Math primitives cleanup

crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs

@@ -4,7 +4,7 @@ use crate::{
  bounding::{Bounded2d, BoundingCircle},
  primitives::{
  BoxedPolyline3d, Capsule3d, Cone, ConicalFrustum, Cuboid, Cylinder, InfinitePlane3d,
- Line3d, Polyline3d, Segment3d, Sphere, Torus, Triangle2d,
+ Line3d, Polyline3d, Segment3d, Sphere, Torus, Triangle2d, Triangle3d,
  },
  Dir3, Mat3, Quat, Vec2, Vec3,
 };
@@ -303,6 +303,59 @@ impl Bounded3d for Torus {
  }
 }
 
+impl Bounded3d for Triangle3d {
+ /// Get the bounding box of the triangle.
+ fn aabb_3d(&self, translation: Vec3, rotation: Quat) -> Aabb3d {
+ let [a, b, c] = self.vertices;
+
+ let a = rotation * a;
+ let b = rotation * b;
+ let c = rotation * c;
+
+ let min = a.min(b).min(c);
+ let max = a.max(b).max(c);
+
+ let bounding_center = (max + min) / 2.0 + translation;
+ let half_extents = (max - min) / 2.0;
+
+ Aabb3d::new(bounding_center, half_extents)
+ }
+
+ /// Get the bounding sphere of the triangle.
+ ///
+ /// The [`Triangle3d`] implements the minimal bounding sphere calculation. For acute triangles, the circumcenter is used as
+ /// the center of the sphere. For the others, the bounding sphere is the minimal sphere
+ /// that contains the largest side of the triangle.
+ fn bounding_sphere(&self, translation: Vec3, rotation: Quat) -> BoundingSphere {
+ if self.is_degenerate() {
+ let (p1, p2) = self.largest_side();
+ let (segment, _) = Segment3d::from_points(p1, p2);
+ return segment.bounding_sphere(translation, rotation);
+ }
+
+ let [a, b, c] = self.vertices;
+
+ let side_opposite_to_non_acute = if (b - a).dot(c - a) <= 0.0 {
+ Some((b, c))
+ } else if (c - b).dot(a - b) <= 0.0 {
+ Some((c, a))
+ } else if (a - c).dot(b - c) <= 0.0 {
+ Some((a, b))
+ } else {
+ None
+ };
+
+ if let Some((p1, p2)) = side_opposite_to_non_acute {
+ let (segment, _) = Segment3d::from_points(p1, p2);
+ segment.bounding_sphere(translation, rotation)
+ } else {
+ let circumcenter = self.circumcenter();
+ let radius = circumcenter.distance(a);
+ BoundingSphere::new(circumcenter + translation, radius)
+ }
+ }
+}
+
 #[cfg(test)]
 mod tests {
  use glam::{Quat, Vec3};

crates/bevy_math/src/primitives/dim2.rs

@@ -106,15 +106,24 @@ impl Ellipse {
  }
  }
 
+ #[inline(always)]
+ /// Returns the [eccentricity](https://en.wikipedia.org/wiki/Eccentricity_(mathematics)) of the ellipse. The eccentricity can be thought of as a measure of how "stretched" or elongated the ellipse is.
+ pub fn eccentricity(&self) -> f32 {
+ let a = self.semi_major();
+ let b = self.semi_minor();
+
+ (a * a - b * b).sqrt() / a
+ }
+
  /// Returns the length of the semi-major axis. This corresponds to the longest radius of the ellipse.
  #[inline(always)]
- pub fn semi_major(self) -> f32 {
+ pub fn semi_major(&self) -> f32 {
  self.half_size.max_element()
  }
 
  /// Returns the length of the semi-minor axis. This corresponds to the shortest radius of the ellipse.
  #[inline(always)]
- pub fn semi_minor(self) -> f32 {
+ pub fn semi_minor(&self) -> f32 {
  self.half_size.min_element()
  }
 

crates/bevy_math/src/primitives/dim3.rs

@@ -1,10 +1,10 @@
-use std::f32::consts::{FRAC_PI_3, PI};
+use std::f32::{
+ consts::{FRAC_PI_3, PI},
+ EPSILON,
+};
 
 use super::{Circle, Primitive3d};
-use crate::{
- bounding::{Aabb3d, Bounded3d, BoundingSphere},
- Dir3, InvalidDirectionError, Mat3, Quat, Vec2, Vec3,
-};
+use crate::{Dir3, InvalidDirectionError, Mat3, Vec2, Vec3};
 
 /// A sphere primitive
 #[derive(Clone, Copy, Debug, PartialEq)]
@@ -774,7 +774,7 @@ impl Triangle3d {
  let [a, b, c] = self.vertices;
  let ab = b - a;
  let ac = c - a;
- ab.cross(ac).length() < 10e-7
+ ab.cross(ac).length() < EPSILON
  }
 
  /// Reverse the triangle by swapping the first and last vertices.
@@ -838,59 +838,6 @@ impl Triangle3d {
  }
 }
 
-impl Bounded3d for Triangle3d {
- /// Get the bounding box of the triangle.
- fn aabb_3d(&self, translation: Vec3, rotation: Quat) -> Aabb3d {
- let [a, b, c] = self.vertices;
-
- let a = rotation * a;
- let b = rotation * b;
- let c = rotation * c;
-
- let min = a.min(b).min(c);
- let max = a.max(b).max(c);
-
- let bounding_center = (max + min) / 2.0 + translation;
- let half_extents = (max - min) / 2.0;
-
- Aabb3d::new(bounding_center, half_extents)
- }
-
- /// Get the bounding sphere of the triangle.
- ///
- /// The [`Triangle3d`] implements the minimal bounding sphere calculation. For acute triangles, the circumcenter is used as
- /// the center of the sphere. For the others, the bounding sphere is the minimal sphere
- /// that contains the largest side of the triangle.
- fn bounding_sphere(&self, translation: Vec3, rotation: Quat) -> BoundingSphere {
- if self.is_degenerate() {
- let (p1, p2) = self.largest_side();
- let (segment, _) = Segment3d::from_points(p1, p2);
- return segment.bounding_sphere(translation, rotation);
- }
-
- let [a, b, c] = self.vertices;
-
- let side_opposite_to_non_acute = if (b - a).dot(c - a) <= 0.0 {
- Some((b, c))
- } else if (c - b).dot(a - b) <= 0.0 {
- Some((c, a))
- } else if (a - c).dot(b - c) <= 0.0 {
- Some((a, b))
- } else {
- None
- };
-
- if let Some((p1, p2)) = side_opposite_to_non_acute {
- let (segment, _) = Segment3d::from_points(p1, p2);
- segment.bounding_sphere(translation, rotation)
- } else {
- let circumcenter = self.circumcenter();
- let radius = circumcenter.distance(a);
- BoundingSphere::new(circumcenter + translation, radius)
- }
- }
-}
-
 /// A tetrahedron primitive.
 #[derive(Clone, Copy, Debug, PartialEq)]
 #[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
@@ -977,6 +924,7 @@ mod tests {
 
  use super::*;
  use approx::assert_relative_eq;
+ use glam::Quat;
 
  #[test]
  fn direction_creation() {
@@ -1174,4 +1122,31 @@ mod tests {
  );
  assert_relative_eq!(Tetrahedron::default().centroid(), Vec3::ZERO);
  }
+
+ #[test]
+ fn triangle_math() {
+ let [a, b, c] = [Vec3::ZERO, Vec3::new(1., 1., 0.5), Vec3::new(-3., 2.5, 1.)];
+ let triangle = Triangle3d::new(a, b, c);
+
+ assert!(!triangle.is_degenerate(), "incorrectly found degenerate");
+ assert_eq!(triangle.area(), 3.0233467, "incorrect area");
+ assert_eq!(triangle.perimeter(), 9.832292, "incorrect perimeter");
+ assert_eq!(
+ triangle.circumcenter(),
+ Vec3::new(-1., 1.75, 0.75),
+ "incorrect circumcenter"
+ );
+ assert_eq!(
+ triangle.normal(),
+ Ok(Dir3::new_unchecked(Vec3::new(
+ -0.04134491,
+ -0.4134491,
+ 0.90958804
+ ))),
+ "incorrect normal"
+ );
+
+ let degenerate = Triangle3d::new(Vec3::NEG_ONE, Vec3::ZERO, Vec3::ONE);
+ assert!(degenerate.is_degenerate(), "did not find degenerate");
+ }
 }