Optimize BoundingFrustum::Intersects(BoundingSphere)

Source/Engine/Core/Math/BoundingFrustum.cpp

@@ -178,3 +178,14 @@ ContainmentType BoundingFrustum::Contains(const BoundingSphere& sphere) const
         return ContainmentType::Contains;
     }
 }
+
+bool BoundingFrustum::Intersects(const BoundingSphere& sphere) const
+{
+    for (int32 i = 0; i < 6; i++)
+    {
+        const Real distance = Vector3::Dot(_planes[i].Normal, sphere.Center) + _planes[i].D;
+        if (distance < -sphere.Radius)
+            return false;
+    }
+    return true;
+}

Source/Engine/Core/Math/BoundingFrustum.h

@@ -235,10 +235,7 @@ public:
     /// </summary>
     /// <param name="sphere">The sphere.</param>
     /// <returns>True if the current BoundingFrustum intersects a BoundingSphere, otherwise false.</returns>
-    FORCE_INLINE bool Intersects(const BoundingSphere& sphere) const
-    {
-        return Contains(sphere) != ContainmentType::Disjoint;
-    }
+    bool Intersects(const BoundingSphere& sphere) const;
 
     /// <summary>
     /// Checks whether the current BoundingFrustum intersects a BoundingBox.

Source/Engine/Core/Math/Vector3.cs

@@ -907,6 +907,7 @@ namespace FlaxEngine
         /// <param name="left">First source vector.</param>
         /// <param name="right">Second source vector.</param>
         /// <param name="result">When the method completes, contains the dot product of the two vectors.</param>
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Dot(ref Vector3 left, ref Vector3 right, out Real result)
         {
             result = left.X * right.X + left.Y * right.Y + left.Z * right.Z;
@@ -918,6 +919,7 @@ namespace FlaxEngine
         /// <param name="left">First source vector.</param>
         /// <param name="right">Second source vector.</param>
         /// <returns>The dot product of the two vectors.</returns>
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static Real Dot(ref Vector3 left, ref Vector3 right)
         {
             return left.X * right.X + left.Y * right.Y + left.Z * right.Z;
@@ -929,6 +931,7 @@ namespace FlaxEngine
         /// <param name="left">First source vector.</param>
         /// <param name="right">Second source vector.</param>
         /// <returns>The dot product of the two vectors.</returns>
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static Real Dot(Vector3 left, Vector3 right)
         {
             return left.X * right.X + left.Y * right.Y + left.Z * right.Z;

Source/Engine/Core/Math/Vector3.h

@@ -622,7 +622,7 @@ public:
     }
 
     // dot product with another vector
-    static T Dot(const Vector3Base& a, const Vector3Base& b)
+    FORCE_INLINE static T Dot(const Vector3Base& a, const Vector3Base& b)
     {
         return a.X * b.X + a.Y * b.Y + a.Z * b.Z;
     }