sources/core/Stride.Core.Mathematics/Ray.cs

// Copyright (c) .NET Foundation and Contributors (https://dotnetfoundation.org/ & https://stride3d.net) and Silicon Studio Corp. (https://www.siliconstudio.co.jp)
// Distributed under the MIT license. See the LICENSE.md file in the project root for more information.
//
// -----------------------------------------------------------------------------
// Original code from SlimMath project. http://code.google.com/p/slimmath/
// Greetings to SlimDX Group. Original code published with the following license:
// -----------------------------------------------------------------------------
/*
* Copyright (c) 2007-2011 SlimDX Group
* 
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
* 
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
* 
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
using System;
using System.Globalization;
using System.Runtime.InteropServices;

namespace Stride.Core.Mathematics
{
    /// <summary>
    /// Represents a three dimensional line based on a point in space and a direction.
    /// </summary>
    [DataContract]
    [StructLayout(LayoutKind.Sequential, Pack = 4)]
    public struct Ray : IEquatable<Ray>, IFormattable
    {
        /// <summary>
        /// The position in three dimensional space where the ray starts.
        /// </summary>
        public Vector3 Position;

        /// <summary>
        /// The normalized direction in which the ray points.
        /// </summary>
        public Vector3 Direction;

        /// <summary>
        /// Initializes a new instance of the <see cref="Stride.Core.Mathematics.Ray"/> struct.
        /// </summary>
        /// <param name="position">The position in three dimensional space of the origin of the ray.</param>
        /// <param name="direction">The normalized direction of the ray.</param>
        public Ray(Vector3 position, Vector3 direction)
        {
            this.Position = position;
            this.Direction = direction;
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a point.
        /// </summary>
        /// <param name="point">The point to test.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly Vector3 point)
        {
            return CollisionHelper.RayIntersectsPoint(ref this, in point);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a <see cref="Stride.Core.Mathematics.Ray"/>.
        /// </summary>
        /// <param name="ray">The ray to test.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly Ray ray)
        {
            Vector3 point;
            return CollisionHelper.RayIntersectsRay(ref this, in ray, out point);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a <see cref="Stride.Core.Mathematics.Ray"/>.
        /// </summary>
        /// <param name="ray">The ray to test.</param>
        /// <param name="point">When the method completes, contains the point of intersection,
        /// or <see cref="Stride.Core.Mathematics.Vector3.Zero"/> if there was no intersection.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly Ray ray, out Vector3 point)
        {
            return CollisionHelper.RayIntersectsRay(ref this, in ray, out point);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a <see cref="Stride.Core.Mathematics.Plane"/>.
        /// </summary>
        /// <param name="plane">The plane to test</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly Plane plane)
        {
            float distance;
            return CollisionHelper.RayIntersectsPlane(ref this, in plane, out distance);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a <see cref="Stride.Core.Mathematics.Plane"/>.
        /// </summary>
        /// <param name="plane">The plane to test.</param>
        /// <param name="distance">When the method completes, contains the distance of the intersection,
        /// or 0 if there was no intersection.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly Plane plane, out float distance)
        {
            return CollisionHelper.RayIntersectsPlane(ref this, in plane, out distance);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a <see cref="Stride.Core.Mathematics.Plane"/>.
        /// </summary>
        /// <param name="plane">The plane to test.</param>
        /// <param name="point">When the method completes, contains the point of intersection,
        /// or <see cref="Stride.Core.Mathematics.Vector3.Zero"/> if there was no intersection.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly Plane plane, out Vector3 point)
        {
            return CollisionHelper.RayIntersectsPlane(ref this, in plane, out point);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a triangle.
        /// </summary>
        /// <param name="vertex1">The first vertex of the triangle to test.</param>
        /// <param name="vertex2">The second vertex of the triangle to test.</param>
        /// <param name="vertex3">The third vertex of the triangle to test.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly Vector3 vertex1, ref readonly Vector3 vertex2, ref readonly Vector3 vertex3)
        {
            float distance;
            return CollisionHelper.RayIntersectsTriangle(ref this, in vertex1, in vertex2, in vertex3, out distance);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a triangle.
        /// </summary>
        /// <param name="vertex1">The first vertex of the triangle to test.</param>
        /// <param name="vertex2">The second vertex of the triangle to test.</param>
        /// <param name="vertex3">The third vertex of the triangle to test.</param>
        /// <param name="distance">When the method completes, contains the distance of the intersection,
        /// or 0 if there was no intersection.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly Vector3 vertex1, ref readonly Vector3 vertex2, ref readonly Vector3 vertex3, out float distance)
        {
            return CollisionHelper.RayIntersectsTriangle(ref this, in vertex1, in vertex2, in vertex3, out distance);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a triangle.
        /// </summary>
        /// <param name="vertex1">The first vertex of the triangle to test.</param>
        /// <param name="vertex2">The second vertex of the triangle to test.</param>
        /// <param name="vertex3">The third vertex of the triangle to test.</param>
        /// <param name="point">When the method completes, contains the point of intersection,
        /// or <see cref="Stride.Core.Mathematics.Vector3.Zero"/> if there was no intersection.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly Vector3 vertex1, ref readonly Vector3 vertex2, ref readonly Vector3 vertex3, out Vector3 point)
        {
            return CollisionHelper.RayIntersectsTriangle(ref this, in vertex1, in vertex2, in vertex3, out point);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a <see cref="Stride.Core.Mathematics.BoundingBox"/>.
        /// </summary>
        /// <param name="box">The box to test.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly BoundingBox box)
        {
            float distance;
            return CollisionHelper.RayIntersectsBox(ref this, in box, out distance);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a <see cref="Stride.Core.Mathematics.BoundingBox"/>.
        /// </summary>
        /// <param name="box">The box to test.</param>
        /// <param name="distance">When the method completes, contains the distance of the intersection,
        /// or 0 if there was no intersection.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly BoundingBox box, out float distance)
        {
            return CollisionHelper.RayIntersectsBox(ref this, in box, out distance);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a <see cref="Stride.Core.Mathematics.BoundingBox"/>.
        /// </summary>
        /// <param name="box">The box to test.</param>
        /// <param name="point">When the method completes, contains the point of intersection,
        /// or <see cref="Stride.Core.Mathematics.Vector3.Zero"/> if there was no intersection.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly BoundingBox box, out Vector3 point)
        {
            return CollisionHelper.RayIntersectsBox(ref this, in box, out point);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a <see cref="Stride.Core.Mathematics.BoundingSphere"/>.
        /// </summary>
        /// <param name="sphere">The sphere to test.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly BoundingSphere sphere)
        {
            float distance;
            return CollisionHelper.RayIntersectsSphere(ref this, in sphere, out distance);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a <see cref="Stride.Core.Mathematics.BoundingSphere"/>.
        /// </summary>
        /// <param name="sphere">The sphere to test.</param>
        /// <param name="distance">When the method completes, contains the distance of the intersection,
        /// or 0 if there was no intersection.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly BoundingSphere sphere, out float distance)
        {
            return CollisionHelper.RayIntersectsSphere(ref this, in sphere, out distance);
        }

        /// <summary>
        /// Determines if there is an intersection between the current object and a <see cref="Stride.Core.Mathematics.BoundingSphere"/>.
        /// </summary>
        /// <param name="sphere">The sphere to test.</param>
        /// <param name="point">When the method completes, contains the point of intersection,
        /// or <see cref="Stride.Core.Mathematics.Vector3.Zero"/> if there was no intersection.</param>
        /// <returns>Whether the two objects intersected.</returns>
        public bool Intersects(ref readonly BoundingSphere sphere, out Vector3 point)
        {
            return CollisionHelper.RayIntersectsSphere(ref this, in sphere, out point);
        }

        /// <summary>
        /// Tests for equality between two objects.
        /// </summary>
        /// <param name="left">The first value to compare.</param>
        /// <param name="right">The second value to compare.</param>
        /// <returns><c>true</c> if <paramref name="left"/> has the same value as <paramref name="right"/>; otherwise, <c>false</c>.</returns>
        public static bool operator ==(Ray left, Ray right)
        {
            return left.Equals(right);
        }

        /// <summary>
        /// Tests for inequality between two objects.
        /// </summary>
        /// <param name="left">The first value to compare.</param>
        /// <param name="right">The second value to compare.</param>
        /// <returns><c>true</c> if <paramref name="left"/> has a different value than <paramref name="right"/>; otherwise, <c>false</c>.</returns>
        public static bool operator !=(Ray left, Ray right)
        {
            return !left.Equals(right);
        }

        /// <summary>
        /// Returns a <see cref="string"/> that represents this instance.
        /// </summary>
        /// <returns>
        /// A <see cref="string"/> that represents this instance.
        /// </returns>
        public override string ToString()
        {
            return string.Format(CultureInfo.CurrentCulture, "Position:{0} Direction:{1}", Position.ToString(), Direction.ToString());
        }

        /// <summary>
        /// Returns a <see cref="string"/> that represents this instance.
        /// </summary>
        /// <param name="format">The format.</param>
        /// <returns>
        /// A <see cref="string"/> that represents this instance.
        /// </returns>
        public string ToString(string format)
        {
            return string.Format(CultureInfo.CurrentCulture, "Position:{0} Direction:{1}", Position.ToString(format, CultureInfo.CurrentCulture),
                Direction.ToString(format, CultureInfo.CurrentCulture));
        }

        /// <summary>
        /// Returns a <see cref="string"/> that represents this instance.
        /// </summary>
        /// <param name="formatProvider">The format provider.</param>
        /// <returns>
        /// A <see cref="string"/> that represents this instance.
        /// </returns>
        public string ToString(IFormatProvider formatProvider)
        {
            return string.Format(formatProvider, "Position:{0} Direction:{1}", Position.ToString(), Direction.ToString());
        }

        /// <summary>
        /// Returns a <see cref="string"/> that represents this instance.
        /// </summary>
        /// <param name="format">The format.</param>
        /// <param name="formatProvider">The format provider.</param>
        /// <returns>
        /// A <see cref="string"/> that represents this instance.
        /// </returns>
        public string ToString(string format, IFormatProvider formatProvider)
        {
            return string.Format(formatProvider, "Position:{0} Direction:{1}", Position.ToString(format, formatProvider),
                Direction.ToString(format, formatProvider));
        }

        /// <summary>
        /// Returns a hash code for this instance.
        /// </summary>
        /// <returns>
        /// A hash code for this instance, suitable for use in hashing algorithms and data structures like a hash table. 
        /// </returns>
        public override int GetHashCode()
        {
            return Position.GetHashCode() + Direction.GetHashCode();
        }

        /// <summary>
        /// Determines whether the specified <see cref="Stride.Core.Mathematics.Vector4"/> is equal to this instance.
        /// </summary>
        /// <param name="value">The <see cref="Stride.Core.Mathematics.Vector4"/> to compare with this instance.</param>
        /// <returns>
        /// <c>true</c> if the specified <see cref="Stride.Core.Mathematics.Vector4"/> is equal to this instance; otherwise, <c>false</c>.
        /// </returns>
        public bool Equals(Ray value)
        {
            return Position == value.Position && Direction == value.Direction;
        }

        /// <summary>
        /// Determines whether the specified <see cref="object"/> is equal to this instance.
        /// </summary>
        /// <param name="value">The <see cref="object"/> to compare with this instance.</param>
        /// <returns>
        /// <c>true</c> if the specified <see cref="object"/> is equal to this instance; otherwise, <c>false</c>.
        /// </returns>
        public override bool Equals(object value)
        {
            if (value == null)
                return false;

            if (value.GetType() != GetType())
                return false;

            return Equals((Ray)value);
        }

#if SlimDX1xInterop
        /// <summary>
        /// Performs an implicit conversion from <see cref="Stride.Core.Mathematics.Ray"/> to <see cref="SlimDX.Ray"/>.
        /// </summary>
        /// <param name="value">The value.</param>
        /// <returns>The result of the conversion.</returns>
        public static implicit operator SlimDX.Ray(Ray value)
        {
            return new SlimDX.Ray(value.Position, value.Direction);
        }

        /// <summary>
        /// Performs an implicit conversion from <see cref="SlimDX.Ray"/> to <see cref="Stride.Core.Mathematics.Ray"/>.
        /// </summary>
        /// <param name="value">The value.</param>
        /// <returns>The result of the conversion.</returns>
        public static implicit operator Ray(SlimDX.Ray value)
        {
            return new Ray(value.Position, value.Direction);
        }
#endif

#if XnaInterop
        /// <summary>
        /// Performs an implicit conversion from <see cref="Stride.Core.Mathematics.Ray"/> to <see cref="Microsoft.Xna.Framework.Ray"/>.
        /// </summary>
        /// <param name="value">The value.</param>
        /// <returns>The result of the conversion.</returns>
        public static implicit operator Microsoft.Xna.Framework.Ray(Ray value)
        {
            return new Microsoft.Xna.Framework.Ray(value.Position, value.Direction);
        }

        /// <summary>
        /// Performs an implicit conversion from <see cref="Microsoft.Xna.Framework.Ray"/> to <see cref="Stride.Core.Mathematics.Ray"/>.
        /// </summary>
        /// <param name="value">The value.</param>
        /// <returns>The result of the conversion.</returns>
        public static implicit operator Ray(Microsoft.Xna.Framework.Ray value)
        {
            return new Ray(value.Position, value.Direction);
        }
#endif
    }
}