/// <summary>
/// Returns true if the ray hits the other ray before the parameter
/// value contained in the supplied hit. Detailed information about
/// the hit is returned in the supplied hit.
/// </summary>
public bool Hits(
Ray3d ray,
double tmin, double tmax,
ref RayHit3d hit
)
{
return(HitsRay(ray, tmin, tmax, ref hit));
}
public int LexicalCompare(Ray3d other)
{
var cmp = Origin.LexicalCompare(other.Origin);
if (cmp != 0)
{
return(cmp);
}
return(Direction.LexicalCompare(other.Direction));
}
public V3d GetClosestPoint(V3d point)
{
var ray = new Ray3d(Origin, Direction);
var cp = point.GetClosestPointOn(ray);
var radius = GetRadius(GetHeight(point));
var dir = (point - cp).Normalized * radius;
var p0 = cp + dir;
var p1 = point.GetClosestPointOn(new Ray3d(Origin, (p0 - Origin).Normalized));
return((V3d.Distance(point, p1) < V3d.Distance(point, p0)) ? p1 : p0);
}
/// <summary>
/// Returns true if the ray hits the other ray before the parameter
/// value contained in the supplied hit. Detailed information about
/// the hit is returned in the supplied hit.
/// </summary>
public bool HitsRay(
Ray3d ray,
double tmin, double tmax,
ref RayHit3d hit
)
{
V3d d = Origin - ray.Origin;
V3d u = Direction;
V3d v = ray.Direction;
V3d n = u.Cross(v);
if (Fun.IsTiny(d.Length))
{
return(true);
}
else if (Fun.IsTiny(u.Cross(v).Length))
{
return(false);
}
else
{
//-t0*u + t1*v + t2*n == d
//M = {-u,v,n}
//M*{t0,t1,t2}T == d
//{t0,t1,t2}T == M^-1 * d
M33d M = new M33d();
M.C0 = -u;
M.C1 = v;
M.C2 = n;
if (M.Invertible)
{
V3d t = M.Inverse * d;
if (Fun.IsTiny(t.Z))
{
ProcessHits(t.X, double.MaxValue, tmin, tmax, ref hit);
return(true);
}
else
{
return(false);
}
}
else
{
return(false);
}
}
}
/// <summary>
/// Projects a point onto the plane along given direction.
/// </summary>
public static V3d Project(this Plane3d plane, V3d p, V3d direction)
{
var r = new Ray3d(p, direction);
if (r.Intersects(plane, out double t))
{
return(r.GetPointOnRay(t));
}
else
{
throw new Exception(string.Format(
"Failed to project point {0} onto plane {1} along direction {2}.", p, plane, direction)
);
}
}
/// <summary>
/// Projects points onto plane along given direction.
/// </summary>
public static V3d[] Project(this Plane3d plane, V3d[] pointArray, V3d direction, int startIndex = 0, int count = 0)
{
if (pointArray == null)
{
throw new ArgumentNullException();
}
if (startIndex < 0 || startIndex >= pointArray.Length)
{
throw new ArgumentOutOfRangeException();
}
if (count < 0 || startIndex + count >= pointArray.Length)
{
throw new ArgumentOutOfRangeException();
}
if (count == 0)
{
count = pointArray.Length - startIndex;
}
var result = new V3d[count];
for (int i = startIndex, j = 0; j < count; i++, j++)
{
double t = 0.0;
var r = new Ray3d(pointArray[i], direction);
if (r.Intersects(plane, out t))
{
result[j] = r.GetPointOnRay(t);
}
else
{
throw new Exception(string.Format(
"Failed to project point {0} onto plane {1} along direction {2}.", pointArray[i], plane, direction)
);
}
}
;
return(result);
}
public static bool IsNormalTo(this Plane3d plane, Ray3d ray) => ray.Direction.IsParallelTo(plane.Normal);
public static bool IsOrthogonalTo(this Ray3d ray, Plane3d plane) => ray.Direction.IsParallelTo(plane.Normal);
public static bool IsOrthogonalTo(this Ray3d r0, Ray3d r1) => r0.Direction.IsOrthogonalTo(r1.Direction);
public static bool IsOrthogonalTo(this Ray3d ray, V3d vec) => ray.Direction.IsOrthogonalTo(vec);
public double GetHeight(V3d position)
{
var ray = new Ray3d(Origin, Direction);
return(ray.GetTOfProjectedPoint(position));
}
public static bool IsOrthogonalTo(this Ray3d ray, V3d vec)
{
return(ray.Direction.IsOrthogonalTo(vec));
}
/// <summary> /// Returns true if the ray hits the other ray before the parameter /// value contained in the supplied hit. Detailed information about /// the hit is returned in the supplied hit. /// </summary> public bool Hits(Ray3d ray, double tmin, double tmax, ref RayHit3d hit) => HitsRay(ray, tmin, tmax, ref hit);
public static bool IsParallelTo(this Ray3d r0, Ray3d r1) => r0.Direction.IsParallelTo(r1.Direction);
public static bool IsParallelTo(this Ray3d r0, Ray3d r1)
{
return(r0.Direction.IsParallelTo(r1.Direction));
}
/// <summary>
/// Returns true if the ray hits the other ray before the parameter
/// value contained in the supplied hit. Detailed information about
/// the hit is returned in the supplied hit.
/// </summary>
public bool Hits(
Ray3d ray, ref RayHit3d hit
)
{
return(HitsRay(ray, double.MinValue, double.MaxValue, ref hit));
}
public static bool IsParallelTo(this Ray3d ray, V3d vec)
{
return(ray.Direction.IsParallelTo(vec));
}
public static bool IsOrthogonalTo(this Ray3d r0, Ray3d r1)
{
return(r0.Direction.IsOrthogonalTo(r1.Direction));
}
public static bool IsParallelTo(this Ray3d ray, V3d vec) => ray.Direction.IsParallelTo(vec);
public FastRay3d(Ray3d ray)
{
Ray = ray;
DirFlags = ray.Direction.DirFlags();
InvDir = 1.0 / ray.Direction;
}
public static bool IsParallelTo(this Ray3d ray, V3d vec, double epsilon = 1e-6) => ray.Direction.IsParallelTo(vec, epsilon);
public static bool IsParallelTo(this Plane3d plane, Ray3d ray)
{
return(ray.Direction.IsOrthogonalTo(plane.Normal));
}
public static bool IsParallelTo(this Ray3d r0, Ray3d r1, double epsilon = 1e-6) => r0.Direction.IsParallelTo(r1.Direction, epsilon);
/// <summary> /// Returns true if the ray hits the other ray before the parameter /// value contained in the supplied hit. Detailed information about /// the hit is returned in the supplied hit. /// </summary> public bool Hits(Ray3d ray, ref RayHit3d hit) => HitsRay(ray, double.MinValue, double.MaxValue, ref hit);
