Add Joints6.IsBetween(min, max) for joint limit checking

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Author: rafalmaciag

Sources/ModelingEvolution.Drawing.Tests/Joints6Tests.cs

@@ -255,6 +255,46 @@ public void IsWithin_OutsideTolerance_ReturnsFalse()
         a.IsWithin(b, Degree<double>.Create(1.0)).Should().BeFalse();
     }
 
+    [Fact]
+    public void IsBetween_AllWithinRange_ReturnsTrue()
+    {
+        var value = MakeJoints(10, 20, 30, 40, 50, 60);
+        var min = MakeJoints(0, 10, 20, 30, 40, 50);
+        var max = MakeJoints(20, 30, 40, 50, 60, 70);
+
+        value.IsBetween(min, max).Should().BeTrue();
+    }
+
+    [Fact]
+    public void IsBetween_OnBoundary_ReturnsTrue()
+    {
+        var value = MakeJoints(0, 10, 20, 30, 40, 50);
+        var min = MakeJoints(0, 10, 20, 30, 40, 50);
+        var max = MakeJoints(20, 30, 40, 50, 60, 70);
+
+        value.IsBetween(min, max).Should().BeTrue();
+    }
+
+    [Fact]
+    public void IsBetween_OneJointBelow_ReturnsFalse()
+    {
+        var value = MakeJoints(-1, 20, 30, 40, 50, 60);
+        var min = MakeJoints(0, 10, 20, 30, 40, 50);
+        var max = MakeJoints(20, 30, 40, 50, 60, 70);
+
+        value.IsBetween(min, max).Should().BeFalse();
+    }
+
+    [Fact]
+    public void IsBetween_OneJointAbove_ReturnsFalse()
+    {
+        var value = MakeJoints(10, 20, 30, 40, 50, 71);
+        var min = MakeJoints(0, 10, 20, 30, 40, 50);
+        var max = MakeJoints(20, 30, 40, 50, 60, 70);
+
+        value.IsBetween(min, max).Should().BeFalse();
+    }
+
     #endregion
 
     #region ToArray / FromArray / CopyTo / FromSpan

Sources/ModelingEvolution.Drawing/Joints6.cs

@@ -186,6 +186,20 @@ public readonly Degree<T> MaxAbsDelta(Joints6<T> other)
     [MethodImpl(MethodImplOptions.AggressiveInlining)]
     public readonly bool IsWithin(Joints6<T> other, Degree<T> tolerance) => MaxAbsDelta(other) <= tolerance;
 
+    /// <summary>
+    /// Returns true if every joint angle is between the corresponding min and max values (inclusive).
+    /// </summary>
+    /// <param name="min">The minimum allowed angles per joint.</param>
+    /// <param name="max">The maximum allowed angles per joint.</param>
+    [MethodImpl(MethodImplOptions.AggressiveInlining)]
+    public readonly bool IsBetween(Joints6<T> min, Joints6<T> max) =>
+        _j1 >= min._j1 && _j1 <= max._j1 &&
+        _j2 >= min._j2 && _j2 <= max._j2 &&
+        _j3 >= min._j3 && _j3 <= max._j3 &&
+        _j4 >= min._j4 && _j4 <= max._j4 &&
+        _j5 >= min._j5 && _j5 <= max._j5 &&
+        _j6 >= min._j6 && _j6 <= max._j6;
+
     /// <summary>
     /// Copies the joint angles into a new array of Degree{T}.
     /// </summary>