Personally I would have put Warrior, Radar and Predators all in the medium Vee planing hull category and by no means semi displacement.
Semi Displacement are usually found on the inboard diesel shaft drive offerings from the likes of Jeanneau, Arvor, Beneteau and so on.
With reference to your question though, no one particular hull shape can be described as better than another. It is down to the main area of use that the owner will put his boat to and the he can pick and choose what would be best for him.
Very roughly:
Planing: Fast and reasonable in a chop, but begins to slam unless diven well. Tend to roll a bit at anchor and aren't great on the drift as they have no real keel to keep them steady (sometimes a little dinky one helps for low speed stuff and drifting.
Catherdral Hull: Fast, but slams like hell in any form of sea, even when the speed is reduced. But, very stable at anchor (hull may slap a bit) acting much like a pontoon. Simialr to a planing hull o the drift.
Semi Displacement: Medium speed (it reaches the plane, but doesn't go like a rocket), but when driven well will go through almost any sea in a modicum of comfort. The lack of top speed puts some owners off these boats.
Sits between planing hull and cathedral hull at anchor, very good on the drift due to the fairly pronounced keel being held in the tide. Tends to drift at 45 degres to the wind whereas the other too can spin a little.
Personally. Whilst I tend to do a 60 to 100 mile day offshore on my boat, I have opted for the slightly slower semi displacement style hull as it is better overall way offshore in a heavy sea, it drifts well and most of my fishing is on the drift and it is very well behaved in tight spaces around a marina.
Tom