/// <summary>
///
/// </summary>
/// <param name="v0"></param>
/// <param name="v1"></param>
/// <returns></returns>
public static double Dot(Vec2d v0, Vec2d v1)
{
return(v0.X * v1.X + v0.Y * v1.Y);
}
/// <summary>
/// Applies this transformation to the given point.
/// </summary>
/// <param name="point"></param>
/// <returns></returns>
public Vec2d Apply(Vec2d point)
{
return(Rotation.Apply(point) + Translation);
}
/// <summary>
///
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
public void Deconstruct(out OrthoBasis2d rotation, out Vec2d translation)
{
rotation = Rotation;
translation = Translation;
}
/// <summary>
///
/// </summary>
/// <param name="vectors"></param>
/// <param name="result"></param>
/// <param name="mean"></param>
/// <returns></returns>
public static void GetCovarianceMatrix(this IEnumerable <Vec2d> vectors, Vec2d mean, double[] result)
{
DataUtil.GetCovarianceMatrix(vectors, mean, result);
}
/// <summary>
///
/// </summary>
/// <param name="origin"></param>
/// <param name="x"></param>
public Orient2d(Vec2d origin, Vec2d x)
{
Rotation = new OrthoBasis2d(x);
Translation = origin;
}
/// <summary>
///
/// </summary>
/// <param name="other"></param>
/// <param name="factor"></param>
/// <returns></returns>
public Vec2d SlerpTo(Vec2d other, double factor)
{
return(SlerpTo(other, Angle(this, other), factor));
}
/// <summary>
/// Returns paramters for the point of intersection between lines a and b.
/// Returns false if there is no solution i.e. lines are parallel.
/// </summary>
/// <param name="startA"></param>
/// <param name="endA"></param>
/// <param name="startB"></param>
/// <param name="endB"></param>
/// <param name="ta"></param>
/// <param name="tb"></param>
public static bool LineLineIntersection(Vec2d startA, Vec2d endA, Vec2d startB, Vec2d endB, out double ta, out double tb)
{
return(LineLineIntersection(endA - startA, endB - startB, startB - startA, out ta, out tb));
}
/// <summary>
/// Returns the reflection of v0 about v1.
/// </summary>
/// <param name="v0"></param>
/// <param name="v1"></param>
/// <returns></returns>
public static Vec2d Reflect(Vec2d v0, Vec2d v1)
{
//return Project(v0, v1) * 2.0 - v0;
return(v1 * (Dot(v0, v1) / v1.SquareLength * 2.0) - v0);
}
/// <summary>
/// Returns a vector parallel to v0 whos projection onto v1 equals v1
/// </summary>
/// <param name="v0"></param>
/// <param name="v1"></param>
/// <returns></returns>
public static Vec2d MatchProjection(Vec2d v0, Vec2d v1)
{
return(v1.SquareLength / Dot(v0, v1) * v0);
}
/// <summary>
/// Returns the projection of v0 onto v1.
/// </summary>
/// <param name="v0"></param>
/// <param name="v1"></param>
/// <returns></returns>
public static Vec2d Project(Vec2d v0, Vec2d v1)
{
return(Dot(v0, v1) / v1.SquareLength * v1);
}
/// <summary>
/// Returns the rejection of v0 onto v1.
/// This is the perpendicular component of v0 with respect to v1.
/// </summary>
/// <param name="v0"></param>
/// <param name="v1"></param>
/// <returns></returns>
public static Vec2d Reject(Vec2d v0, Vec2d v1)
{
return(v0 - Project(v0, v1));
}
/// <summary>
///
/// </summary>
/// <param name="v0"></param>
/// <param name="v1"></param>
/// <returns></returns>
public static double SignedAngle(Vec2d v0, Vec3d v1)
{
return(Math.Atan2(Cross(v0, v1), Dot(v0, v1)));
}
/// <summary>
/// Returns the pseudo cross product calculated as the dot product between v1 and the perpendicular of v0.
/// </summary>
/// <param name="v0"></param>
/// <param name="v1"></param>
/// <returns></returns>
public static double Cross(Vec2d v0, Vec2d v1)
{
return(v0.X * v1.Y - v0.Y * v1.X);
}
/// <summary>
///
/// </summary>
/// <param name="v0"></param>
/// <param name="v1"></param>
/// <returns></returns>
public static double AbsDot(Vec2d v0, Vec2d v1)
{
return(Math.Abs(v0.X * v1.X) + Math.Abs(v0.Y * v1.Y));
}
/// <summary>
///
/// </summary>
/// <param name="other"></param>
/// <returns></returns>
public double ManhattanDistanceTo(Vec2d other)
{
other.X -= X;
other.Y -= Y;
return(other.ManhattanLength);
}
/// <summary>
/// Returns a vector parallel to v0 whose projection onto v2 equals the projection of v1 onto v2
/// </summary>
/// <param name="v0"></param>
/// <param name="v1"></param>
/// <param name="v2"></param>
/// <returns></returns>
public static Vec2d MatchProjection(Vec2d v0, Vec2d v1, Vec2d v2)
{
return(Dot(v1, v2) / Dot(v0, v2) * v0);
}
/// <summary>
///
/// </summary>
/// <param name="other"></param>
/// <param name="factor"></param>
/// <returns></returns>
public Vec2d LerpTo(Vec2d other, double factor)
{
return(new Vec2d(
X + (other.X - X) * factor,
Y + (other.Y - Y) * factor));
}
/// <summary>
///
/// </summary>
/// <param name="v0"></param>
/// <param name="v1"></param>
/// <param name="factor"></param>
/// <returns></returns>
public static Vec2d Lerp(Vec2d v0, Vec2d v1, double factor)
{
return(v0.LerpTo(v1, factor));
}
/// <summary>
///
/// </summary>
/// <param name="other"></param>
/// <param name="factor"></param>
/// <returns></returns>
public Vec2d SlerpTo(Vec2d other, double angle, double factor)
{
double st = 1.0 / Math.Sin(angle);
return(this * (Math.Sin((1.0 - factor) * angle) * st) + other * (Math.Sin(factor * angle) * st));
}
/// <summary>
///
/// </summary>
/// <param name="v0"></param>
/// <param name="v1"></param>
/// <param name="factor"></param>
/// <returns></returns>
public static Vec2d Slerp(Vec2d v0, Vec2d v1, double factor)
{
return(v0.SlerpTo(v1, Angle(v0, v1), factor));
}
/// <summary>
///
/// </summary>
/// <param name="startA"></param>
/// <param name="deltaA"></param>
/// <param name="startB"></param>
/// <param name="deltaB"></param>
/// <param name="ta"></param>
/// <param name="tb"></param>
public static bool LineLineIntersection2(Vec2d startA, Vec2d deltaA, Vec2d startB, Vec2d deltaB, out double ta, out double tb)
{
return(LineLineIntersection(deltaA, deltaB, startB - startA, out ta, out tb));
}
/// <summary>
///
/// </summary>
/// <param name="v0"></param>
/// <param name="v1"></param>
/// <param name="angle"></param>
/// <param name="factor"></param>
/// <returns></returns>
public static Vec2d Slerp(Vec2d v0, Vec2d v1, double angle, double factor)
{
return(v0.SlerpTo(v1, angle, factor));
}
/// <summary>
///
/// </summary>
/// <param name="rotation"></param>
/// <param name="translation"></param>
public Orient2d(OrthoBasis2d rotation, Vec2d translation)
{
Rotation = rotation;
Translation = translation;
}
/// <summary>
///
/// </summary>
/// <param name="other"></param>
/// <param name="tolerance"></param>
/// <returns></returns>
public bool ApproxEquals(Vec2d other, double tolerance = SlurMath.ZeroTolerance)
{
return
(Math.Abs(other.X - X) < tolerance &&
Math.Abs(other.Y - Y) < tolerance);
}
/// <summary>
/// Inverts this transformation in place.
/// </summary>
public void Invert()
{
Rotation.Invert();
Translation = -Rotation.Apply(Translation);
}
/// <summary>
///
/// </summary>
/// <param name="other"></param>
/// <param name="tolerance"></param>
/// <returns></returns>
public bool ApproxEquals(Vec2d other, Vec2d tolerance)
{
return
(Math.Abs(other.X - X) < tolerance.X &&
Math.Abs(other.Y - Y) < tolerance.Y);
}
/// <summary>
/// Applies the inverse of this transformation to the given point.
/// </summary>
/// <param name="point"></param>
/// <returns></returns>
public Vec2d ApplyInverse(Vec2d point)
{
return(Rotation.ApplyInverse(point - Translation));
}
/// <summary>
///
/// </summary>
/// <param name="other"></param>
/// <returns></returns>
public double SquareDistanceTo(Vec2d other)
{
other.X -= X;
other.Y -= Y;
return(other.SquareLength);
}
/// <summary>
///
/// </summary>
/// <param name="p0"></param>
/// <param name="p1"></param>
public static Orient2d CreateFromPoints(Vec2d p0, Vec2d p1)
{
return(new Orient2d(p0, p1 - p0));
}
/// <summary>
///
/// </summary>
/// <param name="vector"></param>
/// <returns></returns>
public static Vec2d Abs(Vec2d vector)
{
return(new Vec2d(Math.Abs(vector.X), Math.Abs(vector.Y)));
}
