BoundingFrustum.cs

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namespace Engine {
    public class BoundingFrustum : IEquatable<BoundingFrustum> {
        Matrix m_viewProjection;
 
        Plane[] m_planes = new Plane[6];
 
        Vector3[] m_corners = new Vector3[8];
 
        bool m_cornersValid;
 
        public Plane Near => m_planes[0];
 
        public Plane Far => m_planes[1];
 
        public Plane Left => m_planes[2];
 
        public Plane Right => m_planes[3];
 
        public Plane Top => m_planes[4];
 
        public Plane Bottom => m_planes[5];
 
        public Matrix Matrix {
            get => m_viewProjection;
            set {
                m_viewProjection = value;
                m_planes[0].Normal.X = 0f - value.M13;
                m_planes[0].Normal.Y = 0f - value.M23;
                m_planes[0].Normal.Z = 0f - value.M33;
                m_planes[0].D = 0f - value.M43;
                m_planes[1].Normal.X = 0f - value.M14 + value.M13;
                m_planes[1].Normal.Y = 0f - value.M24 + value.M23;
                m_planes[1].Normal.Z = 0f - value.M34 + value.M33;
                m_planes[1].D = 0f - value.M44 + value.M43;
                m_planes[2].Normal.X = 0f - value.M14 - value.M11;
                m_planes[2].Normal.Y = 0f - value.M24 - value.M21;
                m_planes[2].Normal.Z = 0f - value.M34 - value.M31;
                m_planes[2].D = 0f - value.M44 - value.M41;
                m_planes[3].Normal.X = 0f - value.M14 + value.M11;
                m_planes[3].Normal.Y = 0f - value.M24 + value.M21;
                m_planes[3].Normal.Z = 0f - value.M34 + value.M31;
                m_planes[3].D = 0f - value.M44 + value.M41;
                m_planes[4].Normal.X = 0f - value.M14 + value.M12;
                m_planes[4].Normal.Y = 0f - value.M24 + value.M22;
                m_planes[4].Normal.Z = 0f - value.M34 + value.M32;
                m_planes[4].D = 0f - value.M44 + value.M42;
                m_planes[5].Normal.X = 0f - value.M14 - value.M12;
                m_planes[5].Normal.Y = 0f - value.M24 - value.M22;
                m_planes[5].Normal.Z = 0f - value.M34 - value.M32;
                m_planes[5].D = 0f - value.M44 - value.M42;
                for (int i = 0; i < 6; i++) {
                    float num = m_planes[i].Normal.Length();
                    m_planes[i].Normal /= num;
                    m_planes[i].D /= num;
                }
                m_cornersValid = false;
            }
        }
 
        public ReadOnlyList<Vector3> Corners {
            get {
                if (!m_cornersValid) {
                    m_cornersValid = true;
                    Ray3 ray = ComputeIntersectionLine(m_planes[0], m_planes[2]);
                    m_corners[0] = ComputeIntersection(m_planes[4], ray);
                    m_corners[3] = ComputeIntersection(m_planes[5], ray);
                    ray = ComputeIntersectionLine(m_planes[3], m_planes[0]);
                    m_corners[1] = ComputeIntersection(m_planes[4], ray);
                    m_corners[2] = ComputeIntersection(m_planes[5], ray);
                    ray = ComputeIntersectionLine(m_planes[2], m_planes[1]);
                    m_corners[4] = ComputeIntersection(m_planes[4], ray);
                    m_corners[7] = ComputeIntersection(m_planes[5], ray);
                    ray = ComputeIntersectionLine(m_planes[1], m_planes[3]);
                    m_corners[5] = ComputeIntersection(m_planes[4], ray);
                    m_corners[6] = ComputeIntersection(m_planes[5], ray);
                }
                return new ReadOnlyList<Vector3>(m_corners);
            }
        }
 
        public BoundingFrustum(Matrix viewProjection) => Matrix = viewProjection;
 
        public override bool Equals(object obj) {
            BoundingFrustum boundingFrustum = obj as BoundingFrustum;
            return boundingFrustum != null && m_viewProjection == boundingFrustum.m_viewProjection;
        }
 
        public override int GetHashCode() =>
            // ReSharper disable NonReadonlyMemberInGetHashCode
            m_viewProjection.GetHashCode();
        // ReSharper restore NonReadonlyMemberInGetHashCode
 
        public bool Equals(BoundingFrustum other) => other != null && m_viewProjection == other.m_viewProjection;
 
        public override string ToString() => m_viewProjection.ToString();
 
        public bool Intersection(Vector3 point) {
            for (int i = 0; i < m_planes.Length; i++) {
                float x = m_planes[i].Normal.X;
                float y = m_planes[i].Normal.Y;
                float z = m_planes[i].Normal.Z;
                float d = m_planes[i].D;
                if (x * point.X + y * point.Y + z * point.Z + d > 0f) {
                    return false;
                }
            }
            return true;
        }
 
        public bool Intersection(BoundingSphere sphere) {
            for (int i = 0; i < m_planes.Length; i++) {
                float x = m_planes[i].Normal.X;
                float y = m_planes[i].Normal.Y;
                float z = m_planes[i].Normal.Z;
                float d = m_planes[i].D;
                if (x * sphere.Center.X + y * sphere.Center.Y + z * sphere.Center.Z + d > sphere.Radius) {
                    return false;
                }
            }
            return true;
        }
 
        public bool Intersection(BoundingBox box) {
            for (int i = 0; i < m_planes.Length; i++) {
                float x = m_planes[i].Normal.X;
                float y = m_planes[i].Normal.Y;
                float z = m_planes[i].Normal.Z;
                float d = m_planes[i].D;
                float num = x > 0f ? box.Min.X : box.Max.X;
                float num2 = y > 0f ? box.Min.Y : box.Max.Y;
                float num3 = z > 0f ? box.Min.Z : box.Max.Z;
                if (x * num + y * num2 + z * num3 + d > 0f) {
                    return false;
                }
            }
            return true;
        }
 
        public static bool operator ==(BoundingFrustum f1, BoundingFrustum f2) => Equals(f1, f2);
 
        public static bool operator !=(BoundingFrustum f1, BoundingFrustum f2) => !Equals(f1, f2);
 
        public static Vector3 ComputeIntersection(Plane plane, Ray3 ray) {
            float s = (0f - plane.D - Vector3.Dot(plane.Normal, ray.Position)) / Vector3.Dot(plane.Normal, ray.Direction);
            return ray.Position + ray.Direction * s;
        }
 
        public static Ray3 ComputeIntersectionLine(Plane p1, Plane p2) {
            Ray3 result = default;
            result.Direction = Vector3.Cross(p1.Normal, p2.Normal);
            float d = result.Direction.LengthSquared();
            result.Position = Vector3.Cross((0f - p1.D) * p2.Normal + p2.D * p1.Normal, result.Direction) / d;
            return result;
        }
    }
}