoint,
		const AZ::Vector3 &	axisVector,
		float	axisLengthSquared,
		float	radiusSquared,
		const AZ::Vector3 &	testPoint
	)

This method checks if a point is inside a cylinder or outside it.

Parameters

baseCenterPoint	Vector to the base of the cylinder.
axisVector	Non normalized vector from the base of the cylinder to the other end.
axisLengthSquared	square of length of "axisVector".
radiusSquared	square of cylinder radius.
testPoint	Point to be tested.

Returns: boolean value indicating if the point is inside or not.

◆ PointSegmentDistanceSq()

AZCORE_API float AZ::Intersect::PointSegmentDistanceSq	(	const Vector3 &	point,
		const Vector3 &	segmentStart,
		const Vector3 &	segmentEnd
	)

Calculate the distance squared from the provided point to the closest point on segment segmentStart/segmentEnd.

Parameters

point	The point to test
segmentStart	The start of the segment
segmentEnd	The end of the segment

Returns: the distance squared from the point to the segment.

◆ PointSphere()

AZ_INLINE bool AZ::Intersect::PointSphere	(	const Vector3 &	centerPosition,
		float	radiusSquared,
		const Vector3 &	testPoint
	)

This method checks if a point is inside a sphere or outside it.

Parameters

centerPosition	Position of the center of the sphere.
radiusSquared	square of sphere radius.
testPoint	Point to be tested.

Returns: boolean value indicating if the point is inside or not.

◆ TestSegmentAABB()

AZ_MATH_INLINE bool AZ::Intersect::TestSegmentAABB	(	const Vector3 &	p0,
		const Vector3 &	p1,
		const Aabb &	aabb
	)

Test if segment specified by points p0 and p1 intersects AABB. TestSegmentAABBOrigin.

Parameters

p0	Segment start point.
p1	Segment end point.
aabb	Bounded box to test against.

Returns: True if the segment and AABB intersect, otherwise false.

◆ TestSegmentAABBOrigin()

AZCORE_API bool AZ::Intersect::TestSegmentAABBOrigin	(	const Vector3 &	midPoint,
		const Vector3 &	halfVector,
		const Vector3 &	aabbExtends
	)

Test segment and aabb where the segment is defined by midpoint midPoint = (p1-p0) * 0.5f and half vector halfVector = p1 - midPoint. the aabb is at the origin and defined by half extents only.

Parameters

midPoint	Midpoint of a line segment.
halfVector	Half vector of an aabb.
aabbExtends	The extends of a bounded box.

Returns: True if the segment and AABB intersect, otherwise false

Classes

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ CapsuleIsectTypes

◆ CylinderIsectTypes

◆ RayAABBIsectTypes

◆ SphereIsectTypes

Function Documentation

◆ Barycentric()

◆ ClipRayWithAabb()

◆ ClosestPointPlane()

◆ ClosestPointSegment()

◆ ClosestPointTriangle()

◆ ClosestSegmentSegment() [1/2]

◆ ClosestSegmentSegment() [2/2]

◆ IntersectRayAABB()

◆ IntersectRayAABB2()

◆ IntersectRayBox()

◆ IntersectRayCappedCylinder()

◆ IntersectRayCone()

◆ IntersectRayDisk()

◆ IntersectRayObb()

◆ IntersectRayPlane()

◆ IntersectRayQuad()

◆ IntersectRaySphere()

◆ IntersectRaySphereOrigin()

◆ IntersectSegmentCapsule()

◆ IntersectSegmentCylinder()

◆ IntersectSegmentPolyhedron()

◆ IntersectSegmentTriangle()

◆ IntersectSegmentTriangleCCW()

◆ LineToPointDistance()

◆ LineToPointDistanceTime()

◆ PointCylinder()

◆ PointSegmentDistanceSq()

◆ PointSphere()

◆ TestSegmentAABB()

◆ TestSegmentAABBOrigin()