@aura3d/engine 4.0.3 → 4.0.4

package/dist/math/ConvexHull.js

@@ -0,0 +1,578 @@
+import { Line3 } from "./Line3.js";
+import { Plane } from "./Plane.js";
+import { Triangle } from "./Triangle.js";
+import { Vector3 } from "./Vector3.js";
+const Visible = 0;
+const Deleted = 1;
+/**
+ * QuickHull convex hull — three.js `examples/jsm/math/ConvexHull.js` parity.
+ * The internal face/half-edge/vertex-list topology is mutable by design
+ * (QuickHull is a mutating algorithm); hull point data stays immutable.
+ */
+export class ConvexHull {
+    tolerance = -1;
+    /** The generated faces of the convex hull. */
+    faces = [];
+    /** Faces generated within a single iteration. */
+    newFaces = [];
+    /** Vertices assigned to faces they can "see". */
+    assigned = new VertexList();
+    /** Vertices not (yet) assigned to any face. */
+    unassigned = new VertexList();
+    /** All hull vertices (internal representation). */
+    vertices = [];
+    /** three.js `ConvexHull.setFromPoints` — needs ≥ 4 points. */
+    setFromPoints(points) {
+        if (points.length >= 4) {
+            this.makeEmpty();
+            for (const point of points) {
+                this.vertices.push(new VertexNode(point));
+            }
+            this.compute();
+        }
+        return this;
+    }
+    /** three.js `ConvexHull.setFromObject`-equivalent over flat points. */
+    static fromPoints(points) {
+        return new ConvexHull().setFromPoints(points);
+    }
+    /** `true` when `point` is inside the hull (within `tolerance`). */
+    containsPoint(point) {
+        for (const face of this.faces) {
+            if (face.distanceToPoint(point) > this.tolerance)
+                return false;
+        }
+        return true;
+    }
+    /**
+     * Ray–hull intersection — "Fast Ray-Convex Polyhedron Intersection"
+     * (Haines, Graphics Gems II). Returns the nearer hit point or `undefined`.
+     */
+    intersectRay(ray) {
+        const faces = this.faces;
+        let tNear = -Infinity;
+        let tFar = Infinity;
+        for (const face of faces) {
+            const vN = face.distanceToPoint(ray.origin);
+            const vD = face.normal.dot(ray.direction);
+            // plane can "see" the origin and ray points away/parallel → no hit
+            if (vN > 0 && vD >= 0)
+                return undefined;
+            const t = vD !== 0 ? -vN / vD : 0;
+            if (t <= 0)
+                continue;
+            if (vD > 0) {
+                tFar = Math.min(t, tFar);
+            }
+            else {
+                tNear = Math.max(t, tNear);
+            }
+            if (tNear > tFar)
+                return undefined;
+        }
+        if (tNear !== -Infinity) {
+            return ray.at(tNear);
+        }
+        return ray.at(tFar);
+    }
+    intersectsRay(ray) {
+        return this.intersectRay(ray) !== undefined;
+    }
+    makeEmpty() {
+        this.faces = [];
+        this.vertices = [];
+        return this;
+    }
+    // ---- internals (verbatim QuickHull port) ----
+    addVertexToFace(vertex, face) {
+        vertex.face = face;
+        if (face.outside === null) {
+            this.assigned.append(vertex);
+        }
+        else {
+            this.assigned.insertBefore(face.outside, vertex);
+        }
+        face.outside = vertex;
+    }
+    removeVertexFromFace(vertex, face) {
+        if (vertex === face.outside) {
+            if (vertex.next !== null && vertex.next.face === face) {
+                face.outside = vertex.next;
+            }
+            else {
+                face.outside = null;
+            }
+        }
+        this.assigned.remove(vertex);
+    }
+    removeAllVerticesFromFace(face) {
+        if (face.outside !== null) {
+            const start = face.outside;
+            let end = face.outside;
+            while (end.next !== null && end.next.face === face) {
+                end = end.next;
+            }
+            this.assigned.removeSubList(start, end);
+            start.prev = null;
+            end.next = null;
+            face.outside = null;
+            return start;
+        }
+        return undefined;
+    }
+    deleteFaceVertices(face, absorbingFace) {
+        const faceVertices = this.removeAllVerticesFromFace(face);
+        if (faceVertices !== undefined) {
+            if (absorbingFace === undefined) {
+                this.unassigned.appendChain(faceVertices);
+            }
+            else {
+                let vertex = faceVertices;
+                do {
+                    const nextVertex = vertex.next;
+                    const distance = absorbingFace.distanceToPoint(vertex.point);
+                    if (distance > this.tolerance) {
+                        this.addVertexToFace(vertex, absorbingFace);
+                    }
+                    else {
+                        this.unassigned.append(vertex);
+                    }
+                    vertex = nextVertex;
+                } while (vertex !== null);
+            }
+        }
+    }
+    resolveUnassignedPoints(newFaces) {
+        if (!this.unassigned.isEmpty()) {
+            let vertex = this.unassigned.first();
+            do {
+                const nextVertex = vertex.next;
+                let maxDistance = this.tolerance;
+                let maxFace = null;
+                for (const face of newFaces) {
+                    if (face.mark === Visible) {
+                        const distance = face.distanceToPoint(vertex.point);
+                        if (distance > maxDistance) {
+                            maxDistance = distance;
+                            maxFace = face;
+                        }
+                        if (maxDistance > 1000 * this.tolerance)
+                            break;
+                    }
+                }
+                if (maxFace !== null) {
+                    this.addVertexToFace(vertex, maxFace);
+                }
+                vertex = nextVertex;
+            } while (vertex !== null);
+        }
+    }
+    computeExtremes() {
+        const minVertices = [];
+        const maxVertices = [];
+        const min = this.vertices[0].point.toArray();
+        const max = this.vertices[0].point.toArray();
+        for (let i = 0; i < 3; i += 1) {
+            minVertices[i] = this.vertices[0];
+            maxVertices[i] = this.vertices[0];
+        }
+        for (const vertex of this.vertices) {
+            const point = vertex.point;
+            for (let j = 0; j < 3; j += 1) {
+                if (point.getComponent(j) < min[j]) {
+                    min[j] = point.getComponent(j);
+                    minVertices[j] = vertex;
+                }
+            }
+            for (let j = 0; j < 3; j += 1) {
+                if (point.getComponent(j) > max[j]) {
+                    max[j] = point.getComponent(j);
+                    maxVertices[j] = vertex;
+                }
+            }
+        }
+        this.tolerance =
+            3 * Number.EPSILON *
+                (Math.max(Math.abs(min[0]), Math.abs(max[0])) +
+                    Math.max(Math.abs(min[1]), Math.abs(max[1])) +
+                    Math.max(Math.abs(min[2]), Math.abs(max[2])));
+        return { min: minVertices, max: maxVertices };
+    }
+    computeInitialHull() {
+        const vertices = this.vertices;
+        const extremes = this.computeExtremes();
+        const min = extremes.min;
+        const max = extremes.max;
+        // 1. v0/v1: greatest 1D separation
+        let maxDistance = 0;
+        let index = 0;
+        for (let i = 0; i < 3; i += 1) {
+            const distance = max[i].point.getComponent(i) - min[i].point.getComponent(i);
+            if (distance > maxDistance) {
+                maxDistance = distance;
+                index = i;
+            }
+        }
+        const v0 = min[index];
+        const v1 = max[index];
+        let v2;
+        let v3;
+        // 2. v2: farthest from line v0–v1
+        maxDistance = 0;
+        const line3 = new Line3(v0.point, v1.point);
+        for (const vertex of vertices) {
+            if (vertex !== v0 && vertex !== v1) {
+                const closest = line3.closestPointToPoint(vertex.point, true);
+                const distance = closest.distanceToSquared(vertex.point);
+                if (distance > maxDistance) {
+                    maxDistance = distance;
+                    v2 = vertex;
+                }
+            }
+        }
+        // 3. v3: farthest from plane v0,v1,v2
+        maxDistance = -1;
+        const plane = Plane.fromCoplanarPoints(v0.point, v1.point, v2.point);
+        for (const vertex of vertices) {
+            if (vertex !== v0 && vertex !== v1 && vertex !== v2) {
+                const distance = Math.abs(plane.distanceToPoint(vertex.point));
+                if (distance > maxDistance) {
+                    maxDistance = distance;
+                    v3 = vertex;
+                }
+            }
+        }
+        const faces = [];
+        if (plane.distanceToPoint(v3.point) < 0) {
+            faces.push(ConvexHullFace.create(v0, v1, v2), ConvexHullFace.create(v3, v1, v0), ConvexHullFace.create(v3, v2, v1), ConvexHullFace.create(v3, v0, v2));
+            for (let i = 0; i < 3; i += 1) {
+                const j = (i + 1) % 3;
+                faces[i + 1].getEdge(2).setTwin(faces[0].getEdge(j));
+                faces[i + 1].getEdge(1).setTwin(faces[j + 1].getEdge(0));
+            }
+        }
+        else {
+            faces.push(ConvexHullFace.create(v0, v2, v1), ConvexHullFace.create(v3, v0, v1), ConvexHullFace.create(v3, v1, v2), ConvexHullFace.create(v3, v2, v0));
+            for (let i = 0; i < 3; i += 1) {
+                const j = (i + 1) % 3;
+                faces[i + 1].getEdge(2).setTwin(faces[0].getEdge((3 - i) % 3));
+                faces[i + 1].getEdge(0).setTwin(faces[j + 1].getEdge(1));
+            }
+        }
+        for (const face of faces) {
+            this.faces.push(face);
+        }
+        // initial assignment of vertices to the tetrahedron faces
+        for (const vertex of vertices) {
+            if (vertex !== v0 && vertex !== v1 && vertex !== v2 && vertex !== v3) {
+                maxDistance = this.tolerance;
+                let maxFace = null;
+                for (let j = 0; j < 4; j += 1) {
+                    const distance = this.faces[j].distanceToPoint(vertex.point);
+                    if (distance > maxDistance) {
+                        maxDistance = distance;
+                        maxFace = this.faces[j];
+                    }
+                }
+                if (maxFace !== null) {
+                    this.addVertexToFace(vertex, maxFace);
+                }
+            }
+        }
+    }
+    reindexFaces() {
+        const activeFaces = [];
+        for (const face of this.faces) {
+            if (face.mark === Visible) {
+                activeFaces.push(face);
+            }
+        }
+        this.faces = activeFaces;
+    }
+    nextVertexToAdd() {
+        if (!this.assigned.isEmpty()) {
+            let eyeVertex;
+            let maxDistance = 0;
+            const eyeFace = this.assigned.first().face;
+            let vertex = eyeFace.outside;
+            do {
+                const distance = eyeFace.distanceToPoint(vertex.point);
+                if (distance > maxDistance) {
+                    maxDistance = distance;
+                    eyeVertex = vertex;
+                }
+                vertex = vertex.next;
+            } while (vertex !== null && vertex.face === eyeFace);
+            return eyeVertex;
+        }
+        return undefined;
+    }
+    computeHorizon(eyePoint, crossEdge, face, horizon) {
+        this.deleteFaceVertices(face);
+        face.mark = Deleted;
+        let edge;
+        let cross = crossEdge;
+        if (cross === null) {
+            cross = face.getEdge(0);
+            edge = cross;
+        }
+        else {
+            edge = cross.next;
+        }
+        do {
+            const twinEdge = edge.twin;
+            const oppositeFace = twinEdge.face;
+            if (oppositeFace.mark === Visible) {
+                if (oppositeFace.distanceToPoint(eyePoint) > this.tolerance) {
+                    this.computeHorizon(eyePoint, twinEdge, oppositeFace, horizon);
+                }
+                else {
+                    horizon.push(edge);
+                }
+            }
+            edge = edge.next;
+        } while (edge !== cross);
+    }
+    addAdjoiningFace(eyeVertex, horizonEdge) {
+        const face = ConvexHullFace.create(eyeVertex, horizonEdge.tail(), horizonEdge.head());
+        this.faces.push(face);
+        face.getEdge(-1).setTwin(horizonEdge.twin);
+        return face.getEdge(0);
+    }
+    addNewFaces(eyeVertex, horizon) {
+        this.newFaces = [];
+        let firstSideEdge = null;
+        let previousSideEdge = null;
+        for (const horizonEdge of horizon) {
+            const sideEdge = this.addAdjoiningFace(eyeVertex, horizonEdge);
+            if (firstSideEdge === null) {
+                firstSideEdge = sideEdge;
+            }
+            else {
+                sideEdge.next.setTwin(previousSideEdge);
+            }
+            this.newFaces.push(sideEdge.face);
+            previousSideEdge = sideEdge;
+        }
+        firstSideEdge.next.setTwin(previousSideEdge);
+    }
+    addVertexToHull(eyeVertex) {
+        const horizon = [];
+        this.unassigned.clear();
+        this.removeVertexFromFace(eyeVertex, eyeVertex.face);
+        this.computeHorizon(eyeVertex.point, null, eyeVertex.face, horizon);
+        this.addNewFaces(eyeVertex, horizon);
+        this.resolveUnassignedPoints(this.newFaces);
+    }
+    cleanup() {
+        this.assigned.clear();
+        this.unassigned.clear();
+        this.newFaces = [];
+    }
+    compute() {
+        this.computeInitialHull();
+        let vertex;
+        while ((vertex = this.nextVertexToAdd()) !== undefined) {
+            this.addVertexToHull(vertex);
+        }
+        this.reindexFaces();
+        this.cleanup();
+        return this;
+    }
+}
+/** Hull face — holds a half-edge loop plus plane data. */
+export class ConvexHullFace {
+    normal = new Vector3(0, 0, 0);
+    midpoint = new Vector3(0, 0, 0);
+    area = 0;
+    constant = 0;
+    outside = null;
+    mark = Visible;
+    edge = null;
+    static create(a, b, c) {
+        const face = new ConvexHullFace();
+        const e0 = new HalfEdge(a, face);
+        const e1 = new HalfEdge(b, face);
+        const e2 = new HalfEdge(c, face);
+        e0.next = e2.prev = e1;
+        e1.next = e0.prev = e2;
+        e2.next = e1.prev = e0;
+        face.edge = e0;
+        return face.compute();
+    }
+    getEdge(i) {
+        let edge = this.edge;
+        while (i > 0) {
+            edge = edge.next;
+            i -= 1;
+        }
+        while (i < 0) {
+            edge = edge.prev;
+            i += 1;
+        }
+        return edge;
+    }
+    compute() {
+        const a = this.edge.tail();
+        const b = this.edge.head();
+        const c = this.edge.next.head();
+        const triangle = new Triangle(a.point, b.point, c.point);
+        this.normal = triangle.getNormal();
+        this.midpoint = triangle.getMidpoint();
+        this.area = triangle.getArea();
+        this.constant = this.normal.dot(this.midpoint);
+        return this;
+    }
+    distanceToPoint(point) {
+        return this.normal.dot(point) - this.constant;
+    }
+}
+/** Doubly-linked half-edge (three `HalfEdge`). */
+export class HalfEdge {
+    vertex;
+    face;
+    prev = null;
+    next = null;
+    twin = null;
+    constructor(vertex, face) {
+        this.vertex = vertex;
+        this.face = face;
+    }
+    head() {
+        return this.vertex;
+    }
+    tail() {
+        return this.prev ? this.prev.vertex : null;
+    }
+    length() {
+        const head = this.head();
+        const tail = this.tail();
+        if (tail !== null) {
+            return tail.point.distanceTo(head.point);
+        }
+        return -1;
+    }
+    lengthSquared() {
+        const head = this.head();
+        const tail = this.tail();
+        if (tail !== null) {
+            return tail.point.distanceToSquared(head.point);
+        }
+        return -1;
+    }
+    setTwin(edge) {
+        this.twin = edge;
+        edge.twin = this;
+        return this;
+    }
+}
+/** Doubly-linked vertex node (three `VertexNode`). */
+export class VertexNode {
+    point;
+    prev = null;
+    next = null;
+    face = null;
+    constructor(point) {
+        this.point = point;
+    }
+}
+/** Doubly-linked vertex list (three `VertexList`). */
+export class VertexList {
+    head = null;
+    tail = null;
+    first() {
+        return this.head;
+    }
+    last() {
+        return this.tail;
+    }
+    clear() {
+        this.head = this.tail = null;
+        return this;
+    }
+    insertBefore(target, vertex) {
+        vertex.prev = target.prev;
+        vertex.next = target;
+        if (vertex.prev === null) {
+            this.head = vertex;
+        }
+        else {
+            vertex.prev.next = vertex;
+        }
+        target.prev = vertex;
+        return this;
+    }
+    insertAfter(target, vertex) {
+        vertex.prev = target;
+        vertex.next = target.next;
+        if (vertex.next === null) {
+            this.tail = vertex;
+        }
+        else {
+            vertex.next.prev = vertex;
+        }
+        target.next = vertex;
+        return this;
+    }
+    append(vertex) {
+        if (this.head === null) {
+            this.head = vertex;
+        }
+        else {
+            this.tail.next = vertex;
+        }
+        vertex.prev = this.tail;
+        vertex.next = null;
+        this.tail = vertex;
+        return this;
+    }
+    appendChain(vertex) {
+        if (this.head === null) {
+            this.head = vertex;
+        }
+        else {
+            this.tail.next = vertex;
+        }
+        vertex.prev = this.tail;
+        let v = vertex;
+        while (v.next !== null) {
+            v = v.next;
+        }
+        this.tail = v;
+        return this;
+    }
+    remove(vertex) {
+        if (vertex.prev === null) {
+            this.head = vertex.next;
+        }
+        else {
+            vertex.prev.next = vertex.next;
+        }
+        if (vertex.next === null) {
+            this.tail = vertex.prev;
+        }
+        else {
+            vertex.next.prev = vertex.prev;
+        }
+        return this;
+    }
+    removeSubList(a, b) {
+        if (a.prev === null) {
+            this.head = b.next;
+        }
+        else {
+            a.prev.next = b.next;
+        }
+        if (b.next === null) {
+            this.tail = a.prev;
+        }
+        else {
+            b.next.prev = a.prev;
+        }
+        return this;
+    }
+    isEmpty() {
+        return this.head === null;
+    }
+}
+//# sourceMappingURL=ConvexHull.js.map

package/dist/math/ConvexHull.js.map

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