Add ray intersection benchmarks

crates/kelocam-core/Cargo.toml

@@ -8,3 +8,6 @@ edition = "2021"
 [dependencies]
 nalgebra = "0.32.3"
 stl = "0.2.1"
+
+[dev-dependencies]
+nalgebra = { version = "0.32.3", features = [ "rand" ] }

crates/kelocam-core/benches/ray_intersection.rs

@@ -0,0 +1,73 @@
+#![feature(test)]
+
+extern crate test;
+use kelocam_core::{Plane, Ray, Square, Triangle};
+use nalgebra::{UnitVector3, Vector3};
+use test::Bencher;
+
+#[bench]
+pub fn ray_triangle_intersection(bencher: &mut Bencher) {
+    bencher.iter(|| {
+        let triangle: Triangle;
+        {
+            let a = Vector3::new_random();
+            let b = Vector3::new_random();
+            let c = Vector3::new_random();
+            let normal = UnitVector3::new_normalize((a - b).cross(&(a - c)));
+            triangle = Triangle::new(a, b, c, normal);
+        }
+
+        let ray: Ray;
+        {
+            let origin = Vector3::new_random();
+            let normal = UnitVector3::new_normalize(Vector3::new_random());
+            ray = Ray::new(origin, normal);
+        }
+
+        ray.intersect(&triangle)
+    })
+}
+
+#[bench]
+pub fn ray_plane_intersection(bencher: &mut Bencher) {
+    bencher.iter(|| {
+        let plane: Plane;
+        {
+            let origin = Vector3::new_random();
+            let normal = UnitVector3::new_normalize(Vector3::new_random());
+            plane = Plane::new(origin, normal);
+        }
+
+        let ray: Ray;
+        {
+            let origin = Vector3::new_random();
+            let normal = UnitVector3::new_normalize(Vector3::new_random());
+            ray = Ray::new(origin, normal);
+        }
+
+        ray.intersect(&plane)
+    })
+}
+
+#[bench]
+pub fn ray_square_intersection(bencher: &mut Bencher) {
+    bencher.iter(|| {
+        let square: Square;
+        {
+            let a = Vector3::new_random();
+            let ab = Vector3::new_random();
+            let ac = Vector3::new_random();
+            let normal = UnitVector3::new_normalize(ab.cross(&ac));
+            square = Square::new(a, ab, ac, normal);
+        }
+
+        let ray: Ray;
+        {
+            let origin = Vector3::new_random();
+            let normal = UnitVector3::new_normalize(Vector3::new_random());
+            ray = Ray::new(origin, normal);
+        }
+
+        ray.intersect(&square)
+    })
+}