435 lines
15 KiB
C#
435 lines
15 KiB
C#
/*
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* Copyright 2019-2025 Andrey Pokidov <andrey.pokidov@gmail.com>
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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using System;
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/*
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* Author: Andrey Pokidov
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* Date: 1 Feb 2019
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*/
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namespace Geometry
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{
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public struct DPVector3
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{
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public static readonly DPVector3 ZERO = new DPVector3(0.0, 0.0, 0.0);
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public double x1;
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public double x2;
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public double x3;
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public DPVector3(double x1, double x2, double x3)
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{
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this.x1 = x1;
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this.x2 = x2;
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this.x3 = x3;
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}
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public DPVector3(in DPVector3 vector)
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{
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this.x1 = vector.x1;
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this.x2 = vector.x2;
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this.x3 = vector.x3;
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}
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public DPVector3(in SPVector3 vector)
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{
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this.x1 = vector.x1;
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this.x2 = vector.x2;
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this.x3 = vector.x3;
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}
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public readonly double GetSquareModule()
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{
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return this.x1 * this.x1 + this.x2 * this.x2 + this.x3 * this.x3;
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}
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public readonly double GetModule()
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{
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return Math.Sqrt(this.GetSquareModule());
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}
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public int Normalize()
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{
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double squareModule = this.GetSquareModule();
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if (1.0 - DPUtility.TWO_EPSYLON <= squareModule && squareModule <= 1.0 + DPUtility.TWO_EPSYLON)
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{
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return 1;
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}
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if (squareModule <= DPUtility.SQUARE_EPSYLON)
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{
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this.Reset();
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return 0;
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}
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double module = Math.Sqrt(squareModule);
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this.x1 /= module;
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this.x2 /= module;
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this.x3 /= module;
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return 1;
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}
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public readonly DPVector3 GetNormalized()
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{
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double squareModule = this.GetSquareModule();
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if (1.0 - DPUtility.TWO_EPSYLON <= squareModule && squareModule <= 1.0 + DPUtility.TWO_EPSYLON)
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{
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return this;
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}
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if (squareModule <= DPUtility.SQUARE_EPSYLON)
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{
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return ZERO;
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}
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double module = Math.Sqrt(squareModule);
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return new DPVector3(
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this.x1 / module,
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this.x2 / module,
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this.x3 / module
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);
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}
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public void Invert()
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{
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this.x1 = -this.x1;
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this.x2 = -this.x2;
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this.x3 = -this.x3;
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}
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public readonly DPVector3 GetInverted()
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{
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return new DPVector3(-this.x1, -this.x2, -this.x3);
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}
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public readonly bool IsZero()
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{
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return this.GetSquareModule() <= DPUtility.SQUARE_EPSYLON;
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}
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public readonly bool IsUnit()
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{
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double squareModule = this.GetSquareModule();
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return 1.0 - DPUtility.TWO_EPSYLON <= squareModule && squareModule <= DPUtility.EPSYLON;
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}
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public void Reset()
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{
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this.x1 = 0.0;
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this.x2 = 0.0;
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this.x3 = 0.0;
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}
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public void SetValues(double x1, double x2, double x3)
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{
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this.x1 = x1;
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this.x2 = x2;
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this.x3 = x3;
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}
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public void SetValues(in SPVector3 vector)
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{
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this.x1 = vector.x1;
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this.x2 = vector.x2;
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this.x3 = vector.x3;
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}
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public void SetValues(in DPVector3 vector)
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{
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this.x1 = vector.x1;
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this.x2 = vector.x2;
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this.x3 = vector.x3;
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}
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public readonly override string ToString()
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{
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return String.Format("DPVector3({0}, {1}, {2})", this.x1, this.x2, this.x3);
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}
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public static void Add(in DPVector3 vector1, in DPVector3 vector2, out DPVector3 sum)
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{
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sum.x1 = vector1.x1 + vector2.x1;
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sum.x2 = vector1.x2 + vector2.x2;
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sum.x3 = vector1.x3 + vector2.x3;
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}
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public static void Add3(
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in DPVector3 vector1,
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in DPVector3 vector2,
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in DPVector3 vector3,
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out DPVector3 sum
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)
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{
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sum.x1 = vector1.x1 + vector2.x1 + vector3.x1;
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sum.x2 = vector1.x2 + vector2.x2 + vector3.x2;
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sum.x3 = vector1.x3 + vector2.x3 + vector3.x3;
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}
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public static void Add4(
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in DPVector3 vector1,
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in DPVector3 vector2,
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in DPVector3 vector3,
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in DPVector3 vector4,
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out DPVector3 sum
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)
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{
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sum.x1 = (vector1.x1 + vector2.x1) + (vector3.x1 + vector4.x1);
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sum.x2 = (vector1.x2 + vector2.x2) + (vector3.x2 + vector4.x2);
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sum.x3 = (vector1.x3 + vector2.x3) + (vector3.x3 + vector4.x3);
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}
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public static void Add5(
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in DPVector3 vector1,
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in DPVector3 vector2,
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in DPVector3 vector3,
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in DPVector3 vector4,
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in DPVector3 vector5,
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out DPVector3 sum
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)
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{
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sum.x1 = (vector1.x1 + vector2.x1) + (vector3.x1 + vector4.x1) + vector5.x1;
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sum.x2 = (vector1.x2 + vector2.x2) + (vector3.x2 + vector4.x2) + vector5.x2;
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sum.x3 = (vector1.x3 + vector2.x3) + (vector3.x3 + vector4.x3) + vector5.x3;
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}
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public static void Subtract(in DPVector3 minuend, in DPVector3 subtrahend, out DPVector3 difference)
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{
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difference.x1 = minuend.x1 - subtrahend.x1;
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difference.x2 = minuend.x2 - subtrahend.x2;
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difference.x3 = minuend.x3 - subtrahend.x3;
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}
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public static void GetWeightedSum2(
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double weight1, in DPVector3 vector1,
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double weight2, in DPVector3 vector2,
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out DPVector3 sum
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)
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{
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sum.x1 = vector1.x1 * weight1 + vector2.x1 * weight2;
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sum.x2 = vector1.x2 * weight1 + vector2.x2 * weight2;
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sum.x3 = vector1.x3 * weight1 + vector2.x3 * weight2;
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}
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public static void GetWeightedSum3(
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double weight1, in DPVector3 vector1,
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double weight2, in DPVector3 vector2,
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double weight3, in DPVector3 vector3,
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out DPVector3 sum
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)
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{
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sum.x1 = vector1.x1 * weight1 + vector2.x1 * weight2 + vector3.x1 * weight3;
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sum.x2 = vector1.x2 * weight1 + vector2.x2 * weight2 + vector3.x2 * weight3;
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sum.x3 = vector1.x3 * weight1 + vector2.x3 * weight2 + vector3.x3 * weight3;
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}
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public static void GetWeightedSum4(
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double weight1, in DPVector3 vector1,
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double weight2, in DPVector3 vector2,
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double weight3, in DPVector3 vector3,
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double weight4, in DPVector3 vector4,
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out DPVector3 sum
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)
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{
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sum.x1 = (vector1.x1 * weight1 + vector2.x1 * weight2) + (vector3.x1 * weight3 + vector4.x1 * weight4);
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sum.x2 = (vector1.x2 * weight1 + vector2.x2 * weight2) + (vector3.x2 * weight3 + vector4.x2 * weight4);
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sum.x3 = (vector1.x3 * weight1 + vector2.x3 * weight2) + (vector3.x3 * weight3 + vector4.x3 * weight4);
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}
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public static void GetWeightedSum5(
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double weight1, in DPVector3 vector1,
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double weight2, in DPVector3 vector2,
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double weight3, in DPVector3 vector3,
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double weight4, in DPVector3 vector4,
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double weight5, in DPVector3 vector5,
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out DPVector3 sum
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)
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{
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sum.x1 = (vector1.x1 * weight1 + vector2.x1 * weight2) + (vector3.x1 * weight3 + vector4.x1 * weight4) + vector5.x1 * weight5;
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sum.x2 = (vector1.x2 * weight1 + vector2.x2 * weight2) + (vector3.x2 * weight3 + vector4.x2 * weight4) + vector5.x2 * weight5;
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sum.x3 = (vector1.x3 * weight1 + vector2.x3 * weight2) + (vector3.x3 * weight3 + vector4.x3 * weight4) + vector5.x3 * weight5;
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}
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public static void Muliply(in DPVector3 multiplicand, double multiplier, out DPVector3 product)
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{
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product.x1 = multiplicand.x1 * multiplier;
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product.x2 = multiplicand.x2 * multiplier;
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product.x3 = multiplicand.x3 * multiplier;
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}
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public static void Divide(in DPVector3 dividend, double divisor, out DPVector3 quotient)
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{
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quotient.x1 = dividend.x1 / divisor;
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quotient.x2 = dividend.x2 / divisor;
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quotient.x3 = dividend.x3 / divisor;
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}
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public static void GetMean2(
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in DPVector3 vector1,
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in DPVector3 vector2,
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out DPVector3 result
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)
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{
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result.x1 = (vector1.x1 + vector2.x1) * 0.5;
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result.x2 = (vector1.x2 + vector2.x2) * 0.5;
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result.x3 = (vector1.x3 + vector2.x3) * 0.5;
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}
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public static void GetMean3(
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in DPVector3 vector1,
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in DPVector3 vector2,
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in DPVector3 vector3,
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out DPVector3 result
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)
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{
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result.x1 = (vector1.x1 + vector2.x1 + vector3.x1) * DPUtility.ONE_THIRD;
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result.x2 = (vector1.x2 + vector2.x2 + vector3.x2) * DPUtility.ONE_THIRD;
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result.x3 = (vector1.x3 + vector2.x3 + vector3.x3) * DPUtility.ONE_THIRD;
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}
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public static void GetMean4(
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in DPVector3 vector1,
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in DPVector3 vector2,
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in DPVector3 vector3,
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in DPVector3 vector4,
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out DPVector3 result
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)
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{
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result.x1 = ((vector1.x1 + vector2.x1) + (vector3.x1 + vector4.x1)) * 0.25;
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result.x2 = ((vector1.x2 + vector2.x2) + (vector3.x2 + vector4.x2)) * 0.25;
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result.x3 = ((vector1.x3 + vector2.x3) + (vector3.x3 + vector4.x3)) * 0.25;
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}
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public static void GetMean5(
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in DPVector3 vector1,
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in DPVector3 vector2,
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in DPVector3 vector3,
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in DPVector3 vector4,
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in DPVector3 vector5,
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out DPVector3 result
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)
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{
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result.x1 = ((vector1.x1 + vector2.x1) + (vector3.x1 + vector4.x1) + vector5.x1) * 0.2;
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result.x2 = ((vector1.x2 + vector2.x2) + (vector3.x2 + vector4.x2) + vector5.x2) * 0.2;
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result.x3 = ((vector1.x3 + vector2.x3) + (vector3.x3 + vector4.x3) + vector5.x3) * 0.2;
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}
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public static double GetScalarProduct(in DPVector3 vector1, in DPVector3 vector2)
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{
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return vector1.x1 * vector2.x1 + vector1.x2 * vector2.x2 + vector1.x3 * vector2.x3;
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}
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public static void GetCrossProduct(in DPVector3 vector1, in DPVector3 vector2, out DPVector3 result)
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{
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double x1 = vector1.x2 * vector2.x3 - vector1.x3 * vector2.x2;
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double x2 = vector1.x3 * vector2.x1 - vector1.x1 * vector2.x3;
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double x3 = vector1.x1 * vector2.x2 - vector1.x2 * vector2.x1;
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result.x1 = x1;
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result.x2 = x2;
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result.x3 = x3;
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}
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public static double GetTripleProduct(in DPVector3 vector1, in DPVector3 vector2, in DPVector3 vector3)
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{
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return vector1.x1 * (vector2.x2 * vector3.x3 - vector2.x3 * vector3.x2)
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+ vector1.x2 * (vector2.x3 * vector3.x1 - vector2.x1 * vector3.x3)
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+ vector1.x3 * (vector2.x1 * vector3.x2 - vector2.x2 * vector3.x1);
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}
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public static void GetDoubleCrossProduct(in DPVector3 vector1, in DPVector3 vector2, in DPVector3 vector3, out DPVector3 result)
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{
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// [a x [b x c]] = b * (a, c) - c * (a, b)
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double ac = GetScalarProduct(vector1, vector3);
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double ab = GetScalarProduct(vector1, vector2);
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result.x1 = ac * vector2.x1 - ab * vector3.x1;
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result.x2 = ac * vector2.x2 - ab * vector3.x2;
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result.x3 = ac * vector2.x3 - ab * vector3.x3;
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}
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public static double GetAngle(in DPVector3 vector1, in DPVector3 vector2, AngleUnit unit)
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{
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double squareModule1 = vector1.GetSquareModule();
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if (squareModule1 <= DPUtility.SQUARE_EPSYLON)
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{
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return 0.0;
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}
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double squareModule2 = vector2.GetSquareModule();
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if (squareModule2 <= DPUtility.SQUARE_EPSYLON)
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{
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return 0.0;
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}
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double cosine = DPVector3.GetScalarProduct(vector1, vector2) / Math.Sqrt(squareModule1 * squareModule2);
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if (1.0 - DPUtility.EPSYLON <= cosine)
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{
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return 0.0;
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}
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if (cosine <= -(1.0 - DPUtility.EPSYLON))
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{
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return DPAngle.GetHalfCircle(unit);
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}
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return DPAngle.ConvertFromRadians(Math.Acos(cosine), unit);
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}
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public static double GetSquareDistance(in DPVector3 vector1, in DPVector3 vector2)
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{
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double dx1 = vector1.x1 - vector2.x1;
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double dx2 = vector1.x2 - vector2.x2;
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double dx3 = vector1.x3 - vector2.x3;
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return dx1 * dx1 + dx2 * dx2 + dx3 * dx3;
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}
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public static double GetDistance(in DPVector3 vector1, in DPVector3 vector2)
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{
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return Math.Sqrt(GetSquareDistance(vector1, vector2));
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}
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public static bool AreEqual(in DPVector3 vector1, in DPVector3 vector2)
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{
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double squareModule1 = vector1.GetSquareModule();
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double squareModule2 = vector2.GetSquareModule();
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double squareModule3 = GetSquareDistance(vector1, vector2);
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// 3.0 means dimension amount
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if (squareModule1 < DPUtility.EPSYLON_EFFECTIVENESS_LIMIT || squareModule2 < DPUtility.EPSYLON_EFFECTIVENESS_LIMIT)
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{
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return squareModule3 < (3.0 * DPUtility.SQUARE_EPSYLON);
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}
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if (squareModule1 <= squareModule2)
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{
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return squareModule3 <= (3.0 * DPUtility.SQUARE_EPSYLON) * squareModule2;
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}
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return squareModule3 <= (3.0 * DPUtility.SQUARE_EPSYLON) * squareModule1;
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}
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}
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}
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