Create raycasting module
This commit is contained in:
Matthew Gordon
parent
192857eead
commit
eaf9ba7b2f
125
src/lib.rs
125
src/lib.rs
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@ -1,124 +1 @@
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use nalgebra::{RealField, Vector3};
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#[derive(Clone, Debug)]
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pub struct Ray<T: RealField> {
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origin: Vector3<T>,
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direction: Vector3<T>,
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}
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impl<T: RealField> Ray<T> {
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pub fn new(origin: Vector3<T>, direction: Vector3<T>) -> Ray<T> {
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Ray {
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origin,
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direction: direction.normalize(),
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}
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}
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pub fn point_at(&self, t: T) -> Vector3<T> {
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return self.origin + self.direction * t;
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}
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}
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#[derive(Debug)]
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struct IntersectionInfo<T: RealField> {
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distance: T,
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location: Vector3<T>,
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}
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trait Intersect<T: RealField> {
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fn intersect(&self, ray: &Ray<T>) -> Option<IntersectionInfo<T>>;
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}
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pub struct Sphere<T: RealField> {
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centre: Vector3<T>,
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radius: T,
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}
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impl<T: RealField> Sphere<T> {
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pub fn new(centre: Vector3<T>, radius: T) -> Sphere<T> {
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Sphere { centre, radius }
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}
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}
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impl<T: RealField> Intersect<T> for Sphere<T> {
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fn intersect(&self, ray: &Ray<T>) -> Option<IntersectionInfo<T>> {
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// t0/p0 is the point on the ray that's closest to the centre of the sphere
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let t0 = (self.centre - ray.origin).dot(&ray.direction);
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let p0 = ray.point_at(t0);
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if (self.centre - p0).norm() <= self.radius {
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Some(IntersectionInfo {
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distance: t0,
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location: p0,
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})
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} else {
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None
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}
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}
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}
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#[cfg(test)]
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mod tests {
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use quickcheck_macros::quickcheck;
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macro_rules! assert_matches {
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($expression:expr, $($pattern:tt)+) => {
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match $expression {
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$($pattern)+ => (),
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ref e => panic!("assertion failed: `{:?}` does not match `{}`", e,
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stringify!($($pattern)+)),
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}
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}
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}
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use super::*;
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use quickcheck::{Arbitrary, Gen};
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impl<T: Arbitrary + RealField> Arbitrary for Ray<T> {
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fn arbitrary<G: Gen>(g: &mut G) -> Ray<T> {
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let origin = <Vector3<T> as Arbitrary>::arbitrary(g);
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let direction = <Vector3<T> as Arbitrary>::arbitrary(g);
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return Ray::new(origin, direction);
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}
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}
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#[quickcheck]
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fn t0_is_origin(ray: Ray<f64>) -> bool {
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ray.point_at(0.0) == ray.origin
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}
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#[quickcheck]
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fn t1_is_origin_plus_direction(ray: Ray<f64>) -> bool {
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ray.point_at(1.0) == ray.origin + ray.direction
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}
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#[quickcheck]
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fn points_are_colinear(ray: Ray<f64>, t1: f64, t2: f64, t3: f64) -> bool {
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let p1 = ray.point_at(t1);
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let p2 = ray.point_at(t2);
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let p3 = ray.point_at(t3);
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let epsilon = [t1, t2, t3, ray.origin[0], ray.origin[1], ray.origin[2]]
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.iter()
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.fold(0.0, |a, &b| a.max(b.abs()))
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* std::f64::EPSILON
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* 256.0;
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(p2 - p1).cross(&(p3 - p2)).norm() < epsilon
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}
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#[quickcheck]
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fn t_is_distance(ray: Ray<f64>, t: f64) -> bool {
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(ray.point_at(t) - ray.origin).norm() - t.abs() < 0.0000000001
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}
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#[test]
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fn ray_intersects_sphere() {
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let r = Ray::new(Vector3::new(1.0, 2.0, 3.0), Vector3::new(0.0, 0.0, 1.0));
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let s = Sphere::new(Vector3::new(1.5, 1.5, 15.0), 5.0);
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assert_matches!(s.intersect(&r), Some(_));
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}
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#[test]
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fn ray_does_not_intersect_sphere() {
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let r = Ray::new(Vector3::new(1.0, 2.0, 3.0), Vector3::new(0.0, 0.0, 1.0));
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let s = Sphere::new(Vector3::new(-5.0, 1.5, 15.0), 5.0);
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assert_matches!(s.intersect(&r), None);
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}
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}
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pub mod raycasting;
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@ -0,0 +1,124 @@
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use nalgebra::{RealField, Vector3};
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#[derive(Clone, Debug)]
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pub struct Ray<T: RealField> {
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origin: Vector3<T>,
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direction: Vector3<T>,
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}
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impl<T: RealField> Ray<T> {
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pub fn new(origin: Vector3<T>, direction: Vector3<T>) -> Ray<T> {
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Ray {
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origin,
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direction: direction.normalize(),
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}
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}
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pub fn point_at(&self, t: T) -> Vector3<T> {
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return self.origin + self.direction * t;
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}
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}
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#[derive(Debug)]
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pub struct IntersectionInfo<T: RealField> {
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pub distance: T,
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pub location: Vector3<T>,
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}
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pub trait Intersect<T: RealField> {
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fn intersect(&self, ray: &Ray<T>) -> Option<IntersectionInfo<T>>;
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}
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pub struct Sphere<T: RealField> {
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centre: Vector3<T>,
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radius: T,
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}
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impl<T: RealField> Sphere<T> {
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pub fn new(centre: Vector3<T>, radius: T) -> Sphere<T> {
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Sphere { centre, radius }
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}
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}
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impl<T: RealField> Intersect<T> for Sphere<T> {
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fn intersect(&self, ray: &Ray<T>) -> Option<IntersectionInfo<T>> {
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// t0/p0 is the point on the ray that's closest to the centre of the sphere
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let t0 = (self.centre - ray.origin).dot(&ray.direction);
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let p0 = ray.point_at(t0);
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if (self.centre - p0).norm() <= self.radius {
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Some(IntersectionInfo {
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distance: t0,
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location: p0,
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})
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} else {
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None
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}
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}
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}
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#[cfg(test)]
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mod tests {
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use quickcheck_macros::quickcheck;
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macro_rules! assert_matches {
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($expression:expr, $($pattern:tt)+) => {
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match $expression {
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$($pattern)+ => (),
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ref e => panic!("assertion failed: `{:?}` does not match `{}`", e,
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stringify!($($pattern)+)),
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}
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}
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}
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use super::*;
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use quickcheck::{Arbitrary, Gen};
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impl<T: Arbitrary + RealField> Arbitrary for Ray<T> {
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fn arbitrary<G: Gen>(g: &mut G) -> Ray<T> {
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let origin = <Vector3<T> as Arbitrary>::arbitrary(g);
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let direction = <Vector3<T> as Arbitrary>::arbitrary(g);
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return Ray::new(origin, direction);
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}
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}
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#[quickcheck]
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fn t0_is_origin(ray: Ray<f64>) -> bool {
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ray.point_at(0.0) == ray.origin
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}
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#[quickcheck]
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fn t1_is_origin_plus_direction(ray: Ray<f64>) -> bool {
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ray.point_at(1.0) == ray.origin + ray.direction
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}
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#[quickcheck]
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fn points_are_colinear(ray: Ray<f64>, t1: f64, t2: f64, t3: f64) -> bool {
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let p1 = ray.point_at(t1);
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let p2 = ray.point_at(t2);
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let p3 = ray.point_at(t3);
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let epsilon = [t1, t2, t3, ray.origin[0], ray.origin[1], ray.origin[2]]
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.iter()
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.fold(0.0, |a, &b| a.max(b.abs()))
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* std::f64::EPSILON
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* 256.0;
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(p2 - p1).cross(&(p3 - p2)).norm() < epsilon
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}
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#[quickcheck]
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fn t_is_distance(ray: Ray<f64>, t: f64) -> bool {
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(ray.point_at(t) - ray.origin).norm() - t.abs() < 0.0000000001
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}
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#[test]
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fn ray_intersects_sphere() {
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let r = Ray::new(Vector3::new(1.0, 2.0, 3.0), Vector3::new(0.0, 0.0, 1.0));
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let s = Sphere::new(Vector3::new(1.5, 1.5, 15.0), 5.0);
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assert_matches!(s.intersect(&r), Some(_));
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}
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#[test]
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fn ray_does_not_intersect_sphere() {
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let r = Ray::new(Vector3::new(1.0, 2.0, 3.0), Vector3::new(0.0, 0.0, 1.0));
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let s = Sphere::new(Vector3::new(-5.0, 1.5, 15.0), 5.0);
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assert_matches!(s.intersect(&r), None);
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}
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}
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