diff --git a/crates/bevy_gizmos/src/primitives/dim2.rs b/crates/bevy_gizmos/src/primitives/dim2.rs
index d38ba3ab4c..9535c28fbd 100644
--- a/crates/bevy_gizmos/src/primitives/dim2.rs
+++ b/crates/bevy_gizmos/src/primitives/dim2.rs
@@ -634,9 +634,7 @@ where
             return;
         }
 
-        let segment = Segment2d::new(self.point1, self.point2)
-            .rotated(self.isometry.rotation)
-            .translated(self.isometry.translation);
+        let segment = Segment2d::new(self.point1, self.point2).transformed(self.isometry);
 
         if self.draw_arrow {
             self.gizmos
diff --git a/crates/bevy_gizmos/src/primitives/dim3.rs b/crates/bevy_gizmos/src/primitives/dim3.rs
index 31a2274e84..898850ddea 100644
--- a/crates/bevy_gizmos/src/primitives/dim3.rs
+++ b/crates/bevy_gizmos/src/primitives/dim3.rs
@@ -228,10 +228,7 @@ where
             return;
         }
 
-        let isometry: Isometry3d = isometry.into();
-        let transformed = primitive
-            .rotated(isometry.rotation)
-            .translated(isometry.translation.into());
+        let transformed = primitive.transformed(isometry);
         self.line(transformed.point1(), transformed.point2(), color);
     }
 }
diff --git a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
index e1fe6afd77..202b125588 100644
--- a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
@@ -881,9 +881,9 @@ mod tests {
 
     #[test]
     fn segment() {
+        let segment = Segment2d::new(Vec2::new(-1.0, -0.5), Vec2::new(1.0, 0.5));
         let translation = Vec2::new(2.0, 1.0);
         let isometry = Isometry2d::from_translation(translation);
-        let segment = Segment2d::new(Vec2::new(-1.0, -0.5), Vec2::new(1.0, 0.5));
 
         let aabb = segment.aabb_2d(isometry);
         assert_eq!(aabb.min, Vec2::new(1.0, 0.5));
diff --git a/crates/bevy_math/src/bounding/bounded3d/extrusion.rs b/crates/bevy_math/src/bounding/bounded3d/extrusion.rs
index 47d5d66763..607d0f2746 100644
--- a/crates/bevy_math/src/bounding/bounded3d/extrusion.rs
+++ b/crates/bevy_math/src/bounding/bounded3d/extrusion.rs
@@ -349,7 +349,7 @@ mod tests {
     #[test]
     fn segment() {
         let extrusion = Extrusion::new(
-            Segment2d::from_direction_and_length(Dir2::new_unchecked(Vec2::NEG_Y), 3.),
+            Segment2d::new(Vec2::new(0.0, -1.5), Vec2::new(0.0, 1.5)),
             4.0,
         );
         let translation = Vec3::new(3., 4., 5.);
diff --git a/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
index 1f4e2a1666..ebfd0266e8 100644
--- a/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
@@ -457,9 +457,8 @@ mod tests {
 
     #[test]
     fn segment() {
-        let translation = Vec3::new(2.0, 1.0, 0.0);
-
         let segment = Segment3d::new(Vec3::new(-1.0, -0.5, 0.0), Vec3::new(1.0, 0.5, 0.0));
+        let translation = Vec3::new(2.0, 1.0, 0.0);
 
         let aabb = segment.aabb_3d(translation);
         assert_eq!(aabb.min, Vec3A::new(1.0, 0.5, 0.0));
diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index c336edac45..5ca224929a 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -5,7 +5,7 @@ use thiserror::Error;
 use super::{Measured2d, Primitive2d, WindingOrder};
 use crate::{
     ops::{self, FloatPow},
-    Dir2, Rot2, Vec2,
+    Dir2, InvalidDirectionError, Isometry2d, Ray2d, Rot2, Vec2,
 };
 
 #[cfg(feature = "alloc")]
@@ -1211,7 +1211,7 @@ pub struct Line2d {
 }
 impl Primitive2d for Line2d {}
 
-/// A segment of a line going through the origin along a direction in 2D space.
+/// A line segment defined by two endpoints in 2D space.
 #[derive(Clone, Copy, Debug, PartialEq)]
 #[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
 #[cfg_attr(feature = "bevy_reflect", derive(Reflect), reflect(Debug, PartialEq))]
@@ -1227,7 +1227,7 @@ pub struct Segment2d {
 impl Primitive2d for Segment2d {}
 
 impl Segment2d {
-    /// Create a new `Segment2d` from its endpoints
+    /// Create a new `Segment2d` from its endpoints.
     #[inline(always)]
     pub const fn new(point1: Vec2, point2: Vec2) -> Self {
         Self {
@@ -1235,62 +1235,194 @@ impl Segment2d {
         }
     }
 
-    /// Create a new `Segment2d` from its endpoints and compute its geometric center
-    ///
-    /// # Panics
-    ///
-    /// Panics if `point1 == point2`
+    /// Create a new `Segment2d` from its endpoints and compute its geometric center.
     #[inline(always)]
     #[deprecated(since = "0.16.0", note = "Use the `new` constructor instead")]
     pub fn from_points(point1: Vec2, point2: Vec2) -> (Self, Vec2) {
         (Self::new(point1, point2), (point1 + point2) / 2.)
     }
 
-    /// Create a new `Segment2d` at the origin from a `direction` and `length`
+    /// Create a new `Segment2d` centered at the origin with the given direction and length.
+    ///
+    /// The endpoints will be at `-direction * length / 2.0` and `direction * length / 2.0`.
     #[inline(always)]
-    pub fn from_direction_and_length(direction: Dir2, length: f32) -> Segment2d {
-        let half_length = length / 2.;
-        Self::new(direction * -half_length, direction * half_length)
+    pub fn from_direction_and_length(direction: Dir2, length: f32) -> Self {
+        let endpoint = 0.5 * length * direction;
+        Self {
+            vertices: [-endpoint, endpoint],
+        }
     }
 
-    /// Get the position of the first point on the line segment
+    /// Create a new `Segment2d` centered at the origin from a vector representing
+    /// the direction and length of the line segment.
+    ///
+    /// The endpoints will be at `-scaled_direction / 2.0` and `scaled_direction / 2.0`.
+    #[inline(always)]
+    pub fn from_scaled_direction(scaled_direction: Vec2) -> Self {
+        let endpoint = 0.5 * scaled_direction;
+        Self {
+            vertices: [-endpoint, endpoint],
+        }
+    }
+
+    /// Create a new `Segment2d` starting from the origin of the given `ray`,
+    /// going in the direction of the ray for the given `length`.
+    ///
+    /// The endpoints will be at `ray.origin` and `ray.origin + length * ray.direction`.
+    #[inline(always)]
+    pub fn from_ray_and_length(ray: Ray2d, length: f32) -> Self {
+        Self {
+            vertices: [ray.origin, ray.get_point(length)],
+        }
+    }
+
+    /// Get the position of the first endpoint of the line segment.
     #[inline(always)]
     pub fn point1(&self) -> Vec2 {
         self.vertices[0]
     }
 
-    /// Get the position of the second point on the line segment
+    /// Get the position of the second endpoint of the line segment.
     #[inline(always)]
     pub fn point2(&self) -> Vec2 {
         self.vertices[1]
     }
 
-    /// Get the segment's center
+    /// Compute the midpoint between the two endpoints of the line segment.
     #[inline(always)]
     #[doc(alias = "midpoint")]
     pub fn center(&self) -> Vec2 {
-        (self.point1() + self.point2()) / 2.
+        self.point1().midpoint(self.point2())
     }
 
-    /// Get the segment's length
+    /// Compute the length of the line segment.
     #[inline(always)]
     pub fn length(&self) -> f32 {
         self.point1().distance(self.point2())
     }
 
-    /// Get the segment translated by the given vector
+    /// Compute the squared length of the line segment.
+    #[inline(always)]
+    pub fn length_squared(&self) -> f32 {
+        self.point1().distance_squared(self.point2())
+    }
+
+    /// Compute the normalized direction pointing from the first endpoint to the second endpoint.
+    ///
+    /// For the non-panicking version, see [`Segment2d::try_direction`].
+    ///
+    /// # Panics
+    ///
+    /// Panics if a valid direction could not be computed, for example when the endpoints are coincident, NaN, or infinite.
+    #[inline(always)]
+    pub fn direction(&self) -> Dir2 {
+        self.try_direction().unwrap_or_else(|err| {
+            panic!("Failed to compute the direction of a line segment: {err}")
+        })
+    }
+
+    /// Try to compute the normalized direction pointing from the first endpoint to the second endpoint.
+    ///
+    /// Returns [`Err(InvalidDirectionError)`](InvalidDirectionError) if a valid direction could not be computed,
+    /// for example when the endpoints are coincident, NaN, or infinite.
+    #[inline(always)]
+    pub fn try_direction(&self) -> Result<Dir2, InvalidDirectionError> {
+        Dir2::new(self.scaled_direction())
+    }
+
+    /// Compute the vector from the first endpoint to the second endpoint.
+    #[inline(always)]
+    pub fn scaled_direction(&self) -> Vec2 {
+        self.point2() - self.point1()
+    }
+
+    /// Compute the normalized counterclockwise normal on the left-hand side of the line segment.
+    ///
+    /// For the non-panicking version, see [`Segment2d::try_left_normal`].
+    ///
+    /// # Panics
+    ///
+    /// Panics if a valid normal could not be computed, for example when the endpoints are coincident, NaN, or infinite.
+    #[inline(always)]
+    pub fn left_normal(&self) -> Dir2 {
+        self.try_left_normal().unwrap_or_else(|err| {
+            panic!("Failed to compute the left-hand side normal of a line segment: {err}")
+        })
+    }
+
+    /// Try to compute the normalized counterclockwise normal on the left-hand side of the line segment.
+    ///
+    /// Returns [`Err(InvalidDirectionError)`](InvalidDirectionError) if a valid normal could not be computed,
+    /// for example when the endpoints are coincident, NaN, or infinite.
+    #[inline(always)]
+    pub fn try_left_normal(&self) -> Result<Dir2, InvalidDirectionError> {
+        Dir2::new(self.scaled_left_normal())
+    }
+
+    /// Compute the non-normalized counterclockwise normal on the left-hand side of the line segment.
+    ///
+    /// The length of the normal is the distance between the endpoints.
+    #[inline(always)]
+    pub fn scaled_left_normal(&self) -> Vec2 {
+        let scaled_direction = self.scaled_direction();
+        Vec2::new(-scaled_direction.y, scaled_direction.x)
+    }
+
+    /// Compute the normalized clockwise normal on the right-hand side of the line segment.
+    ///
+    /// For the non-panicking version, see [`Segment2d::try_right_normal`].
+    ///
+    /// # Panics
+    ///
+    /// Panics if a valid normal could not be computed, for example when the endpoints are coincident, NaN, or infinite.
+    #[inline(always)]
+    pub fn right_normal(&self) -> Dir2 {
+        self.try_right_normal().unwrap_or_else(|err| {
+            panic!("Failed to compute the right-hand side normal of a line segment: {err}")
+        })
+    }
+
+    /// Try to compute the normalized clockwise normal on the right-hand side of the line segment.
+    ///
+    /// Returns [`Err(InvalidDirectionError)`](InvalidDirectionError) if a valid normal could not be computed,
+    /// for example when the endpoints are coincident, NaN, or infinite.
+    #[inline(always)]
+    pub fn try_right_normal(&self) -> Result<Dir2, InvalidDirectionError> {
+        Dir2::new(self.scaled_right_normal())
+    }
+
+    /// Compute the non-normalized clockwise normal on the right-hand side of the line segment.
+    ///
+    /// The length of the normal is the distance between the endpoints.
+    #[inline(always)]
+    pub fn scaled_right_normal(&self) -> Vec2 {
+        let scaled_direction = self.scaled_direction();
+        Vec2::new(scaled_direction.y, -scaled_direction.x)
+    }
+
+    /// Compute the segment transformed by the given [`Isometry2d`].
+    #[inline(always)]
+    pub fn transformed(&self, isometry: impl Into<Isometry2d>) -> Self {
+        let isometry: Isometry2d = isometry.into();
+        Self::new(
+            isometry.transform_point(self.point1()),
+            isometry.transform_point(self.point2()),
+        )
+    }
+
+    /// Compute the segment translated by the given vector.
     #[inline(always)]
     pub fn translated(&self, translation: Vec2) -> Segment2d {
         Self::new(self.point1() + translation, self.point2() + translation)
     }
 
-    /// Compute a new segment, based on the original segment rotated around the origin
+    /// Compute the segment rotated around the origin by the given rotation.
     #[inline(always)]
     pub fn rotated(&self, rotation: Rot2) -> Segment2d {
         Segment2d::new(rotation * self.point1(), rotation * self.point2())
     }
 
-    /// Compute a new segment, based on the original segment rotated around a given point
+    /// Compute the segment rotated around the given point by the given rotation.
     #[inline(always)]
     pub fn rotated_around(&self, rotation: Rot2, point: Vec2) -> Segment2d {
         // We offset our segment so that our segment is rotated as if from the origin, then we can apply the offset back
@@ -1299,28 +1431,57 @@ impl Segment2d {
         rotated.translated(point)
     }
 
-    /// Compute a new segment, based on the original segment rotated around its center
+    /// Compute the segment rotated around its own center.
     #[inline(always)]
     pub fn rotated_around_center(&self, rotation: Rot2) -> Segment2d {
         self.rotated_around(rotation, self.center())
     }
 
-    /// Get the segment with its center at the origin
+    /// Compute the segment with its center at the origin, keeping the same direction and length.
     #[inline(always)]
     pub fn centered(&self) -> Segment2d {
         let center = self.center();
         self.translated(-center)
     }
 
-    /// Get the segment with a new length
+    /// Compute the segment with a new length, keeping the same direction and center.
     #[inline(always)]
     pub fn resized(&self, length: f32) -> Segment2d {
         let offset_from_origin = self.center();
-        let centered = self.centered();
+        let centered = self.translated(-offset_from_origin);
         let ratio = length / self.length();
         let segment = Segment2d::new(centered.point1() * ratio, centered.point2() * ratio);
         segment.translated(offset_from_origin)
     }
+
+    /// Reverses the direction of the line segment by swapping the endpoints.
+    #[inline(always)]
+    pub fn reverse(&mut self) {
+        let [point1, point2] = &mut self.vertices;
+        core::mem::swap(point1, point2);
+    }
+
+    /// Returns the line segment with its direction reversed by swapping the endpoints.
+    #[inline(always)]
+    #[must_use]
+    pub fn reversed(mut self) -> Self {
+        self.reverse();
+        self
+    }
+}
+
+impl From<[Vec2; 2]> for Segment2d {
+    #[inline(always)]
+    fn from(vertices: [Vec2; 2]) -> Self {
+        Self { vertices }
+    }
+}
+
+impl From<(Vec2, Vec2)> for Segment2d {
+    #[inline(always)]
+    fn from((point1, point2): (Vec2, Vec2)) -> Self {
+        Self::new(point1, point2)
+    }
 }
 
 /// A series of connected line segments in 2D space.
diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index a828fa8247..e39e3be729 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -3,7 +3,7 @@ use core::f32::consts::{FRAC_PI_3, PI};
 use super::{Circle, Measured2d, Measured3d, Primitive2d, Primitive3d};
 use crate::{
     ops::{self, FloatPow},
-    Dir3, InvalidDirectionError, Isometry3d, Mat3, Vec2, Vec3,
+    Dir3, InvalidDirectionError, Isometry3d, Mat3, Ray3d, Vec2, Vec3,
 };
 
 #[cfg(feature = "bevy_reflect")]
@@ -349,8 +349,7 @@ pub struct Line3d {
 }
 impl Primitive3d for Line3d {}
 
-/// A segment of a line going through the origin along a direction in 3D space.
-#[doc(alias = "LineSegment3d")]
+/// A line segment defined by two endpoints in 3D space.
 #[derive(Clone, Copy, Debug, PartialEq)]
 #[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
 #[cfg_attr(feature = "bevy_reflect", derive(Reflect), reflect(Debug, PartialEq))]
@@ -358,6 +357,7 @@ impl Primitive3d for Line3d {}
     all(feature = "serialize", feature = "bevy_reflect"),
     reflect(Serialize, Deserialize)
 )]
+#[doc(alias = "LineSegment3d")]
 pub struct Segment3d {
     /// The endpoints of the line segment.
     pub vertices: [Vec3; 2],
@@ -365,7 +365,7 @@ pub struct Segment3d {
 impl Primitive3d for Segment3d {}
 
 impl Segment3d {
-    /// Create a new `Segment3d` from its endpoints
+    /// Create a new `Segment3d` from its endpoints.
     #[inline(always)]
     pub const fn new(point1: Vec3, point2: Vec3) -> Self {
         Self {
@@ -373,65 +373,130 @@ impl Segment3d {
         }
     }
 
-    /// Create a new `Segment3d` from a direction and full length of the segment
-    #[inline(always)]
-    pub fn from_direction_and_length(direction: Dir3, length: f32) -> Self {
-        let half_length = length / 2.;
-        Self::new(direction * -half_length, direction * half_length)
-    }
-
-    /// Create a new `Segment3d` from its endpoints and compute its geometric center
-    ///
-    /// # Panics
-    ///
-    /// Panics if `point1 == point2`
+    /// Create a new `Segment3d` from its endpoints and compute its geometric center.
     #[inline(always)]
     #[deprecated(since = "0.16.0", note = "Use the `new` constructor instead")]
     pub fn from_points(point1: Vec3, point2: Vec3) -> (Self, Vec3) {
         (Self::new(point1, point2), (point1 + point2) / 2.)
     }
 
-    /// Get the position of the first point on the line segment
+    /// Create a new `Segment3d` centered at the origin with the given direction and length.
+    ///
+    /// The endpoints will be at `-direction * length / 2.0` and `direction * length / 2.0`.
+    #[inline(always)]
+    pub fn from_direction_and_length(direction: Dir3, length: f32) -> Self {
+        let endpoint = 0.5 * length * direction;
+        Self {
+            vertices: [-endpoint, endpoint],
+        }
+    }
+
+    /// Create a new `Segment3d` centered at the origin from a vector representing
+    /// the direction and length of the line segment.
+    ///
+    /// The endpoints will be at `-scaled_direction / 2.0` and `scaled_direction / 2.0`.
+    #[inline(always)]
+    pub fn from_scaled_direction(scaled_direction: Vec3) -> Self {
+        let endpoint = 0.5 * scaled_direction;
+        Self {
+            vertices: [-endpoint, endpoint],
+        }
+    }
+
+    /// Create a new `Segment3d` starting from the origin of the given `ray`,
+    /// going in the direction of the ray for the given `length`.
+    ///
+    /// The endpoints will be at `ray.origin` and `ray.origin + length * ray.direction`.
+    #[inline(always)]
+    pub fn from_ray_and_length(ray: Ray3d, length: f32) -> Self {
+        Self {
+            vertices: [ray.origin, ray.get_point(length)],
+        }
+    }
+
+    /// Get the position of the first endpoint of the line segment.
     #[inline(always)]
     pub fn point1(&self) -> Vec3 {
         self.vertices[0]
     }
 
-    /// Get the position of the second point on the line segment
+    /// Get the position of the second endpoint of the line segment.
     #[inline(always)]
     pub fn point2(&self) -> Vec3 {
         self.vertices[1]
     }
 
-    /// Get the center of the segment
+    /// Compute the midpoint between the two endpoints of the line segment.
     #[inline(always)]
     #[doc(alias = "midpoint")]
     pub fn center(&self) -> Vec3 {
-        (self.point1() + self.point2()) / 2.
+        self.point1().midpoint(self.point2())
     }
 
-    /// Get the length of the segment
+    /// Compute the length of the line segment.
     #[inline(always)]
     pub fn length(&self) -> f32 {
         self.point1().distance(self.point2())
     }
 
-    /// Get the segment translated by a vector
+    /// Compute the squared length of the line segment.
+    #[inline(always)]
+    pub fn length_squared(&self) -> f32 {
+        self.point1().distance_squared(self.point2())
+    }
+
+    /// Compute the normalized direction pointing from the first endpoint to the second endpoint.
+    ///
+    /// For the non-panicking version, see [`Segment3d::try_direction`].
+    ///
+    /// # Panics
+    ///
+    /// Panics if a valid direction could not be computed, for example when the endpoints are coincident, NaN, or infinite.
+    #[inline(always)]
+    pub fn direction(&self) -> Dir3 {
+        self.try_direction().unwrap_or_else(|err| {
+            panic!("Failed to compute the direction of a line segment: {err}")
+        })
+    }
+
+    /// Try to compute the normalized direction pointing from the first endpoint to the second endpoint.
+    ///
+    /// Returns [`Err(InvalidDirectionError)`](InvalidDirectionError) if a valid direction could not be computed,
+    /// for example when the endpoints are coincident, NaN, or infinite.
+    #[inline(always)]
+    pub fn try_direction(&self) -> Result<Dir3, InvalidDirectionError> {
+        Dir3::new(self.scaled_direction())
+    }
+
+    /// Compute the vector from the first endpoint to the second endpoint.
+    #[inline(always)]
+    pub fn scaled_direction(&self) -> Vec3 {
+        self.point2() - self.point1()
+    }
+
+    /// Compute the segment transformed by the given [`Isometry3d`].
+    #[inline(always)]
+    pub fn transformed(&self, isometry: impl Into<Isometry3d>) -> Self {
+        let isometry: Isometry3d = isometry.into();
+        Self::new(
+            isometry.transform_point(self.point1()).into(),
+            isometry.transform_point(self.point2()).into(),
+        )
+    }
+
+    /// Compute the segment translated by the given vector.
     #[inline(always)]
     pub fn translated(&self, translation: Vec3) -> Segment3d {
         Self::new(self.point1() + translation, self.point2() + translation)
     }
 
-    /// Compute a new segment, based on the original segment rotated around the origin
+    /// Compute the segment rotated around the origin by the given rotation.
     #[inline(always)]
     pub fn rotated(&self, rotation: Quat) -> Segment3d {
-        Segment3d::new(
-            rotation.mul_vec3(self.point1()),
-            rotation.mul_vec3(self.point2()),
-        )
+        Segment3d::new(rotation * self.point1(), rotation * self.point2())
     }
 
-    /// Compute a new segment, based on the original segment rotated around a given point
+    /// Compute the segment rotated around the given point by the given rotation.
     #[inline(always)]
     pub fn rotated_around(&self, rotation: Quat, point: Vec3) -> Segment3d {
         // We offset our segment so that our segment is rotated as if from the origin, then we can apply the offset back
@@ -440,28 +505,57 @@ impl Segment3d {
         rotated.translated(point)
     }
 
-    /// Compute a new segment, based on the original segment rotated around its center
+    /// Compute the segment rotated around its own center.
     #[inline(always)]
     pub fn rotated_around_center(&self, rotation: Quat) -> Segment3d {
         self.rotated_around(rotation, self.center())
     }
 
-    /// Get the segment offset so that it's center is at the origin
+    /// Compute the segment with its center at the origin, keeping the same direction and length.
     #[inline(always)]
     pub fn centered(&self) -> Segment3d {
         let center = self.center();
         self.translated(-center)
     }
 
-    /// Get the segment with a new length
+    /// Compute the segment with a new length, keeping the same direction and center.
     #[inline(always)]
     pub fn resized(&self, length: f32) -> Segment3d {
         let offset_from_origin = self.center();
-        let centered = self.centered();
+        let centered = self.translated(-offset_from_origin);
         let ratio = length / self.length();
         let segment = Segment3d::new(centered.point1() * ratio, centered.point2() * ratio);
         segment.translated(offset_from_origin)
     }
+
+    /// Reverses the direction of the line segment by swapping the endpoints.
+    #[inline(always)]
+    pub fn reverse(&mut self) {
+        let [point1, point2] = &mut self.vertices;
+        core::mem::swap(point1, point2);
+    }
+
+    /// Returns the line segment with its direction reversed by swapping the endpoints.
+    #[inline(always)]
+    #[must_use]
+    pub fn reversed(mut self) -> Self {
+        self.reverse();
+        self
+    }
+}
+
+impl From<[Vec3; 2]> for Segment3d {
+    #[inline(always)]
+    fn from(vertices: [Vec3; 2]) -> Self {
+        Self { vertices }
+    }
+}
+
+impl From<(Vec3, Vec3)> for Segment3d {
+    #[inline(always)]
+    fn from((point1, point2): (Vec3, Vec3)) -> Self {
+        Self::new(point1, point2)
+    }
 }
 
 /// A series of connected line segments in 3D space.