Vector3.cs

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namespace Engine {
    public struct Vector3 : IEquatable<Vector3> {
        public float X;
 
        public float Y;
 
        public float Z;
 
        public static readonly Vector3 Zero = new(0f);
 
        public static readonly Vector3 One = new(1f);
 
        public static readonly Vector3 UnitX = new(1f, 0f, 0f);
 
        public static readonly Vector3 UnitY = new(0f, 1f, 0f);
 
        public static readonly Vector3 UnitZ = new(0f, 0f, 1f);
 
        public Vector2 XY {
            get => new(X, Y);
            set {
                X = value.X;
                Y = value.Y;
            }
        }
 
        public Vector2 YX {
            get => new(Y, X);
            set {
                Y = value.X;
                X = value.Y;
            }
        }
 
        public Vector2 XZ {
            get => new(X, Z);
            set {
                X = value.X;
                Z = value.Y;
            }
        }
 
        public Vector2 ZX {
            get => new(Z, X);
            set {
                Z = value.X;
                X = value.Y;
            }
        }
 
        public Vector2 YZ {
            get => new(Y, Z);
            set {
                Y = value.X;
                Z = value.Y;
            }
        }
 
        public Vector2 ZY {
            get => new(Z, Y);
            set {
                Z = value.X;
                Y = value.Y;
            }
        }
 
        public Vector3(float v) {
            X = v;
            Y = v;
            Z = v;
        }
 
        public Vector3(float x, float y, float z) {
            X = x;
            Y = y;
            Z = z;
        }
 
        public Vector3(Vector2 xy, float z) {
            X = xy.X;
            Y = xy.Y;
            Z = z;
        }
 
        public Vector3(Point3 p) {
            X = p.X;
            Y = p.Y;
            Z = p.Z;
        }
 
        public Vector3(Color c) {
            X = c.R / 255f;
            Y = c.G / 255f;
            Z = c.B / 255f;
        }
 
        public static implicit operator Vector3((float X, float Y, float Z) v) => new(v.X, v.Y, v.Z);
 
        public override bool Equals(object obj) => obj is Vector3 && Equals((Vector3)obj);
 
        public override int GetHashCode() => X.GetHashCode() + Y.GetHashCode() + Z.GetHashCode();
 
        public override string ToString() => $"{X},{Y},{Z}";
 
        public bool Equals(Vector3 other) => X == other.X && Y == other.Y && Z == other.Z;
 
        public static float Distance(Vector3 v1, Vector3 v2) => MathF.Sqrt(DistanceSquared(v1, v2));
 
        public static float DistanceSquared(Vector3 v1, Vector3 v2) =>
            MathUtils.Sqr(v1.X - v2.X) + MathUtils.Sqr(v1.Y - v2.Y) + MathUtils.Sqr(v1.Z - v2.Z);
 
        public static float Dot(Vector3 v1, Vector3 v2) => v1.X * v2.X + v1.Y * v2.Y + v1.Z * v2.Z;
 
        public static Vector3 Cross(Vector3 v1, Vector3 v2) => new(v1.Y * v2.Z - v1.Z * v2.Y, v1.Z * v2.X - v1.X * v2.Z, v1.X * v2.Y - v1.Y * v2.X);
 
        public float Length() => MathF.Sqrt(LengthSquared());
 
        public float LengthSquared() => X * X + Y * Y + Z * Z;
 
        public static Vector3 Floor(Vector3 v) => new(MathF.Floor(v.X), MathF.Floor(v.Y), MathF.Floor(v.Z));
 
        public static Vector3 Ceiling(Vector3 v) => new(MathF.Ceiling(v.X), MathF.Ceiling(v.Y), MathF.Ceiling(v.Z));
 
        public static Vector3 Round(Vector3 v) => new(MathF.Round(v.X), MathF.Round(v.Y), MathF.Round(v.Z));
 
        public static Vector3 Min(Vector3 v, float f) => new(MathF.Min(v.X, f), MathF.Min(v.Y, f), MathF.Min(v.Z, f));
 
        public static Vector3 Min(Vector3 v1, Vector3 v2) => new(MathF.Min(v1.X, v2.X), MathF.Min(v1.Y, v2.Y), MathF.Min(v1.Z, v2.Z));
 
        public static Vector3 Max(Vector3 v, float f) => new(MathF.Max(v.X, f), MathF.Max(v.Y, f), MathF.Max(v.Z, f));
 
        public static Vector3 Max(Vector3 v1, Vector3 v2) => new(MathF.Max(v1.X, v2.X), MathF.Max(v1.Y, v2.Y), MathF.Max(v1.Z, v2.Z));
 
        public static Vector3 Clamp(Vector3 v, float min, float max) => new(
            Math.Clamp(v.X, min, max),
            Math.Clamp(v.Y, min, max),
            Math.Clamp(v.Z, min, max)
        );
 
        public static Vector3 Saturate(Vector3 v) => new(MathUtils.Saturate(v.X), MathUtils.Saturate(v.Y), MathUtils.Saturate(v.Z));
 
        public static Vector3 Lerp(Vector3 v1, Vector3 v2, float f) => new(
            MathUtils.Lerp(v1.X, v2.X, f),
            MathUtils.Lerp(v1.Y, v2.Y, f),
            MathUtils.Lerp(v1.Z, v2.Z, f)
        );
 
        public static Vector3 CatmullRom(Vector3 v1, Vector3 v2, Vector3 v3, Vector3 v4, float f) => new(
            MathUtils.CatmullRom(v1.X, v2.X, v3.X, v4.X, f),
            MathUtils.CatmullRom(v1.Y, v2.Y, v3.Y, v4.Y, f),
            MathUtils.CatmullRom(v1.Z, v2.Z, v3.Z, v4.Z, f)
        );
 
        public static Vector3 Normalize(Vector3 v) {
            float num = v.Length();
            return !(num > 0f) ? UnitX : v / num;
        }
 
        public static Vector3 LimitLength(Vector3 v, float maxLength) {
            float num = v.LengthSquared();
            return num > maxLength * maxLength ? v * (maxLength / MathF.Sqrt(num)) : v;
        }
 
        public static Vector3 Transform(Vector3 v, Matrix m) => new(
            v.X * m.M11 + v.Y * m.M21 + v.Z * m.M31 + m.M41,
            v.X * m.M12 + v.Y * m.M22 + v.Z * m.M32 + m.M42,
            v.X * m.M13 + v.Y * m.M23 + v.Z * m.M33 + m.M43
        );
 
        public static void Transform(ref Vector3 v, ref Matrix m, out Vector3 result) {
            result = new Vector3(
                v.X * m.M11 + v.Y * m.M21 + v.Z * m.M31 + m.M41,
                v.X * m.M12 + v.Y * m.M22 + v.Z * m.M32 + m.M42,
                v.X * m.M13 + v.Y * m.M23 + v.Z * m.M33 + m.M43
            );
        }
 
        public static Vector3 Transform(Vector3 v, Quaternion q) {
            float num = q.X + q.X;
            float num2 = q.Y + q.Y;
            float num3 = q.Z + q.Z;
            float num4 = q.W * num;
            float num5 = q.W * num2;
            float num6 = q.W * num3;
            float num7 = q.X * num;
            float num8 = q.X * num2;
            float num9 = q.X * num3;
            float num10 = q.Y * num2;
            float num11 = q.Y * num3;
            float num12 = q.Z * num3;
            return new Vector3(
                v.X * (1f - num10 - num12) + v.Y * (num8 - num6) + v.Z * (num9 + num5),
                v.X * (num8 + num6) + v.Y * (1f - num7 - num12) + v.Z * (num11 - num4),
                v.X * (num9 - num5) + v.Y * (num11 + num4) + v.Z * (1f - num7 - num10)
            );
        }
 
        public static void Transform(ref Vector3 v, ref Quaternion q, out Vector3 result) {
            float num = q.X + q.X;
            float num2 = q.Y + q.Y;
            float num3 = q.Z + q.Z;
            float num4 = q.W * num;
            float num5 = q.W * num2;
            float num6 = q.W * num3;
            float num7 = q.X * num;
            float num8 = q.X * num2;
            float num9 = q.X * num3;
            float num10 = q.Y * num2;
            float num11 = q.Y * num3;
            float num12 = q.Z * num3;
            result = new Vector3(
                v.X * (1f - num10 - num12) + v.Y * (num8 - num6) + v.Z * (num9 + num5),
                v.X * (num8 + num6) + v.Y * (1f - num7 - num12) + v.Z * (num11 - num4),
                v.X * (num9 - num5) + v.Y * (num11 + num4) + v.Z * (1f - num7 - num10)
            );
        }
 
        public static void Transform(Vector3[] sourceArray,
            int sourceIndex,
            ref Matrix m,
            Vector3[] destinationArray,
            int destinationIndex,
            int count) {
            for (int i = 0; i < count; i++) {
                Vector3 vector = sourceArray[sourceIndex + i];
                destinationArray[destinationIndex + i] = new Vector3(
                    vector.X * m.M11 + vector.Y * m.M21 + vector.Z * m.M31 + m.M41,
                    vector.X * m.M12 + vector.Y * m.M22 + vector.Z * m.M32 + m.M42,
                    vector.X * m.M13 + vector.Y * m.M23 + vector.Z * m.M33 + m.M43
                );
            }
        }
 
        public static Vector3 TransformNormal(Vector3 v, Matrix m) => new(
            v.X * m.M11 + v.Y * m.M21 + v.Z * m.M31,
            v.X * m.M12 + v.Y * m.M22 + v.Z * m.M32,
            v.X * m.M13 + v.Y * m.M23 + v.Z * m.M33
        );
 
        public static void TransformNormal(ref Vector3 v, ref Matrix m, out Vector3 result) {
            result = new Vector3(
                v.X * m.M11 + v.Y * m.M21 + v.Z * m.M31,
                v.X * m.M12 + v.Y * m.M22 + v.Z * m.M32,
                v.X * m.M13 + v.Y * m.M23 + v.Z * m.M33
            );
        }
 
        public static void TransformNormal(Vector3[] sourceArray,
            int sourceIndex,
            ref Matrix m,
            Vector3[] destinationArray,
            int destinationIndex,
            int count) {
            for (int i = 0; i < count; i++) {
                Vector3 vector = sourceArray[sourceIndex + i];
                destinationArray[destinationIndex + i] = new Vector3(
                    vector.X * m.M11 + vector.Y * m.M21 + vector.Z * m.M31,
                    vector.X * m.M12 + vector.Y * m.M22 + vector.Z * m.M32,
                    vector.X * m.M13 + vector.Y * m.M23 + vector.Z * m.M33
                );
            }
        }
 
        public static bool operator ==(Vector3 v1, Vector3 v2) => v1.Equals(v2);
 
        public static bool operator !=(Vector3 v1, Vector3 v2) => !v1.Equals(v2);
 
        public static Vector3 operator +(Vector3 v) => v;
 
        public static Vector3 operator -(Vector3 v) => new(0f - v.X, 0f - v.Y, 0f - v.Z);
 
        public static Vector3 operator +(Vector3 v1, Vector3 v2) => new(v1.X + v2.X, v1.Y + v2.Y, v1.Z + v2.Z);
 
        public static Vector3 operator -(Vector3 v1, Vector3 v2) => new(v1.X - v2.X, v1.Y - v2.Y, v1.Z - v2.Z);
 
        public static Vector3 operator *(Vector3 v1, Vector3 v2) => new(v1.X * v2.X, v1.Y * v2.Y, v1.Z * v2.Z);
 
        public static Vector3 operator *(Vector3 v, float s) => new(v.X * s, v.Y * s, v.Z * s);
 
        public static Vector3 operator *(float s, Vector3 v) => new(v.X * s, v.Y * s, v.Z * s);
 
        public static Vector3 operator /(Vector3 v1, Vector3 v2) => new(v1.X / v2.X, v1.Y / v2.Y, v1.Z / v2.Z);
 
        public static Vector3 operator /(Vector3 v, float d) {
            float num = 1f / d;
            return new Vector3(v.X * num, v.Y * num, v.Z * num);
        }
 
        public static Vector3 FixNaN(Vector3 v) {
            if (float.IsNaN(v.X)) {
                v.X = 0;
            }
            if (float.IsNaN(v.Y)) {
                v.Y = 0;
            }
            if (float.IsNaN(v.Z)) {
                v.Z = 0;
            }
            return v;
        }
 
        public Vector3 FixNaN() {
            if (float.IsNaN(X)) {
                X = 0;
            }
            if (float.IsNaN(Y)) {
                Y = 0;
            }
            if (float.IsNaN(Z)) {
                Z = 0;
            }
            return this;
        }
 
        public unsafe Span<float> AsSpan() {
            fixed (float* ptr = &X) {
                return new Span<float>(ptr, 3);
            }
        }
 
        public unsafe float* AsPointer() {
            fixed (float* ptr = &X) {
                return ptr;
            }
        }
    }
}