299 lines
9.5 KiB
C#
299 lines
9.5 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 BasicGeometry
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{
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public struct Vector3FP32
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{
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public static readonly Vector3FP32 ZERO = new Vector3FP32(0.0f, 0.0f, 0.0f);
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public float x1 = 0.0f;
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public float x2 = 0.0f;
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public float x3 = 0.0f;
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public Vector3FP32(float x1, float x2, float 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 Vector3FP32(in Vector3FP32 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 Vector3FP32(in Vector3FP64 vector)
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{
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this.x1 = (float)vector.x1;
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this.x2 = (float)vector.x2;
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this.x3 = (float)vector.x3;
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}
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public readonly float 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 float GetModule()
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{
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return MathF.Sqrt(this.GetSquareModule());
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}
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public int Normalize()
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{
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float squareModule = this.GetSquareModule();
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if (UtilityFP32.IsSqareValueUnit(squareModule))
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{
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return 1;
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}
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if (squareModule <= UtilityFP32.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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float multiplier = MathF.Sqrt(1.0f / squareModule);
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this.x1 *= multiplier;
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this.x2 *= multiplier;
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this.x3 *= multiplier;
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return 1;
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}
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public void Reverse()
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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 bool IsZero()
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{
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return this.GetSquareModule() <= UtilityFP32.SQUARE_EPSYLON;
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}
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public readonly bool IsUnit()
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{
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return UtilityFP32.IsSqareValueUnit(this.GetSquareModule());
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}
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public void Reset()
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{
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this.x1 = 0.0f;
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this.x2 = 0.0f;
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this.x3 = 0.0f;
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}
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public void SetValues(float x1, float x2, float 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 Vector3FP64 vector)
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{
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this.x1 = (float)vector.x1;
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this.x2 = (float)vector.x2;
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this.x3 = (float)vector.x3;
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}
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public void SetValues(in Vector3FP32 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 SetReverseOf(in Vector3FP32 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 SetReverseOf(in Vector3FP64 vector)
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{
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this.x1 = -(float)vector.x1;
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this.x2 = -(float)vector.x2;
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this.x3 = -(float)vector.x3;
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}
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public void AppendScaled(Vector3FP32 summand, float scale)
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{
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this.x1 += summand.x1 * scale;
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this.x2 += summand.x2 * scale;
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this.x3 += summand.x3 * scale;
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}
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public readonly override string ToString()
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{
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return String.Format("SPVector3({0}, {1}, {2})", this.x1, this.x2, this.x3);
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}
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public static void Add(in Vector3FP32 vector1, in Vector3FP32 vector2, out Vector3FP32 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 Subtract(in Vector3FP32 minuend, in Vector3FP32 subtrahend, out Vector3FP32 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 Multiply(in Vector3FP32 multiplicand, float multiplier, out Vector3FP32 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 Vector3FP32 dividend, float divisor, out Vector3FP32 quotient)
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{
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Multiply(dividend, 1.0f / divisor, out quotient);
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}
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public static void GetMean2(in Vector3FP32 vector1, in Vector3FP32 vector2, out Vector3FP32 result)
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{
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result.x1 = (vector1.x1 + vector2.x1) * 0.5f;
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result.x2 = (vector1.x2 + vector2.x2) * 0.5f;
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result.x3 = (vector1.x3 + vector2.x3) * 0.5f;
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}
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public static void GetMean3(in Vector3FP32 vector1, in Vector3FP32 vector2, in Vector3FP32 vector3, out Vector3FP32 result)
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{
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result.x1 = (vector1.x1 + vector2.x1 + vector3.x1) * UtilityFP32.ONE_THIRD;
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result.x2 = (vector1.x2 + vector2.x2 + vector3.x2) * UtilityFP32.ONE_THIRD;
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result.x3 = (vector1.x3 + vector2.x3 + vector3.x3) * UtilityFP32.ONE_THIRD;
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}
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public static float GetScalarProduct(in Vector3FP32 vector1, in Vector3FP32 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 Vector3FP32 vector1, in Vector3FP32 vector2, out Vector3FP32 result)
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{
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float x1 = vector1.x2 * vector2.x3 - vector1.x3 * vector2.x2;
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float x2 = vector1.x3 * vector2.x1 - vector1.x1 * vector2.x3;
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float 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 float GetTripleProduct(in Vector3FP32 vector1, in Vector3FP32 vector2, in Vector3FP32 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 Vector3FP32 vector1, in Vector3FP32 vector2, in Vector3FP32 vector3, out Vector3FP32 result)
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{
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// [a x [b x c]] = b * (a, c) - c * (a, b)
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float ac = GetScalarProduct(vector1, vector3);
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float 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 float GetAngle(in Vector3FP32 vector1, in Vector3FP32 vector2, AngleUnit unit)
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{
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float squareModule1 = vector1.GetSquareModule();
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if (squareModule1 <= UtilityFP32.SQUARE_EPSYLON)
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{
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return 0.0f;
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}
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float squareModule2 = vector2.GetSquareModule();
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if (squareModule2 <= UtilityFP32.SQUARE_EPSYLON)
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{
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return 0.0f;
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}
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float cosine = Vector3FP32.GetScalarProduct(vector1, vector2) / MathF.Sqrt(squareModule1 * squareModule2);
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if (1.0f - UtilityFP32.EPSYLON <= cosine)
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{
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return 0.0f;
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}
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if (cosine <= -(1.0f - UtilityFP32.EPSYLON))
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{
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return AngleFP32.GetHalfCircle(unit);
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}
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return RadianFP32.ToUnits(MathF.Acos(cosine), unit);
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}
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public static float GetSquareDistance(in Vector3FP32 vector1, in Vector3FP32 vector2)
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{
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float dx1 = vector1.x1 - vector2.x1;
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float dx2 = vector1.x2 - vector2.x2;
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float 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 float GetDistance(in Vector3FP32 vector1, in Vector3FP32 vector2)
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{
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return MathF.Sqrt(GetSquareDistance(vector1, vector2));
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}
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public static bool AreEqual(in Vector3FP32 vector1, in Vector3FP32 vector2)
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{
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float squareModule1 = vector1.GetSquareModule();
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float squareModule2 = vector2.GetSquareModule();
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float squareModule3 = GetSquareDistance(vector1, vector2);
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// 3.0f means dimension amount
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if (squareModule1 < UtilityFP32.EPSYLON_EFFECTIVENESS_LIMIT || squareModule2 < UtilityFP32.EPSYLON_EFFECTIVENESS_LIMIT)
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{
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return squareModule3 < (3.0f * UtilityFP32.SQUARE_EPSYLON);
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}
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if (squareModule1 <= squareModule2)
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{
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return squareModule3 <= (3.0f * UtilityFP32.SQUARE_EPSYLON) * squareModule2;
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}
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return squareModule3 <= (3.0f * UtilityFP32.SQUARE_EPSYLON) * squareModule1;
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}
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}
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}
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