@aura3d/math 4.0.3 → 4.0.5

package/dist/Octree.js

@@ -0,0 +1,385 @@
+import { Box3 } from "./Box3.js";
+import { Capsule } from "./Capsule.js";
+import { Line3 } from "./Line3.js";
+import { Sphere } from "./Sphere.js";
+import { Triangle } from "./Triangle.js";
+import { Vector3 } from "./Vector3.js";
+const EPS = 1e-10;
+/** Closest points on two finite line segments (three `lineToLineClosestPoints`). */
+function lineToLineClosestPoints(line1, line2) {
+    const r = line1.end.subtract(line1.start);
+    const s = line2.end.subtract(line2.start);
+    const w = line2.start.subtract(line1.start);
+    const a = r.dot(s);
+    const b = r.dot(r);
+    const c = s.dot(s);
+    const d = s.dot(w);
+    const e = r.dot(w);
+    let t1;
+    let t2;
+    const divisor = b * c - a * a;
+    if (Math.abs(divisor) < EPS) {
+        const d1 = -d / c;
+        const d2 = (a - d) / c;
+        if (Math.abs(d1 - 0.5) < Math.abs(d2 - 0.5)) {
+            t1 = 0;
+            t2 = d1;
+        }
+        else {
+            t1 = 1;
+            t2 = d2;
+        }
+    }
+    else {
+        t1 = (d * a + e * c) / divisor;
+        t2 = (t1 * a - d) / c;
+    }
+    t2 = Math.max(0, Math.min(1, t2));
+    t1 = Math.max(0, Math.min(1, t1));
+    return {
+        point1: r.multiplyScalar(t1).add(line1.start),
+        point2: s.multiplyScalar(t2).add(line2.start)
+    };
+}
+/**
+ * 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 class Octree {
+    /** Cell bounds — `undefined` until {@link calcBox}/{@link build}. */
+    box;
+    /** Loose bounds grown by {@link addTriangle}. */
+    bounds = new Box3();
+    trianglesPerLeaf = 8;
+    maxLevel = 16;
+    subTrees = [];
+    triangles = [];
+    constructor(box) {
+        this.box = box;
+    }
+    addTriangle(triangle) {
+        const min = this.bounds.min;
+        const max = this.bounds.max;
+        const newMin = new Vector3(Math.min(min.x, triangle.a.x, triangle.b.x, triangle.c.x), Math.min(min.y, triangle.a.y, triangle.b.y, triangle.c.y), Math.min(min.z, triangle.a.z, triangle.b.z, triangle.c.z));
+        const newMax = new Vector3(Math.max(max.x, triangle.a.x, triangle.b.x, triangle.c.x), Math.max(max.y, triangle.a.y, triangle.b.y, triangle.c.y), Math.max(max.z, triangle.a.z, triangle.b.z, triangle.c.z));
+        this.bounds = new Box3(newMin, newMax);
+        this.triangles.push(triangle);
+        return this;
+    }
+    calcBox() {
+        this.box = this.bounds.clone();
+        // offset small amount to account for regular grid
+        this.box = new Box3(new Vector3(this.box.min.x - 0.01, this.box.min.y - 0.01, this.box.min.z - 0.01), this.box.max);
+        return this;
+    }
+    split(level) {
+        if (!this.box)
+            return this;
+        const subTrees = [];
+        const halfsize = this.box.max.subtract(this.box.min).multiplyScalar(0.5);
+        for (let x = 0; x < 2; x += 1) {
+            for (let y = 0; y < 2; y += 1) {
+                for (let z = 0; z < 2; z += 1) {
+                    const v = new Vector3(x, y, z).multiply(halfsize);
+                    const min = this.box.min.add(v);
+                    const max = min.add(halfsize);
+                    subTrees.push(new Octree(new Box3(min, max)));
+                }
+            }
+        }
+        let triangle;
+        while ((triangle = this.triangles.pop()) !== undefined) {
+            for (const subTree of subTrees) {
+                if (subTree.box.intersectsTriangle(triangle)) {
+                    subTree.triangles.push(triangle);
+                }
+            }
+        }
+        for (const subTree of subTrees) {
+            const len = subTree.triangles.length;
+            if (len > this.trianglesPerLeaf && level < this.maxLevel) {
+                subTree.split(level + 1);
+            }
+            if (len !== 0) {
+                this.subTrees.push(subTree);
+            }
+        }
+        return this;
+    }
+    build() {
+        this.calcBox();
+        this.split(0);
+        return this;
+    }
+    /** `fromGraphNode` equivalent: build over an explicit triangle list. */
+    fromTriangles(triangles) {
+        for (const triangle of triangles)
+            this.addTriangle(triangle);
+        this.build();
+        return this;
+    }
+    /**
+     * Build over raw vertex positions with optional index list and world
+     * transform — the `fromGraphNode` equivalent for mesh data.
+     */
+    fromPositions(positions, indices, worldMatrix) {
+        if (indices !== undefined && indices.length > 0) {
+            for (let i = 0; i < indices.length; i += 3) {
+                const a = Vector3.fromArray(positions, indices[i] * 3);
+                const b = Vector3.fromArray(positions, indices[i + 1] * 3);
+                const c = Vector3.fromArray(positions, indices[i + 2] * 3);
+                this.addTriangle(new Triangle(worldMatrix ? a.transformMatrix4(worldMatrix) : a, worldMatrix ? b.transformMatrix4(worldMatrix) : b, worldMatrix ? c.transformMatrix4(worldMatrix) : c));
+            }
+        }
+        else {
+            for (let i = 0; i < positions.length; i += 9) {
+                const a = Vector3.fromArray(positions, i);
+                const b = Vector3.fromArray(positions, i + 3);
+                const c = Vector3.fromArray(positions, i + 6);
+                this.addTriangle(new Triangle(worldMatrix ? a.transformMatrix4(worldMatrix) : a, worldMatrix ? b.transformMatrix4(worldMatrix) : b, worldMatrix ? c.transformMatrix4(worldMatrix) : c));
+            }
+        }
+        this.build();
+        return this;
+    }
+    getRayTriangles(ray, triangles) {
+        for (const subTree of this.subTrees) {
+            if (!ray.intersectsBox(subTree.box))
+                continue;
+            if (subTree.triangles.length > 0) {
+                for (const triangle of subTree.triangles) {
+                    if (!triangles.includes(triangle))
+                        triangles.push(triangle);
+                }
+            }
+            else {
+                subTree.getRayTriangles(ray, triangles);
+            }
+        }
+    }
+    triangleCapsuleIntersect(capsule, triangle) {
+        const plane = triangle.getPlane();
+        const d1 = plane.distanceToPoint(capsule.start) - capsule.radius;
+        const d2 = plane.distanceToPoint(capsule.end) - capsule.radius;
+        if ((d1 > 0 && d2 > 0) || (d1 < -capsule.radius && d2 < -capsule.radius)) {
+            return false;
+        }
+        const delta = Math.abs(d1 / (Math.abs(d1) + Math.abs(d2)));
+        const intersectPoint = capsule.start.lerp(capsule.end, delta);
+        if (triangle.containsPoint(intersectPoint)) {
+            return { normal: plane.normal, point: intersectPoint, depth: Math.abs(Math.min(d1, d2)) };
+        }
+        const r2 = capsule.radius * capsule.radius;
+        const line1 = new Line3(capsule.start, capsule.end);
+        const lines = [
+            [triangle.a, triangle.b],
+            [triangle.b, triangle.c],
+            [triangle.c, triangle.a]
+        ];
+        for (const [start, end] of lines) {
+            const line2 = new Line3(start, end);
+            const { point1, point2 } = lineToLineClosestPoints(line1, line2);
+            if (point1.distanceToSquared(point2) < r2) {
+                return {
+                    normal: point1.subtract(point2).normalize(),
+                    point: point2,
+                    depth: capsule.radius - point1.distanceTo(point2)
+                };
+            }
+        }
+        return false;
+    }
+    triangleBoxIntersect(box, triangle) {
+        // cheap check
+        if (Math.max(triangle.a.x, triangle.b.x, triangle.c.x) < box.min.x ||
+            Math.min(triangle.a.x, triangle.b.x, triangle.c.x) > box.max.x ||
+            Math.max(triangle.a.y, triangle.b.y, triangle.c.y) < box.min.y ||
+            Math.min(triangle.a.y, triangle.b.y, triangle.c.y) > box.max.y ||
+            Math.max(triangle.a.z, triangle.b.z, triangle.c.z) < box.min.z ||
+            Math.min(triangle.a.z, triangle.b.z, triangle.c.z) > box.max.z) {
+            return false;
+        }
+        // expensive check
+        if (!box.intersectsTriangle(triangle))
+            return false;
+        const plane = triangle.getPlane();
+        // deepest box corner relative to the plane
+        const v1 = new Vector3(plane.normal.x > 0 ? box.min.x : box.max.x, plane.normal.y > 0 ? box.min.y : box.max.y, plane.normal.z > 0 ? box.min.z : box.max.z);
+        const distance = plane.distanceToPoint(v1);
+        return {
+            depth: -distance,
+            normal: plane.normal,
+            point: v1.addScaled(plane.normal, distance)
+        };
+    }
+    triangleSphereIntersect(sphere, triangle) {
+        const plane = triangle.getPlane();
+        if (!sphere.intersectsPlane(plane))
+            return false;
+        const depth = Math.abs(plane.distanceToSphere(sphere));
+        const r2 = sphere.radius * sphere.radius - depth * depth;
+        const plainPoint = plane.projectPoint(sphere.center);
+        if (triangle.containsPoint(sphere.center)) {
+            return { normal: plane.normal, point: plainPoint, depth: Math.abs(plane.distanceToSphere(sphere)) };
+        }
+        const lines = [
+            [triangle.a, triangle.b],
+            [triangle.b, triangle.c],
+            [triangle.c, triangle.a]
+        ];
+        for (const [start, end] of lines) {
+            const line = new Line3(start, end);
+            const v2 = line.closestPointToPoint(plainPoint, true);
+            const d = v2.distanceToSquared(sphere.center);
+            if (d < r2) {
+                return {
+                    normal: sphere.center.subtract(v2).normalize(),
+                    point: v2,
+                    depth: sphere.radius - Math.sqrt(d)
+                };
+            }
+        }
+        return false;
+    }
+    getSphereTriangles(sphere, triangles) {
+        for (const subTree of this.subTrees) {
+            if (!sphere.intersectsBox(subTree.box))
+                continue;
+            if (subTree.triangles.length > 0) {
+                for (const triangle of subTree.triangles) {
+                    if (!triangles.includes(triangle))
+                        triangles.push(triangle);
+                }
+            }
+            else {
+                subTree.getSphereTriangles(sphere, triangles);
+            }
+        }
+    }
+    getBoxTriangles(box, triangles) {
+        for (const subTree of this.subTrees) {
+            if (!box.intersectsBox(subTree.box))
+                continue;
+            if (subTree.triangles.length > 0) {
+                for (const triangle of subTree.triangles) {
+                    if (!triangles.includes(triangle))
+                        triangles.push(triangle);
+                }
+            }
+            else {
+                subTree.getBoxTriangles(box, triangles);
+            }
+        }
+    }
+    getCapsuleTriangles(capsule, triangles) {
+        for (const subTree of this.subTrees) {
+            if (!capsule.intersectsBox(subTree.box))
+                continue;
+            if (subTree.triangles.length > 0) {
+                for (const triangle of subTree.triangles) {
+                    if (!triangles.includes(triangle))
+                        triangles.push(triangle);
+                }
+            }
+            else {
+                subTree.getCapsuleTriangles(capsule, triangles);
+            }
+        }
+    }
+    /**
+     * Resolves `box` against the octree — returns the accumulated collision
+     * normal + depth or `false` (three `Octree.boxIntersect`).
+     */
+    boxIntersect(box) {
+        let moving = box;
+        const triangles = [];
+        let hit = false;
+        this.getBoxTriangles(box, triangles);
+        for (const triangle of triangles) {
+            const result = this.triangleBoxIntersect(moving, triangle);
+            if (result) {
+                hit = true;
+                moving = moving.translate(result.normal.multiplyScalar(result.depth));
+            }
+        }
+        if (hit) {
+            const collisionVector = moving.getCenter().subtract(box.getCenter());
+            const depth = collisionVector.length();
+            return { normal: collisionVector.normalize(), depth };
+        }
+        return false;
+    }
+    /** three.js `Octree.sphereIntersect`. */
+    sphereIntersect(sphere) {
+        let moving = sphere;
+        const triangles = [];
+        let hit = false;
+        this.getSphereTriangles(sphere, triangles);
+        for (const triangle of triangles) {
+            const result = this.triangleSphereIntersect(moving, triangle);
+            if (result) {
+                hit = true;
+                moving = moving.translate(result.normal.multiplyScalar(result.depth));
+            }
+        }
+        if (hit) {
+            const collisionVector = moving.center.subtract(sphere.center);
+            const depth = collisionVector.length();
+            return { normal: collisionVector.normalize(), depth };
+        }
+        return false;
+    }
+    /** three.js `Octree.capsuleIntersect`. */
+    capsuleIntersect(capsule) {
+        let moving = capsule;
+        const triangles = [];
+        let hit = false;
+        this.getCapsuleTriangles(capsule, triangles);
+        for (const triangle of triangles) {
+            const result = this.triangleCapsuleIntersect(moving, triangle);
+            if (result) {
+                hit = true;
+                moving = moving.translate(result.normal.multiplyScalar(result.depth));
+            }
+        }
+        if (hit) {
+            const collisionVector = moving.getCenter().subtract(capsule.getCenter());
+            const depth = collisionVector.length();
+            return { normal: collisionVector.normalize(), depth };
+        }
+        return false;
+    }
+    /** three.js `Octree.rayIntersect` — nearest triangle hit (backface-culled). */
+    rayIntersect(ray) {
+        const triangles = [];
+        let triangle;
+        let position;
+        let distance = 1e100;
+        this.getRayTriangles(ray, triangles);
+        for (const tri of triangles) {
+            const result = ray.intersectTriangle(tri.a, tri.b, tri.c, true);
+            if (result !== undefined) {
+                const newdistance = result.subtract(ray.origin).length();
+                if (distance > newdistance) {
+                    position = result;
+                    distance = newdistance;
+                    triangle = tri;
+                }
+            }
+        }
+        return distance < 1e100 ? { distance, triangle: triangle, position: position } : false;
+    }
+    clear() {
+        this.box = undefined;
+        this.bounds = new Box3();
+        this.subTrees.length = 0;
+        this.triangles.length = 0;
+        return this;
+    }
+}
+//# sourceMappingURL=Octree.js.map

package/dist/Octree.js.map

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package/dist/Plane.d.ts

@@ -1,11 +1,53 @@
 import { Vector3 } from "./Vector3.js";
+import { Matrix3 } from "./Matrix3.js";
+import type { Line3 } from "./Line3.js";
+import type { Box3 } from "./Box3.js";
+import type { Sphere } from "./Sphere.js";
+import type { Matrix4 } from "./Matrix4.js";
+/**
+ * Plane `n·x + c = 0` with normalized `normal` — three.js `Plane` parity.
+ * The constructor normalizes `(normal, constant)` like three's
+ * `Plane.normalize()` so signed distances are always well-defined.
+ */
 export declare class Plane {
     readonly normal: Vector3;
     readonly constant: number;
     constructor(normal?: Vector3, constant?: number);
+    /** three.js `Plane.setComponents` — does NOT normalize (three semantics). */
+    static setComponents(x: number, y: number, z: number, w: number): Plane;
     static fromPointNormal(point: Vector3, normal: Vector3): Plane;
+    /** three.js `Plane.setFromNormalAndCoplanarPoint`. */
+    static setFromNormalAndCoplanarPoint(normal: Vector3, point: Vector3): Plane;
+    /** CCW winding determines the normal (three `setFromCoplanarPoints`). */
+    static fromCoplanarPoints(a: Vector3, b: Vector3, c: Vector3): Plane;
+    setFromCoplanarPoints(a: Vector3, b: Vector3, c: Vector3): Plane;
+    clone(): Plane;
+    copy(plane: Plane): Plane;
+    negate(): Plane;
     distanceToPoint(point: Vector3): number;
+    /** Signed distance to a sphere's center plus its radius (three `distanceToSphere`). */
+    distanceToSphere(sphere: Sphere): number;
     projectPoint(point: Vector3): Vector3;
+    /** Point on the plane nearest the origin — `normal * -constant` (three `coplanarPoint`). */
+    coplanarPoint(): Vector3;
+    /**
+     * Segment intersection — three.js `Plane.intersectLine` parity:
+     * coplanar line returns `line.start`, parallel returns `undefined`,
+     * and `undefined` when the intersection lies outside the segment.
+     */
     intersectLine(start: Vector3, end: Vector3): Vector3 | undefined;
+    intersectLine(line: Line3): Vector3 | undefined;
+    /** Whether the segment `line` crosses the plane (three `intersectsLine`). */
+    intersectsLine(line: Line3): boolean;
+    intersectsBox(box: Box3): boolean;
+    intersectsSphere(sphere: Sphere): boolean;
+    /**
+     * three.js `Plane.applyMatrix4` — the matrix must be affine; pass a
+     * precomputed `Matrix3.getNormalMatrix(matrix)` as `normalMatrix` to
+     * skip recomputation.
+     */
+    applyMatrix4(matrix: Matrix4, normalMatrix?: Matrix3): Plane;
+    translate(offset: Vector3): Plane;
+    equals(plane: Plane, epsilon?: number): boolean;
 }
 //# sourceMappingURL=Plane.d.ts.map

package/dist/Plane.d.ts.map

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package/dist/Plane.js

@@ -1,4 +1,10 @@
 import { Vector3 } from "./Vector3.js";
+import { Matrix3 } from "./Matrix3.js";
+/**
+ * Plane `n·x + c = 0` with normalized `normal` — three.js `Plane` parity.
+ * The constructor normalizes `(normal, constant)` like three's
+ * `Plane.normalize()` so signed distances are always well-defined.
+ */
 export class Plane {
     normal;
     constant;
@@ -9,23 +15,93 @@ export class Plane {
         this.normal = normal.multiplyScalar(1 / len);
         this.constant = constant / len;
     }
+    /** three.js `Plane.setComponents` — does NOT normalize (three semantics). */
+    static setComponents(x, y, z, w) {
+        return new Plane(new Vector3(x, y, z), w);
+    }
     static fromPointNormal(point, normal) {
         const normalized = normal.normalize();
         return new Plane(normalized, -point.dot(normalized));
     }
+    /** three.js `Plane.setFromNormalAndCoplanarPoint`. */
+    static setFromNormalAndCoplanarPoint(normal, point) {
+        return Plane.fromPointNormal(point, normal);
+    }
+    /** CCW winding determines the normal (three `setFromCoplanarPoints`). */
+    static fromCoplanarPoints(a, b, c) {
+        const normal = c.subtract(b).cross(a.subtract(b)).normalize();
+        return Plane.fromPointNormal(a, normal);
+    }
+    setFromCoplanarPoints(a, b, c) {
+        return Plane.fromCoplanarPoints(a, b, c);
+    }
+    clone() {
+        return new Plane(this.normal, this.constant);
+    }
+    copy(plane) {
+        return new Plane(plane.normal, plane.constant);
+    }
+    negate() {
+        return new Plane(this.normal.negate(), -this.constant);
+    }
     distanceToPoint(point) {
         return this.normal.dot(point) + this.constant;
     }
+    /** Signed distance to a sphere's center plus its radius (three `distanceToSphere`). */
+    distanceToSphere(sphere) {
+        return this.distanceToPoint(sphere.center) - sphere.radius;
+    }
     projectPoint(point) {
         return point.subtract(this.normal.multiplyScalar(this.distanceToPoint(point)));
     }
-    intersectLine(start, end) {
+    /** Point on the plane nearest the origin — `normal * -constant` (three `coplanarPoint`). */
+    coplanarPoint() {
+        return this.normal.multiplyScalar(-this.constant);
+    }
+    intersectLine(a, b) {
+        const start = a instanceof Vector3 ? a : a.start;
+        const end = a instanceof Vector3 ? b : a.end;
         const direction = end.subtract(start);
         const denominator = this.normal.dot(direction);
-        if (Math.abs(denominator) < 1e-12)
+        if (denominator === 0) {
+            // line is coplanar, return start; otherwise no intersection
+            if (this.distanceToPoint(start) === 0)
+                return start;
             return undefined;
+        }
         const t = -(start.dot(this.normal) + this.constant) / denominator;
-        return t < 0 || t > 1 ? undefined : start.add(direction.multiplyScalar(t));
+        if (t < 0 || t > 1)
+            return undefined;
+        return start.addScaled(direction, t);
+    }
+    /** Whether the segment `line` crosses the plane (three `intersectsLine`). */
+    intersectsLine(line) {
+        const startSign = this.distanceToPoint(line.start);
+        const endSign = this.distanceToPoint(line.end);
+        return (startSign < 0 && endSign > 0) || (endSign < 0 && startSign > 0);
+    }
+    intersectsBox(box) {
+        return box.intersectsPlane(this);
+    }
+    intersectsSphere(sphere) {
+        return sphere.intersectsPlane(this);
+    }
+    /**
+     * three.js `Plane.applyMatrix4` — the matrix must be affine; pass a
+     * precomputed `Matrix3.getNormalMatrix(matrix)` as `normalMatrix` to
+     * skip recomputation.
+     */
+    applyMatrix4(matrix, normalMatrix) {
+        const nm = normalMatrix ?? Matrix3.normalFromMatrix4(matrix);
+        const referencePoint = this.coplanarPoint().transformMatrix4(matrix);
+        const normal = this.normal.applyMatrix3(nm).normalize();
+        return new Plane(normal, -referencePoint.dot(normal));
+    }
+    translate(offset) {
+        return new Plane(this.normal, this.constant - offset.dot(this.normal));
+    }
+    equals(plane, epsilon = 1e-10) {
+        return this.normal.equals(plane.normal, epsilon) && Math.abs(this.constant - plane.constant) <= epsilon;
     }
 }
 //# sourceMappingURL=Plane.js.map

package/dist/Plane.js.map

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package/dist/Quaternion.d.ts

@@ -1,6 +1,7 @@
 import { Vector3 } from "./Vector3.js";
 import type { Matrix4 } from "./Matrix4.js";
-export type EulerOrder = "XYZ";
+/** Intrinsic rotation order, matching three.js `Euler` orders. */
+export type EulerOrder = "XYZ" | "YXZ" | "ZXY" | "ZYX" | "YZX" | "XZY";
 export declare class Quaternion {
     readonly x: number;
     readonly y: number;
@@ -10,6 +11,10 @@ export declare class Quaternion {
     constructor(x?: number, y?: number, z?: number, w?: number);
     static fromAxisAngle(axis: Vector3, radians: number): Quaternion;
     static fromUnitVectors(from: Vector3, to: Vector3): Quaternion;
+    /**
+     * Quaternion for the given intrinsic Euler rotations, applied in `order`
+     * (all six three.js orders — same formulas as `Quaternion.setFromEuler`).
+     */
     static fromEuler(x: number, y: number, z: number, order?: EulerOrder): Quaternion;
     static fromRotationMatrix(matrix: Matrix4): Quaternion;
     clone(): Quaternion;

package/dist/Quaternion.d.ts.map

@@ -1 +1 @@
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