MRCone3.h

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#pragma once
#include "MRLine3.h"
 
namespace MR
{
 
 
 
template <typename T>
class Cone3
{
public:
    Cone3()
    {}
 
    Cone3( const Line3<T>& inAxis, T inAngle, T inHeight )
        :
        axis( inAxis ),
        angle( inAngle ),
        height( inHeight )
    {}
 
    Vector3<T>& center( void )
    {
        return axis.p;
    }
    const Vector3<T>& center( void ) const
    {
        return axis.p;
    }
    Vector3<T>& direction( void )
    {
        return axis.d;
    }
    const Vector3<T>& direction( void ) const
    {
        return axis.d;
    }
    Vector3<T>& apex( void )
    {
        return center();
    }
    const Vector3<T>& apex( void ) const
    {
        return center();
    }
 
    Vector3<T> projectPoint( const Vector3<T>& point ) const
    {
        const Vector3<T>& n = direction();
        const Vector3<T>& center = apex();
        const T coneAngle = angle;
 
        auto X = point - center;
 
        T angleX = std::atan2( cross( n, X ).length(), dot( n, X ) );
 
        if ( coneAngle + PI_F / 2.0 < angleX )
            return  center;
 
        auto K = n * MR::dot( X, n );
        auto XK = ( X - K );
 
        auto D = K + XK.normalized() * ( K.length() * std::tan( coneAngle ) );
        auto normD = D.normalized();
        return normD * dot( normD, X ) + center;
    }
 
 
    Line3<T> axis; 
    T angle = 0;       
    T height = 0;      
};
 
 
 
}