@aura3d/math 4.0.3 → 4.0.5

package/dist/Matrix4.d.ts

@@ -41,5 +41,8 @@ export declare class Matrix4 {
         scale: Vector3;
     };
     getTranslation(): Vector3;
+    /** three.js `getMaxScaleOnAxis` — sqrt of the largest column length squared. */
+    maxScaleOnAxis(): number;
+    equals(matrix: Matrix4): boolean;
 }
 //# sourceMappingURL=Matrix4.d.ts.map

package/dist/Matrix4.d.ts.map

@@ -1 +1 @@
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package/dist/Matrix4.js

@@ -200,5 +200,22 @@ export class Matrix4 {
         const m = this.elements;
         return new Vector3(m[12], m[13], m[14]);
     }
+    /** three.js `getMaxScaleOnAxis` — sqrt of the largest column length squared. */
+    maxScaleOnAxis() {
+        const m = this.elements;
+        const scaleXSq = m[0] * m[0] + m[1] * m[1] + m[2] * m[2];
+        const scaleYSq = m[4] * m[4] + m[5] * m[5] + m[6] * m[6];
+        const scaleZSq = m[8] * m[8] + m[9] * m[9] + m[10] * m[10];
+        return Math.sqrt(Math.max(scaleXSq, scaleYSq, scaleZSq));
+    }
+    equals(matrix) {
+        const a = this.elements;
+        const b = matrix.elements;
+        for (let i = 0; i < 16; i += 1) {
+            if (a[i] !== b[i])
+                return false;
+        }
+        return true;
+    }
 }
 //# sourceMappingURL=Matrix4.js.map

package/dist/Matrix4.js.map

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package/dist/OBB.d.ts

@@ -0,0 +1,44 @@
+import { Box3 } from "./Box3.js";
+import { Matrix3 } from "./Matrix3.js";
+import { Matrix4 } from "./Matrix4.js";
+import { Ray } from "./Ray.js";
+import { Vector3 } from "./Vector3.js";
+import type { Plane } from "./Plane.js";
+import type { Sphere } from "./Sphere.js";
+/**
+ * Oriented bounding box `(center, halfSize, rotation)` —
+ * three.js `examples/jsm/math/OBB.js` parity (immutable methods;
+ * `rotation` is a `Matrix3` whose columns are the OBB axes).
+ */
+export declare class OBB {
+    readonly center: Vector3;
+    readonly halfSize: Vector3;
+    readonly rotation: Matrix3;
+    constructor(center?: Vector3, halfSize?: Vector3, rotation?: Matrix3);
+    set(center: Vector3, halfSize: Vector3, rotation: Matrix3): OBB;
+    clone(): OBB;
+    copy(obb: OBB): OBB;
+    getSize(): Vector3;
+    /** Axis-aligned equivalent (identity rotation) — three `OBB.fromBox3`. */
+    static fromBox3(box3: Box3): OBB;
+    /** Closest point on the OBB to `point` — Ericson RTCD 5.1.4. */
+    clampPoint(point: Vector3): Vector3;
+    containsPoint(point: Vector3): boolean;
+    intersectsBox3(box3: Box3): boolean;
+    intersectsSphere(sphere: Sphere): boolean;
+    /** OBB–OBB SAT test — Ericson RTCD 4.4.1 (verbatim three port). */
+    intersectsOBB(obb: OBB, epsilon?: number): boolean;
+    /**
+     * OBB–plane test — Ericson RTCD 5.2.3.
+     * NOTE: ports three's `n·center − constant` distance expression verbatim
+     * (differs in constant sign from `Plane.distanceToPoint`; kept for parity).
+     */
+    intersectsPlane(plane: Plane): boolean;
+    /** Ray–OBB hit via local-space AABB test (three `OBB.intersectRay`). */
+    intersectRay(ray: Ray): Vector3 | undefined;
+    intersectsRay(ray: Ray): boolean;
+    equals(obb: OBB, epsilon?: number): boolean;
+    /** three.js `OBB.applyMatrix4` — decomposes scale, composes rotation. */
+    applyMatrix4(matrix: Matrix4): OBB;
+}
+//# sourceMappingURL=OBB.d.ts.map

package/dist/OBB.d.ts.map

@@ -0,0 +1 @@
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package/dist/OBB.js

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+import { Box3 } from "./Box3.js";
+import { Matrix3 } from "./Matrix3.js";
+import { Matrix4 } from "./Matrix4.js";
+import { Ray } from "./Ray.js";
+import { Vector3 } from "./Vector3.js";
+function clamp(v, min, max) {
+    return Math.max(min, Math.min(max, v));
+}
+/**
+ * Oriented bounding box `(center, halfSize, rotation)` —
+ * three.js `examples/jsm/math/OBB.js` parity (immutable methods;
+ * `rotation` is a `Matrix3` whose columns are the OBB axes).
+ */
+export class OBB {
+    center;
+    halfSize;
+    rotation;
+    constructor(center = new Vector3(0, 0, 0), halfSize = new Vector3(0, 0, 0), rotation = new Matrix3()) {
+        this.center = center;
+        this.halfSize = halfSize;
+        this.rotation = rotation;
+    }
+    set(center, halfSize, rotation) {
+        return new OBB(center, halfSize, rotation);
+    }
+    clone() {
+        return new OBB(this.center, this.halfSize, this.rotation);
+    }
+    copy(obb) {
+        return new OBB(obb.center, obb.halfSize, obb.rotation);
+    }
+    getSize() {
+        return this.halfSize.multiplyScalar(2);
+    }
+    /** Axis-aligned equivalent (identity rotation) — three `OBB.fromBox3`. */
+    static fromBox3(box3) {
+        return new OBB(box3.getCenter(), box3.getSize().multiplyScalar(0.5), new Matrix3());
+    }
+    /** Closest point on the OBB to `point` — Ericson RTCD 5.1.4. */
+    clampPoint(point) {
+        const halfSize = this.halfSize;
+        const v1 = point.subtract(this.center);
+        const [xAxis, yAxis, zAxis] = this.rotation.extractBasis();
+        // start at the center position of the OBB
+        let target = this.center;
+        // project the target onto the OBB axes and walk towards that point
+        const x = clamp(v1.dot(xAxis), -halfSize.x, halfSize.x);
+        target = target.add(xAxis.multiplyScalar(x));
+        const y = clamp(v1.dot(yAxis), -halfSize.y, halfSize.y);
+        target = target.add(yAxis.multiplyScalar(y));
+        const z = clamp(v1.dot(zAxis), -halfSize.z, halfSize.z);
+        return target.add(zAxis.multiplyScalar(z));
+    }
+    containsPoint(point) {
+        const v1 = point.subtract(this.center);
+        const [xAxis, yAxis, zAxis] = this.rotation.extractBasis();
+        return (Math.abs(v1.dot(xAxis)) <= this.halfSize.x &&
+            Math.abs(v1.dot(yAxis)) <= this.halfSize.y &&
+            Math.abs(v1.dot(zAxis)) <= this.halfSize.z);
+    }
+    intersectsBox3(box3) {
+        return this.intersectsOBB(OBB.fromBox3(box3));
+    }
+    intersectsSphere(sphere) {
+        const closestPoint = this.clampPoint(sphere.center);
+        return closestPoint.distanceToSquared(sphere.center) <= sphere.radius * sphere.radius;
+    }
+    /** OBB–OBB SAT test — Ericson RTCD 4.4.1 (verbatim three port). */
+    intersectsOBB(obb, epsilon = Number.EPSILON) {
+        const a = { c: this.center, e: [this.halfSize.x, this.halfSize.y, this.halfSize.z], u: this.rotation.extractBasis() };
+        const b = { c: obb.center, e: [obb.halfSize.x, obb.halfSize.y, obb.halfSize.z], u: obb.rotation.extractBasis() };
+        // rotation matrix expressing b in a's coordinate frame
+        const R = [[], [], []];
+        const AbsR = [[], [], []];
+        for (let i = 0; i < 3; i += 1) {
+            for (let j = 0; j < 3; j += 1) {
+                R[i][j] = a.u[i].dot(b.u[j]);
+            }
+        }
+        // translation vector, in a's coordinate frame
+        const v1 = b.c.subtract(a.c);
+        const t = [v1.dot(a.u[0]), v1.dot(a.u[1]), v1.dot(a.u[2])];
+        // common subexpressions + epsilon term
+        for (let i = 0; i < 3; i += 1) {
+            for (let j = 0; j < 3; j += 1) {
+                AbsR[i][j] = Math.abs(R[i][j]) + epsilon;
+            }
+        }
+        let ra;
+        let rb;
+        // test axes L = A0, L = A1, L = A2
+        for (let i = 0; i < 3; i += 1) {
+            ra = a.e[i];
+            rb = b.e[0] * AbsR[i][0] + b.e[1] * AbsR[i][1] + b.e[2] * AbsR[i][2];
+            if (Math.abs(t[i]) > ra + rb)
+                return false;
+        }
+        // test axes L = B0, L = B1, L = B2
+        for (let i = 0; i < 3; i += 1) {
+            ra = a.e[0] * AbsR[0][i] + a.e[1] * AbsR[1][i] + a.e[2] * AbsR[2][i];
+            rb = b.e[i];
+            if (Math.abs(t[0] * R[0][i] + t[1] * R[1][i] + t[2] * R[2][i]) > ra + rb)
+                return false;
+        }
+        // test axis L = A0 x B0
+        ra = a.e[1] * AbsR[2][0] + a.e[2] * AbsR[1][0];
+        rb = b.e[1] * AbsR[0][2] + b.e[2] * AbsR[0][1];
+        if (Math.abs(t[2] * R[1][0] - t[1] * R[2][0]) > ra + rb)
+            return false;
+        // test axis L = A0 x B1
+        ra = a.e[1] * AbsR[2][1] + a.e[2] * AbsR[1][1];
+        rb = b.e[0] * AbsR[0][2] + b.e[2] * AbsR[0][0];
+        if (Math.abs(t[2] * R[1][1] - t[1] * R[2][1]) > ra + rb)
+            return false;
+        // test axis L = A0 x B2
+        ra = a.e[1] * AbsR[2][2] + a.e[2] * AbsR[1][2];
+        rb = b.e[0] * AbsR[0][1] + b.e[1] * AbsR[0][0];
+        if (Math.abs(t[2] * R[1][2] - t[1] * R[2][2]) > ra + rb)
+            return false;
+        // test axis L = A1 x B0
+        ra = a.e[0] * AbsR[2][0] + a.e[2] * AbsR[0][0];
+        rb = b.e[1] * AbsR[1][2] + b.e[2] * AbsR[1][1];
+        if (Math.abs(t[0] * R[2][0] - t[2] * R[0][0]) > ra + rb)
+            return false;
+        // test axis L = A1 x B1
+        ra = a.e[0] * AbsR[2][1] + a.e[2] * AbsR[0][1];
+        rb = b.e[0] * AbsR[1][2] + b.e[2] * AbsR[1][0];
+        if (Math.abs(t[0] * R[2][1] - t[2] * R[0][1]) > ra + rb)
+            return false;
+        // test axis L = A1 x B2
+        ra = a.e[0] * AbsR[2][2] + a.e[2] * AbsR[0][2];
+        rb = b.e[0] * AbsR[1][1] + b.e[1] * AbsR[1][0];
+        if (Math.abs(t[0] * R[2][2] - t[2] * R[0][2]) > ra + rb)
+            return false;
+        // test axis L = A2 x B0
+        ra = a.e[0] * AbsR[1][0] + a.e[1] * AbsR[0][0];
+        rb = b.e[1] * AbsR[2][2] + b.e[2] * AbsR[2][1];
+        if (Math.abs(t[1] * R[0][0] - t[0] * R[1][0]) > ra + rb)
+            return false;
+        // test axis L = A2 x B1
+        ra = a.e[0] * AbsR[1][1] + a.e[1] * AbsR[0][1];
+        rb = b.e[0] * AbsR[2][2] + b.e[2] * AbsR[2][0];
+        if (Math.abs(t[1] * R[0][1] - t[0] * R[1][1]) > ra + rb)
+            return false;
+        // test axis L = A2 x B2
+        ra = a.e[0] * AbsR[1][2] + a.e[1] * AbsR[0][2];
+        rb = b.e[0] * AbsR[2][1] + b.e[1] * AbsR[2][0];
+        if (Math.abs(t[1] * R[0][2] - t[0] * R[1][2]) > ra + rb)
+            return false;
+        return true;
+    }
+    /**
+     * OBB–plane test — Ericson RTCD 5.2.3.
+     * NOTE: ports three's `n·center − constant` distance expression verbatim
+     * (differs in constant sign from `Plane.distanceToPoint`; kept for parity).
+     */
+    intersectsPlane(plane) {
+        const [xAxis, yAxis, zAxis] = this.rotation.extractBasis();
+        const r = this.halfSize.x * Math.abs(plane.normal.dot(xAxis)) +
+            this.halfSize.y * Math.abs(plane.normal.dot(yAxis)) +
+            this.halfSize.z * Math.abs(plane.normal.dot(zAxis));
+        const d = plane.normal.dot(this.center) - plane.constant;
+        return Math.abs(d) <= r;
+    }
+    /** Ray–OBB hit via local-space AABB test (three `OBB.intersectRay`). */
+    intersectRay(ray) {
+        const size = this.getSize();
+        const aabb = Box3.setFromCenterAndSize(new Vector3(0, 0, 0), size);
+        // local OBB frame matrix: basis columns + center
+        const re = this.rotation.elements;
+        const matrix = new Matrix4([
+            re[0], re[1], re[2], 0,
+            re[3], re[4], re[5], 0,
+            re[6], re[7], re[8], 0,
+            this.center.x, this.center.y, this.center.z, 1
+        ]);
+        const inverse = matrix.inverse();
+        const localRay = ray.applyMatrix4(inverse);
+        const hit = localRay.intersectBox(aabb);
+        if (hit === undefined)
+            return undefined;
+        return hit.transformMatrix4(matrix);
+    }
+    intersectsRay(ray) {
+        return this.intersectRay(ray) !== undefined;
+    }
+    equals(obb, epsilon = 1e-10) {
+        return (obb.center.equals(this.center, epsilon) &&
+            obb.halfSize.equals(this.halfSize, epsilon) &&
+            obb.rotation.equals(this.rotation));
+    }
+    /** three.js `OBB.applyMatrix4` — decomposes scale, composes rotation. */
+    applyMatrix4(matrix) {
+        const e = matrix.elements;
+        let sx = new Vector3(e[0], e[1], e[2]).length();
+        const sy = new Vector3(e[4], e[5], e[6]).length();
+        const sz = new Vector3(e[8], e[9], e[10]).length();
+        const det = matrix.determinant();
+        if (det < 0)
+            sx = -sx;
+        const invSX = 1 / sx;
+        const invSY = 1 / sy;
+        const invSZ = 1 / sz;
+        const rm = Matrix3.fromMatrix4(matrix);
+        const me = rm.elements;
+        const rotationMatrix = new Matrix3([
+            me[0] * invSX, me[1] * invSX, me[2] * invSX,
+            me[3] * invSY, me[4] * invSY, me[5] * invSY,
+            me[6] * invSZ, me[7] * invSZ, me[8] * invSZ
+        ]);
+        return new OBB(this.center.add(matrix.getTranslation()), new Vector3(this.halfSize.x * sx, this.halfSize.y * sy, this.halfSize.z * sz), this.rotation.multiply(rotationMatrix));
+    }
+}
+//# sourceMappingURL=OBB.js.map

package/dist/OBB.js.map

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package/dist/Octree.d.ts

@@ -0,0 +1,72 @@
+import { Box3 } from "./Box3.js";
+import { Capsule } from "./Capsule.js";
+import { Sphere } from "./Sphere.js";
+import { Triangle } from "./Triangle.js";
+import { Vector3 } from "./Vector3.js";
+import type { Matrix4 } from "./Matrix4.js";
+import type { Ray } from "./Ray.js";
+export interface OctreeCollisionResult {
+    readonly normal: Vector3;
+    readonly depth: number;
+}
+export interface OctreeTriangleHit {
+    readonly normal: Vector3;
+    readonly point: Vector3;
+    readonly depth: number;
+}
+export interface OctreeRayHit {
+    readonly distance: number;
+    readonly triangle: Triangle;
+    readonly position: Vector3;
+}
+/**
+ * Triangle octree — three.js `examples/jsm/math/Octree.js` parity:
+ * `addTriangle`/`build`/`split` and `boxIntersect`, `sphereIntersect`,
+ * `capsuleIntersect`, `rayIntersect` collision queries.
+ *
+ * `fromTriangles(triangles)` is the `fromGraphNode` equivalent for
+ * triangle-soup sources (meshes adapted by callers); `fromPositions` accepts
+ * raw vertex data + optional index/world transform.
+ */
+export declare class Octree {
+    /** Cell bounds — `undefined` until {@link calcBox}/{@link build}. */
+    box: Box3 | undefined;
+    /** Loose bounds grown by {@link addTriangle}. */
+    bounds: Box3;
+    trianglesPerLeaf: number;
+    maxLevel: number;
+    readonly subTrees: Octree[];
+    readonly triangles: Triangle[];
+    constructor(box?: Box3);
+    addTriangle(triangle: Triangle): this;
+    calcBox(): this;
+    split(level: number): this;
+    build(): this;
+    /** `fromGraphNode` equivalent: build over an explicit triangle list. */
+    fromTriangles(triangles: readonly Triangle[]): this;
+    /**
+     * Build over raw vertex positions with optional index list and world
+     * transform — the `fromGraphNode` equivalent for mesh data.
+     */
+    fromPositions(positions: ArrayLike<number>, indices?: ArrayLike<number>, worldMatrix?: Matrix4): this;
+    getRayTriangles(ray: Ray, triangles: Triangle[]): void;
+    triangleCapsuleIntersect(capsule: Capsule, triangle: Triangle): OctreeTriangleHit | false;
+    triangleBoxIntersect(box: Box3, triangle: Triangle): OctreeTriangleHit | false;
+    triangleSphereIntersect(sphere: Sphere, triangle: Triangle): OctreeTriangleHit | false;
+    getSphereTriangles(sphere: Sphere, triangles: Triangle[]): void;
+    getBoxTriangles(box: Box3, triangles: Triangle[]): void;
+    getCapsuleTriangles(capsule: Capsule, triangles: Triangle[]): void;
+    /**
+     * Resolves `box` against the octree — returns the accumulated collision
+     * normal + depth or `false` (three `Octree.boxIntersect`).
+     */
+    boxIntersect(box: Box3): OctreeCollisionResult | false;
+    /** three.js `Octree.sphereIntersect`. */
+    sphereIntersect(sphere: Sphere): OctreeCollisionResult | false;
+    /** three.js `Octree.capsuleIntersect`. */
+    capsuleIntersect(capsule: Capsule): OctreeCollisionResult | false;
+    /** three.js `Octree.rayIntersect` — nearest triangle hit (backface-culled). */
+    rayIntersect(ray: Ray): OctreeRayHit | false;
+    clear(): this;
+}
+//# sourceMappingURL=Octree.d.ts.map

package/dist/Octree.d.ts.map

@@ -0,0 +1 @@
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