244 lines
9.1 KiB
C#
244 lines
9.1 KiB
C#
using System;
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using System.Diagnostics.CodeAnalysis;
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using Syntriax.Engine.Core;
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namespace Syntriax.Engine.Physics2D.Primitives;
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/// <summary>
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/// Represents a 2D line segment defined by two endpoints.
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/// </summary>
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/// <remarks>
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/// Initializes a new instance of the Line struct with the specified endpoints.
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/// </remarks>
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/// <param name="from">The starting point of the <see cref="Line"/> segment.</param>
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/// <param name="to">The ending point of the <see cref="Line"/> segment.</param>
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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 Line(Vector2D from, Vector2D to)
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{
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/// <summary>
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/// The starting point of the <see cref="Line"/> segment.
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/// </summary>
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public readonly Vector2D From = from;
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/// <summary>
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/// The ending point of the <see cref="Line"/> segment.
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/// </summary>
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public readonly Vector2D To = to;
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/// <summary>
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/// The reversed <see cref="Line"/> segment.
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/// </summary>
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public readonly Line Reversed => new(To, From);
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/// <summary>
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/// The normalized direction <see cref="Vector2D"/> of the <see cref="Line"/> segment.
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/// </summary>
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public readonly Vector2D Direction => From.FromTo(To).Normalize();
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/// <summary>
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/// The length of the <see cref="Line"/> 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="Line"/> segment.
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/// </summary>
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public readonly float LengthSquared => From.FromTo(To).LengthSquared();
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/// <summary>
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/// The equation of the <see cref="Line"/> defined by this <see cref="Line"/> segment.
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/// </summary>
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public static LineEquation GetLineEquation(Line line)
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{
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Vector2D slopeVector = line.From.FromTo(line.To);
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float slope = slopeVector.Y / slopeVector.X;
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float yOffset = line.From.Y - (slope * line.From.X);
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return new LineEquation(slope, yOffset);
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}
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/// <summary>
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/// Determines whether the specified <see cref="Vector2D"/> lies on the <see cref="Line"/>.
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/// </summary>
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public static bool Intersects(Line line, Vector2D point)
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=> LineEquation.Resolve(GetLineEquation(line), point.X).ApproximatelyEquals(point.Y);
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/// <summary>
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/// Calculates the parameter 't' representing the point's position on the <see cref="Line"/> segment.
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/// </summary>
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public static float GetT(Line line, Vector2D point)
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{
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float fromX = MathF.Abs(line.From.X);
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float toX = MathF.Abs(line.To.X);
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float pointX = MathF.Abs(point.X);
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float min = MathF.Min(fromX, toX);
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float max = MathF.Max(fromX, toX) - min;
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pointX -= min;
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float t = pointX / max;
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// FIXME
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// I don't even know, apparently whatever I wrote up there doesn't take into account of the direction of the line
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// Which... I can see how, but I am also not sure how I can make it take into account. Or actually I'm for some reason
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// too unmotivated to find a solution. Future me, find a better way if possible, please.
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if (!Lerp(line, t).ApproximatelyEquals(point))
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return 1f - t;
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return t;
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}
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/// <summary>
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/// Checks if the <see cref="Line"/> segment intersects with another <see cref="Line"/> segment.
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/// </summary>
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public static bool Intersects(Line left, Line right)
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{
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int o1 = Vector2D.Orientation(left.From, left.To, right.From);
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int o2 = Vector2D.Orientation(left.From, left.To, right.To);
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int o3 = Vector2D.Orientation(right.From, right.To, left.From);
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int o4 = Vector2D.Orientation(right.From, right.To, left.To);
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if (o1 != o2 && o3 != o4)
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return true;
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if (o1 == 0 && OnSegment(left, right.From)) return true;
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if (o2 == 0 && OnSegment(left, right.To)) return true;
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if (o3 == 0 && OnSegment(right, left.From)) return true;
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if (o4 == 0 && OnSegment(right, left.To)) return true;
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return false;
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}
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/// <summary>
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/// Checks if the point lies within the <see cref="Line"/> segment.
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/// </summary>
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public static bool OnSegment(Line line, Vector2D point)
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{
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if (point.X <= MathF.Max(line.From.X, line.To.X) && point.X >= MathF.Min(line.From.X, line.To.X) &&
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point.Y <= MathF.Max(line.From.Y, line.To.Y) && point.Y >= MathF.Min(line.From.Y, line.To.Y))
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return true;
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return false;
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}
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/// <summary>
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/// Determines whether two <see cref="Line"/> segments intersect.
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/// </summary>
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public static bool Intersects(Line left, Line right, [NotNullWhen(returnValue: true)] out Vector2D? point)
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{
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point = null;
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bool result = Intersects(left, right);
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if (result)
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point = IntersectionPoint(left, right);
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return result;
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}
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/// <summary>
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/// Finds the point of intersection between two <see cref="Line"/> segments.
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/// </summary>
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public static Vector2D IntersectionPoint(Line left, Line right)
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=> Vector2D.Lerp(left.From, left.To, IntersectionParameterT(left, right));
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/// <summary>
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/// Calculates the parameter 't' representing the intersection point's position on the <see cref="Line"/> segment.
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/// </summary>
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public static float IntersectionParameterT(Line left, Line right)
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{
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float numerator = (left.From.X - right.From.X) * (right.From.Y - right.To.Y) - (left.From.Y - right.From.Y) * (right.From.X - right.To.X);
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float denominator = (left.From.X - left.To.X) * (right.From.Y - right.To.Y) - (left.From.Y - left.To.Y) * (right.From.X - right.To.X);
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// Lines are parallel
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if (denominator == 0)
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return float.NaN;
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return numerator / denominator;
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}
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/// <summary>
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/// Linearly interpolates between the two endpoints of the <see cref="Line"/> segment using parameter 't'.
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/// </summary>
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public static Vector2D Lerp(Line line, float t)
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=> new(
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line.From.X + (line.To.X - line.From.X) * t,
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line.From.Y + (line.To.Y - line.From.Y) * t
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);
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/// <summary>
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/// Calculates the closest point on the <see cref="Line"/> segment to the specified point.
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/// </summary>
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public static Vector2D ClosestPointTo(Line line, Vector2D point)
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{
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// Convert edge points to vectors
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var edgeVector = new Vector2D(line.To.X - line.From.X, line.To.Y - line.From.Y);
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var pointVector = new Vector2D(point.X - line.From.X, point.Y - line.From.Y);
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// Calculate the projection of pointVector onto edgeVector
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float t = (pointVector.X * edgeVector.X + pointVector.Y * edgeVector.Y) / (edgeVector.X * edgeVector.X + edgeVector.Y * edgeVector.Y);
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// Clamp t to the range [0, 1] to ensure the closest point is on the edge
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t = MathF.Max(0, MathF.Min(1, t));
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// Calculate the closest point on the edge
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float closestX = line.From.X + t * edgeVector.X;
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float closestY = line.From.Y + t * edgeVector.Y;
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return new Vector2D((float)closestX, (float)closestY);
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}
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/// <summary>
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/// Checks if two <see cref="Line"/> segments are approximately equal.
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/// </summary>
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public static bool ApproximatelyEquals(Line left, Line right)
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=> left.From.ApproximatelyEquals(right.From) && left.To.ApproximatelyEquals(right.To);
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}
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/// <summary>
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/// Provides extension methods for the Line struct.
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/// </summary>
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public static class LineExtensions
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{
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/// <summary>
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/// Linearly interpolates between the two endpoints of the <see cref="Line"/> segment using parameter 't'.
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/// </summary>
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public static Vector2D Lerp(this Line line, float t) => Line.Lerp(line, t);
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/// <summary>
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/// The equation of the <see cref="Line"/> defined by this <see cref="Line"/> segment.
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/// </summary>
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public static LineEquation ToLineEquation(this Line line) => Line.GetLineEquation(line);
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/// <summary>
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/// Determines whether the specified <see cref="Vector2D"/> lies on the <see cref="Line"/>.
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/// </summary>
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public static bool Intersects(this Line line, Vector2D point) => Line.Intersects(line, point);
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/// <summary>
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/// Calculates the parameter 't' representing the point's position on the <see cref="Line"/> segment.
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/// </summary>
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public static float GetT(this Line line, Vector2D point) => Line.GetT(line, point);
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/// <summary>
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/// Checks if the <see cref="Line"/> segment intersects with another <see cref="Line"/> segment.
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/// </summary>
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public static bool Intersects(this Line left, Line right) => Line.Intersects(left, right);
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/// <summary>
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/// Determines whether two <see cref="Line"/> segments intersect.
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/// </summary>
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public static bool Intersects(this Line left, Line right, [NotNullWhen(returnValue: true)] out Vector2D? point) => Line.Intersects(left, right, out point);
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/// <summary>
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/// Checks if two <see cref="Line"/>s are approximately equal.
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/// </summary>
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public static bool ApproximatelyEquals(this Line left, Line right) => Line.ApproximatelyEquals(left, right);
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}
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