public NuGenRot3F(NuGenVec3F from, NuGenVec3F to)
{
from.Normalize();
to.Normalize();
float cost =
NuGenVec3F.Dot(from, to) /
(float)Math.Sqrt(NuGenVec3F.Dot(from, to) * NuGenVec3F.Dot(to, to));
if (cost > 0.99999)
{
r = 1;
v = new NuGenVec3F(0, 0, 0);
}
else if (cost < -0.99999)
{
NuGenVec3F frm = from.Normalized;
v = NuGenVec3F.Cross(frm, NuGenVec3F.UnitX);
if (v.Length < 0.00001) v = NuGenVec3F.Cross(frm, NuGenVec3F.UnitY);
r = 0;
v.Normalize();
}
else
{
r = (float)Math.Sqrt(0.5 * (1.0 + cost));
v = NuGenVec3F.Cross(from, to);
v *= (float)Math.Sqrt((0.5 * (1.0 - cost))/NuGenVec3F.Dot(v, v));
}
}
public bool Intersect(NuGenRay3F ray, ref float t, ref NuGenVec3F normal)
{
NuGenVec3F l = center - ray.Point;
float s = NuGenVec3F.Dot(l, ray.Direction);
float l2 = l.SquaredLength;
float rr = radius * radius;
if (s < 0.0f && l2 > rr)
{
return(false);
}
float m2 = l2 - s * s;
if (m2 > rr)
{
return(false);
}
float q = (float)Math.Sqrt(rr - m2);
if (l2 > rr)
{
t = s - q;
}
else
{
t = s + q;
}
normal = (ray.Point + ray.Direction * t) - center;
normal.Normalize();
return(true);
}
public bool Intersect(NuGenRay3F ray, ref float t, ref float u, ref float v, ref NuGenVec3F normal)
{
NuGenVec3F e1 = p1 - p0;
NuGenVec3F e2 = p2 - p0;
NuGenVec3F p = NuGenVec3F.Cross(ray.Direction, e2);
float a = NuGenVec3F.Dot(e1, p);
if (a > -NuGenVector.TINY_FLOAT && a < NuGenVector.TINY_FLOAT)
{
return(false);
}
float f = 1.0f / a;
NuGenVec3F s = ray.Point - p0;
u = f * NuGenVec3F.Dot(s, p);
if (u < 0.0f || u > 1.0f)
{
return(false);
}
NuGenVec3F q = NuGenVec3F.Cross(s, e1);
v = f * NuGenVec3F.Dot(ray.Direction, q);
if (v < 0.0f || (u + v) > 1.0f)
{
return(false);
}
t = f * NuGenVec3F.Dot(e2, q);
normal = NuGenVec3F.Cross(e1, e2); normal.Normalize();
return(true);
}
public static bool ApproxEquals(NuGenVec3F a, NuGenVec3F b)
{
return
Math.Abs(a._x[0] - b._x[0]) < NuGenVector.TINY_FLOAT &&
Math.Abs(a._x[1] - b._x[1]) < NuGenVector.TINY_FLOAT &&
Math.Abs(a._x[2] - b._x[2]) < NuGenVector.TINY_FLOAT;
}
public bool Intersect(NuGenRay3F ray, ref float t, ref NuGenVec3F normal)
{
NuGenVec3F l = center - ray.Point;
float s = NuGenVec3F.Dot(l, ray.Direction);
float l2 = l.SquaredLength;
float rr = radius * radius;
if (s < 0.0f && l2 > rr) return false;
float m2 = l2 - s * s;
if (m2 > rr) return false;
float q = (float)Math.Sqrt(rr - m2);
if (l2 > rr) t = s - q;
else t = s + q;
normal = (ray.Point + ray.Direction * t) - center;
normal.Normalize();
return true;
}
public bool Intersect(NuGenRay3F ray, ref float t, ref float u, ref float v, ref NuGenVec3F normal)
{
NuGenVec3F e1 = p1 - p0;
NuGenVec3F e2 = p2 - p0;
NuGenVec3F p = NuGenVec3F.Cross(ray.Direction, e2);
float a = NuGenVec3F.Dot(e1, p);
if (a > -NuGenVector.TINY_FLOAT && a < NuGenVector.TINY_FLOAT) return false;
float f = 1.0f / a;
NuGenVec3F s = ray.Point - p0;
u = f * NuGenVec3F.Dot(s, p);
if (u < 0.0f || u > 1.0f) return false;
NuGenVec3F q = NuGenVec3F.Cross(s, e1);
v = f * NuGenVec3F.Dot(ray.Direction, q);
if (v < 0.0f || (u + v) > 1.0f) return false;
t = f * NuGenVec3F.Dot(e2, q);
normal = NuGenVec3F.Cross(e1, e2); normal.Normalize();
return true;
}
public NuGenRay3F(NuGenPnt3F p, NuGenVec3F v)
{
this.p = p;
this.v = v;
}
public NuGenRot3F(float radians, NuGenVec3F axis)
{
axis.Normalize();
r = (float)Math.Cos(radians/2.0);
v = axis.Normalized * (float)Math.Sin(radians/2.0);
}
public NuGenShift3F(NuGenVec3F shift)
{
v = shift;
}
public NuGenShift3F(float x, float y, float z)
{
v = new NuGenVec3F(x,y,z);
}
public NuGenScale3F(NuGenVec3F shift)
{
v = shift;
}
public NuGenScale3F(float x, float y, float z)
{
v = new NuGenVec3F(x,y,z);
}
