feat: 3D ray and line primitives added
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Engine.Core/Primitives/Line3D.cs
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114
Engine.Core/Primitives/Line3D.cs
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using System;
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namespace Engine.Core;
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/// <summary>
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/// Represents a 3D line segment defined by two endpoints.
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/// </summary>
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/// <param name="from">The starting point of the <see cref="Line3D"/> segment.</param>
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/// <param name="to">The ending point of the <see cref="Line3D"/> segment.</param>
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/// <remarks>
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/// Initializes a new instance of the <see cref="Line3D"/> struct with the specified endpoints.
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/// </remarks>
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[System.Diagnostics.DebuggerDisplay("From: {From.ToString(),nq}, To: {To.ToString(),nq}, Direction: {Direction.ToString(),nq}, Length: {Length}")]
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public readonly struct Line3D(Vector3D from, Vector3D to) : IEquatable<Line3D>
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{
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/// <summary>
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/// The starting point of the <see cref="Line3D"/> segment.
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/// </summary>
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public readonly Vector3D From = from;
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/// <summary>
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/// The ending point of the <see cref="Line3D"/> segment.
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/// </summary>
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public readonly Vector3D To = to;
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/// <summary>
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/// The reversed <see cref="Line3D"/> segment.
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/// </summary>
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public readonly Line3D Reversed => new(To, From);
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/// <summary>
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/// The normalized direction <see cref="Vector3D"/> of the <see cref="Line3D"/> segment.
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/// </summary>
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public readonly Vector3D Direction => From.FromTo(To).Normalize();
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/// <summary>
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/// The length of the <see cref="Line3D"/> segment.
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/// </summary>
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public readonly float Length => From.FromTo(To).Length();
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/// <summary>
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/// The squared length of the <see cref="Line3D"/> segment.
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/// </summary>
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public readonly float LengthSquared => From.FromTo(To).LengthSquared();
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public static bool operator ==(Line3D left, Line3D right) => left.From == right.From && left.To == right.To;
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public static bool operator !=(Line3D left, Line3D right) => left.From != right.From || left.To != right.To;
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/// <summary>
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/// Linearly interpolates between the two endpoints of the <see cref="Line3D"/> segment using parameter 't'.
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/// </summary>
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public static Vector3D Lerp(Line3D line, float t)
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=> Vector3D.Lerp(line.From, line.To, t);
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/// <summary>
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/// Calculates the closest point on the <see cref="Line3D"/> segment to the specified point.
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/// </summary>
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public static Vector3D ClosestPointTo(Line3D line, Vector3D point)
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{
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Vector3D lineRelativeVector = line.From.FromTo(line.To);
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Vector3D lineDirection = lineRelativeVector.Normalized;
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Vector3D pointVector = line.From.FromTo(point);
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float dot = lineDirection.Dot(pointVector).Clamp(0f, lineRelativeVector.Magnitude);
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return lineDirection * dot;
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}
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/// <summary>
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/// Checks if two <see cref="Line3D"/> segments are approximately equal.
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/// </summary>
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/// <param name="left">The first <see cref="Line3D"/>.</param>
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/// <param name="right">The second <see cref="Line3D"/>.</param>
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/// <param name="epsilon">The epsilon range.</param>
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/// <returns><see cref="true"/> if the <see cref="Line3D"/>s are approximately equal; otherwise, <see cref="false"/>.</returns>
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public static bool ApproximatelyEquals(Line3D left, Line3D right, float epsilon = float.Epsilon)
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=> left.From.ApproximatelyEquals(right.From, epsilon) && left.To.ApproximatelyEquals(right.To, epsilon);
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/// <summary>
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/// Determines whether the specified object is equal to the current <see cref="Line3D"/>.
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/// </summary>
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/// <param name="obj">The object to compare with the current <see cref="Line3D"/>.</param>
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/// <returns><see cref="true"/> if the specified object is equal to the current <see cref="Line3D"/>; otherwise, <see cref="false"/>.</returns>
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public override bool Equals(object? obj) => obj is Line3D line3D && this == line3D;
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public bool Equals(Line3D other) => this == other;
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/// <summary>
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/// Generates a hash code for the <see cref="Line3D"/>.
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/// </summary>
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/// <returns>A hash code for the <see cref="Line3D"/>.</returns>
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public override int GetHashCode() => System.HashCode.Combine(From, To);
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/// <summary>
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/// Converts the <see cref="Line3D"/> to its string representation.
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/// </summary>
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/// <returns>A string representation of the <see cref="Line3D"/>.</returns>
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public override string ToString() => $"{nameof(Line3D)}({From}, {To})";
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}
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/// <summary>
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/// Provides extension methods for the <see cref="Line3D"/> struct.
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/// </summary>
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public static class Line3DExtensions
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{
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/// <inheritdoc cref="Line3D.Lerp(Line3D, float)" />
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public static Vector3D Lerp(this Line3D line, float t) => Line3D.Lerp(line, t);
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/// <inheritdoc cref="Line3D.ClosestPointTo(Line3D, Vector3D)" />
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public static Vector3D ClosestPointTo(this Line3D line, Vector3D point) => Line3D.ClosestPointTo(line, point);
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/// <inheritdoc cref="Line3D.ApproximatelyEquals(Line3D, Line3D, float)" />
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public static bool ApproximatelyEquals(this Line3D left, Line3D right, float epsilon = float.Epsilon) => Line3D.ApproximatelyEquals(left, right, epsilon);
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}
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109
Engine.Core/Primitives/Ray3D.cs
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109
Engine.Core/Primitives/Ray3D.cs
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using System;
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namespace Engine.Core;
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/// <summary>
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/// Represents an infinite ray in 3D space.
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/// </summary>
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/// <param name="Origin">The <see cref="Vector3D"/> in 3D space where the ray starts from.</param>
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/// <param name="Direction">Normalized <see cref="Vector3D"/> indicating the ray's is direction.</param>
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public readonly struct Ray3D(Vector3D Origin, Vector3D Direction) : IEquatable<Ray3D>
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{
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/// <summary>
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/// The starting point of the <see cref="Ray3D"/>.
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/// </summary>
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public readonly Vector3D Origin = Origin;
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/// <summary>
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/// The direction in which the <see cref="Ray3D"/> points. Should be a normalized vector.
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/// </summary>
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public readonly Vector3D Direction = Direction;
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/// <summary>
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/// Gets a <see cref="Ray3D"/> with the same origin but with the direction reversed.
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/// </summary>
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public readonly Ray3D Reversed => new(Origin, -Direction);
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public static bool operator ==(Ray3D left, Ray3D right) => left.Origin == right.Origin && left.Direction == right.Direction;
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public static bool operator !=(Ray3D left, Ray3D right) => left.Origin != right.Origin || left.Direction != right.Direction;
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public static implicit operator Ray3D(Line3D line) => new(line.From, line.From.FromTo(line.To).Normalized);
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/// <summary>
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/// Constructs a <see cref="Line3D"/> from a <see cref="Ray3D"/>, extending from its origin in the <see cref="Ray3D"/>'s direction for a given distance.
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/// </summary>
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/// <param name="ray">The source <see cref="Ray3D"/>.</param>
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/// <param name="distance">The length of the line segment to create from the <see cref="Ray3D"/>.</param>
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/// <returns>A <see cref="Line3D"/> representing the segment of the <see cref="Ray3D"/>.</returns>
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public static Line3D GetLine(Ray3D ray, float distance)
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=> new(ray.Origin, ray.Origin + ray.Direction * distance);
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/// <summary>
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/// Evaluates the point on the <see cref="Ray3D"/> at a specified distance from its origin.
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/// </summary>
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/// <param name="ray">The <see cref="Ray3D"/> to evaluate.</param>
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/// <param name="distanceFromOrigin">The distance from the origin along the <see cref="Ray3D"/>'s direction.</param>
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/// <returns>A <see cref="Vector3D"/> representing the point at the given distance on the <see cref="Ray3D"/>.</returns>
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public static Vector3D Evaluate(Ray3D ray, float distanceFromOrigin)
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=> ray.Origin + ray.Direction * distanceFromOrigin;
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/// <summary>
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/// Calculates the closest point on the <see cref="Ray3D"/> to the specified point.
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/// </summary>
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public static Vector3D ClosestPointTo(Ray3D ray, Vector3D point)
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{
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Vector3D originToPoint = ray.Origin.FromTo(point);
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float dot = ray.Direction.Dot(originToPoint);
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return ray.Origin + ray.Direction * dot;
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}
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/// <summary>
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/// Checks if two <see cref="Ray3D"/>s are approximately equal within a specified epsilon range.
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/// </summary>
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/// <param name="left">The first <see cref="Ray3D"/>.</param>
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/// <param name="right">The second <see cref="Ray3D"/>.</param>
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/// <param name="epsilon">The epsilon range.</param>
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/// <returns><see cref="true"/> if the <see cref="Ray3D"/>s are approximately equal; otherwise, <see cref="false"/>.</returns>
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public static bool ApproximatelyEquals(Ray3D left, Ray3D right, float epsilon = float.Epsilon)
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=> left.Origin.ApproximatelyEquals(right.Origin, epsilon) && left.Direction.ApproximatelyEquals(right.Direction, epsilon);
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/// <summary>
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/// Determines whether the specified object is equal to the current <see cref="Ray3D"/>.
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/// </summary>
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/// <param name="obj">The object to compare with the current <see cref="Ray3D"/>.</param>
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/// <returns><see cref="true"/> if the specified object is equal to the current <see cref="Ray3D"/>; otherwise, <see cref="false"/>.</returns>
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public override bool Equals(object? obj) => obj is Ray3D ray3D && this == ray3D;
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public bool Equals(Ray3D other) => this == other;
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/// <summary>
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/// Generates a hash code for the <see cref="Ray3D"/>.
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/// </summary>
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/// <returns>A hash code for the <see cref="Ray3D"/>.</returns>
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public override int GetHashCode() => System.HashCode.Combine(Origin, Direction);
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/// <summary>
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/// Converts the <see cref="Ray3D"/> to its string representation.
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/// </summary>
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/// <returns>A string representation of the <see cref="Ray3D"/>.</returns>
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public override string ToString() => $"{nameof(Ray3D)}({Origin}, {Direction})";
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}
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/// <summary>
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/// Provides extension methods for the <see cref="Ray3D"/> struct.
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/// </summary>
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public static class Ray3DExtensions
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{
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/// <inheritdoc cref="Ray3D.GetLine(Ray3D, float) />
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public static Line3D ToLine(this Ray3D ray, float distance) => Ray3D.GetLine(ray, distance);
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/// <inheritdoc cref="Ray3D.Evaluate(Ray3D, float) />
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public static Vector3D Evaluate(this Ray3D ray, float distanceFromOrigin) => Ray3D.Evaluate(ray, distanceFromOrigin);
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/// <inheritdoc cref="Ray3D.ClosestPointTo(Ray3D, Vector3D) />
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public static Vector3D ClosestPointTo(this Ray3D ray, Vector3D point) => Ray3D.ClosestPointTo(ray, point);
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/// <inheritdoc cref="Ray3D.ApproximatelyEquals(Ray3D, Ray3D, float)" />
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public static bool ApproximatelyEquals(this Ray3D left, Ray3D right, float epsilon = float.Epsilon) => Ray3D.ApproximatelyEquals(left, right, epsilon);
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}
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