@aura3d/physics 1.5.2 → 2.0.1

package/dist/NarrowPhase.js

@@ -1,565 +0,0 @@
-import { addVec3, dotVec3, lengthVec3, normalizeVec3, rotateVec3ByQuat, scaleVec3, subVec3 } from "./Shape.js";
-const BOX_FACES = [
-    [0, 2, 1], [0, 3, 2],
-    [4, 5, 6], [4, 6, 7],
-    [0, 1, 5], [0, 5, 4],
-    [3, 7, 6], [3, 6, 2],
-    [0, 4, 7], [0, 7, 3],
-    [1, 2, 6], [1, 6, 5]
-];
-const BOX_EDGES = [
-    [0, 1], [1, 2], [2, 3], [3, 0],
-    [4, 5], [5, 6], [6, 7], [7, 4],
-    [0, 4], [1, 5], [2, 6], [3, 7]
-];
-const EPSILON = 1e-8;
-export function buildNativeNarrowPhaseContact(colliderA, bodyA, colliderB, bodyB) {
-    if (colliderA.shape.kind === "box" && colliderB.shape.kind === "box") {
-        const polyA = boxPolyhedron(colliderA.shape.halfExtents, bodyA);
-        const polyB = boxPolyhedron(colliderB.shape.halfExtents, bodyB);
-        const result = satPolyhedra(polyA, polyB);
-        return result ? { ...result, algorithm: "obb-sat" } : undefined;
-    }
-    if (isConvexSolid(colliderA.shape) && isConvexSolid(colliderB.shape)) {
-        const polyA = convexPolyhedron(colliderA.shape, bodyA);
-        const polyB = convexPolyhedron(colliderB.shape, bodyB);
-        const gjkSimplex = gjkIntersection(polyA, polyB);
-        if (!gjkSimplex)
-            return undefined;
-        const epa = epaPenetration(polyA, polyB, gjkSimplex) ?? satPolyhedra(polyA, polyB);
-        return epa ? { ...epa, algorithm: "gjk-epa" } : undefined;
-    }
-    const meshA = isTriangleSurface(colliderA.shape);
-    const meshB = isTriangleSurface(colliderB.shape);
-    if (meshA === meshB)
-        return undefined;
-    const surfaceShape = meshA
-        ? colliderA.shape
-        : colliderB.shape;
-    const surfaceBody = meshA ? bodyA : bodyB;
-    const solidShape = meshA ? colliderB.shape : colliderA.shape;
-    const solidBody = meshA ? bodyB : bodyA;
-    const solidIsA = !meshA;
-    const contact = collideSolidWithSurface(solidShape, solidBody, surfaceShape, surfaceBody);
-    if (!contact)
-        return undefined;
-    return {
-        normal: solidIsA ? contact.normal : scaleVec3(contact.normal, -1),
-        penetration: contact.penetration,
-        point: contact.point,
-        algorithm: surfaceShape.kind === "heightfield" ? "heightfield-triangles" : "triangle-mesh"
-    };
-}
-function isConvexSolid(shape) {
-    return shape.kind === "box" || shape.kind === "convex-hull";
-}
-function isTriangleSurface(shape) {
-    return shape.kind === "mesh" || shape.kind === "heightfield";
-}
-function boxPolyhedron(halfExtents, body) {
-    const [x, y, z] = halfExtents;
-    const local = [
-        [-x, -y, -z], [x, -y, -z], [x, y, -z], [-x, y, -z],
-        [-x, -y, z], [x, -y, z], [x, y, z], [-x, y, z]
-    ];
-    return {
-        vertices: local.map((vertex) => worldPoint(vertex, body)),
-        faces: BOX_FACES,
-        edges: BOX_EDGES,
-        center: [...body.position]
-    };
-}
-function convexPolyhedron(shape, body) {
-    if (shape.kind === "box")
-        return boxPolyhedron(shape.halfExtents, body);
-    const faces = [];
-    for (let offset = 0; offset < shape.indices.length; offset += 3) {
-        faces.push([shape.indices[offset], shape.indices[offset + 1], shape.indices[offset + 2]]);
-    }
-    return {
-        vertices: shape.vertices.map((vertex) => worldPoint(vertex, body)),
-        faces,
-        edges: uniqueEdges(faces),
-        center: worldPoint(centroid(shape.vertices), body)
-    };
-}
-function satPolyhedra(a, b) {
-    const axes = [
-        ...faceAxes(a),
-        ...faceAxes(b)
-    ];
-    const edgesA = edgeDirections(a);
-    const edgesB = edgeDirections(b);
-    for (const edgeA of edgesA) {
-        for (const edgeB of edgesB) {
-            const axis = cross(edgeA, edgeB);
-            if (lengthVec3(axis) > EPSILON)
-                axes.push(normalizeVec3(axis));
-        }
-    }
-    return minimumOverlapContact(a, b, axes);
-}
-function minimumOverlapContact(a, b, axes) {
-    let minimumOverlap = Number.POSITIVE_INFINITY;
-    let minimumAxis = [1, 0, 0];
-    for (const candidate of axes) {
-        if (lengthVec3(candidate) <= EPSILON)
-            continue;
-        const axis = normalizeVec3(candidate);
-        const projectionA = project(a.vertices, axis);
-        const projectionB = project(b.vertices, axis);
-        const overlap = Math.min(projectionA.max, projectionB.max) - Math.max(projectionA.min, projectionB.min);
-        if (overlap <= EPSILON)
-            return undefined;
-        if (overlap < minimumOverlap) {
-            minimumOverlap = overlap;
-            minimumAxis = axis;
-        }
-    }
-    if (!Number.isFinite(minimumOverlap))
-        return undefined;
-    const centerDelta = subVec3(b.center, a.center);
-    const normal = dotVec3(centerDelta, minimumAxis) < 0 ? scaleVec3(minimumAxis, -1) : minimumAxis;
-    const point = opposingSupportContactPoint(a.vertices, b.vertices, normal);
-    return {
-        normal,
-        penetration: minimumOverlap,
-        point
-    };
-}
-function gjkIntersection(a, b) {
-    let direction = subVec3(b.center, a.center);
-    if (lengthVec3(direction) <= EPSILON)
-        direction = [1, 0, 0];
-    const simplex = [minkowskiSupport(a, b, direction)];
-    direction = scaleVec3(simplex[0].point, -1);
-    for (let iteration = 0; iteration < 32; iteration += 1) {
-        if (lengthVec3(direction) <= EPSILON)
-            direction = [1, 0, 0];
-        const next = minkowskiSupport(a, b, direction);
-        if (dotVec3(next.point, direction) < EPSILON)
-            return undefined;
-        simplex.push(next);
-        const update = updateSimplex(simplex);
-        if (update.containsOrigin)
-            return simplex;
-        direction = update.direction;
-    }
-    return undefined;
-}
-function updateSimplex(simplex) {
-    const a = simplex[simplex.length - 1].point;
-    const ao = scaleVec3(a, -1);
-    if (simplex.length === 2) {
-        const b = simplex[0].point;
-        const ab = subVec3(b, a);
-        if (dotVec3(ab, ao) > 0)
-            return { containsOrigin: false, direction: tripleCross(ab, ao, ab) };
-        simplex.splice(0, 1);
-        return { containsOrigin: false, direction: ao };
-    }
-    if (simplex.length === 3) {
-        const b = simplex[1].point;
-        const c = simplex[0].point;
-        const ab = subVec3(b, a);
-        const ac = subVec3(c, a);
-        const abc = cross(ab, ac);
-        if (dotVec3(cross(abc, ac), ao) > 0) {
-            if (dotVec3(ac, ao) > 0) {
-                simplex.splice(1, 1);
-                return { containsOrigin: false, direction: tripleCross(ac, ao, ac) };
-            }
-            simplex.splice(0, 1);
-            return updateSimplex(simplex);
-        }
-        if (dotVec3(cross(ab, abc), ao) > 0) {
-            simplex.splice(0, 1);
-            return updateSimplex(simplex);
-        }
-        if (dotVec3(abc, ao) > 0)
-            return { containsOrigin: false, direction: abc };
-        [simplex[0], simplex[1]] = [simplex[1], simplex[0]];
-        return { containsOrigin: false, direction: scaleVec3(abc, -1) };
-    }
-    const b = simplex[2].point;
-    const c = simplex[1].point;
-    const d = simplex[0].point;
-    const ab = subVec3(b, a);
-    const ac = subVec3(c, a);
-    const ad = subVec3(d, a);
-    const abc = outwardFaceNormal(a, b, c, d);
-    const acd = outwardFaceNormal(a, c, d, b);
-    const adb = outwardFaceNormal(a, d, b, c);
-    if (dotVec3(abc, ao) > 0) {
-        simplex.splice(0, 1);
-        return { containsOrigin: false, direction: abc };
-    }
-    if (dotVec3(acd, ao) > 0) {
-        simplex.splice(2, 1);
-        return { containsOrigin: false, direction: acd };
-    }
-    if (dotVec3(adb, ao) > 0) {
-        simplex.splice(1, 1);
-        return { containsOrigin: false, direction: adb };
-    }
-    return { containsOrigin: true, direction: [0, 0, 0] };
-}
-function epaPenetration(a, b, simplex) {
-    if (simplex.length < 4)
-        return undefined;
-    const vertices = [...simplex.slice(-4)];
-    let faces = [
-        createEpaFace(vertices, [0, 1, 2]),
-        createEpaFace(vertices, [0, 3, 1]),
-        createEpaFace(vertices, [0, 2, 3]),
-        createEpaFace(vertices, [1, 3, 2])
-    ].filter((face) => face !== undefined);
-    for (let iteration = 0; iteration < 48; iteration += 1) {
-        faces.sort((left, right) => left.distance - right.distance);
-        const closest = faces[0];
-        if (!closest)
-            return undefined;
-        const support = minkowskiSupport(a, b, closest.normal);
-        const supportDistance = dotVec3(support.point, closest.normal);
-        if (supportDistance - closest.distance <= 1e-6) {
-            const centerDelta = subVec3(b.center, a.center);
-            const normal = dotVec3(centerDelta, closest.normal) < 0 ? scaleVec3(closest.normal, -1) : closest.normal;
-            return {
-                normal,
-                penetration: Math.max(closest.distance, EPSILON),
-                point: opposingSupportContactPoint(a.vertices, b.vertices, normal)
-            };
-        }
-        const newIndex = vertices.push(support) - 1;
-        const visible = faces.filter((face) => dotVec3(face.normal, subVec3(support.point, vertices[face.indices[0]].point)) > 1e-7);
-        const boundary = boundaryEdges(visible);
-        faces = faces.filter((face) => !visible.includes(face));
-        for (const [from, to] of boundary) {
-            const face = createEpaFace(vertices, [from, to, newIndex]);
-            if (face)
-                faces.push(face);
-        }
-    }
-    return undefined;
-}
-function collideSolidWithSurface(solidShape, solidBody, surfaceShape, surfaceBody) {
-    const triangles = surfaceTriangles(surfaceShape, surfaceBody);
-    let best;
-    for (const triangle of triangles) {
-        const contact = solidShape.kind === "sphere"
-            ? sphereTriangleContact(solidBody.position, solidShape.radius, triangle)
-            : solidShape.kind === "capsule"
-                ? capsuleTriangleContact(solidBody, solidShape.radius, solidShape.halfHeight, triangle)
-                : isConvexSolid(solidShape)
-                    ? polyhedronTriangleContact(convexPolyhedron(solidShape, solidBody), triangle)
-                    : undefined;
-        if (contact && (!best || contact.penetration > best.penetration))
-            best = contact;
-    }
-    return best;
-}
-function capsuleTriangleContact(body, radius, halfHeight, triangle) {
-    const axis = rotateVec3ByQuat([0, halfHeight, 0], body.rotation);
-    const start = subVec3(body.position, axis);
-    const end = addVec3(body.position, axis);
-    const candidates = [
-        { segment: start, triangle: closestPointOnTriangle(start, ...triangle) },
-        { segment: end, triangle: closestPointOnTriangle(end, ...triangle) }
-    ];
-    for (const vertex of triangle) {
-        candidates.push({ segment: closestPointOnSegment(vertex, start, end), triangle: vertex });
-    }
-    const planeNormal = normalizeOr(cross(subVec3(triangle[1], triangle[0]), subVec3(triangle[2], triangle[0])), [0, 1, 0]);
-    const denominator = dotVec3(planeNormal, subVec3(end, start));
-    if (Math.abs(denominator) > EPSILON) {
-        const t = dotVec3(planeNormal, subVec3(triangle[0], start)) / denominator;
-        if (t >= 0 && t <= 1) {
-            const point = addVec3(start, scaleVec3(subVec3(end, start), t));
-            const trianglePoint = closestPointOnTriangle(point, ...triangle);
-            if (lengthVec3(subVec3(point, trianglePoint)) <= 1e-7)
-                candidates.push({ segment: point, triangle: trianglePoint });
-        }
-    }
-    const closest = candidates.reduce((best, candidate) => squaredDistance(candidate.segment, candidate.triangle) < squaredDistance(best.segment, best.triangle) ? candidate : best);
-    const delta = subVec3(closest.triangle, closest.segment);
-    const distance = lengthVec3(delta);
-    if (distance >= radius)
-        return undefined;
-    return {
-        normal: distance > EPSILON ? scaleVec3(delta, 1 / distance) : orientToward(planeNormal, subVec3(centroid(triangle), body.position)),
-        penetration: radius - distance,
-        point: closest.triangle
-    };
-}
-function sphereTriangleContact(center, radius, triangle) {
-    const point = closestPointOnTriangle(center, triangle[0], triangle[1], triangle[2]);
-    const delta = subVec3(point, center);
-    const distance = lengthVec3(delta);
-    if (distance >= radius)
-        return undefined;
-    const triangleNormal = normalizeOr(cross(subVec3(triangle[1], triangle[0]), subVec3(triangle[2], triangle[0])), [0, 1, 0]);
-    return {
-        normal: distance > EPSILON ? scaleVec3(delta, 1 / distance) : orientToward(triangleNormal, subVec3(centroid(triangle), center)),
-        penetration: radius - distance,
-        point
-    };
-}
-function polyhedronTriangleContact(poly, triangle) {
-    const triangleCenter = centroid(triangle);
-    let triangleNormal = normalizeOr(cross(subVec3(triangle[1], triangle[0]), subVec3(triangle[2], triangle[0])), [0, 1, 0]);
-    const plane = dotVec3(triangleNormal, triangle[0]);
-    const distances = poly.vertices.map((vertex) => dotVec3(triangleNormal, vertex) - plane);
-    const centerDistance = dotVec3(triangleNormal, poly.center) - plane;
-    const penetration = centerDistance >= 0 ? -Math.min(...distances) : Math.max(...distances);
-    if (penetration <= EPSILON)
-        return undefined;
-    triangleNormal = centerDistance >= 0 ? scaleVec3(triangleNormal, -1) : triangleNormal;
-    const triangleEdges = [
-        subVec3(triangle[1], triangle[0]),
-        subVec3(triangle[2], triangle[1]),
-        subVec3(triangle[0], triangle[2])
-    ];
-    const axes = [...faceAxes(poly)];
-    for (const triangleEdge of triangleEdges) {
-        axes.push(normalizeOr(cross(triangleEdge, triangleNormal), [1, 0, 0]));
-        for (const polyEdge of edgeDirections(poly)) {
-            const axis = cross(triangleEdge, polyEdge);
-            if (lengthVec3(axis) > EPSILON)
-                axes.push(normalizeVec3(axis));
-        }
-    }
-    for (const axis of axes) {
-        const projectionPoly = project(poly.vertices, axis);
-        const projectionTriangle = project(triangle, axis);
-        if (Math.min(projectionPoly.max, projectionTriangle.max) - Math.max(projectionPoly.min, projectionTriangle.min) < -EPSILON) {
-            return undefined;
-        }
-    }
-    const support = supportVertex(poly.vertices, triangleNormal);
-    const point = closestPointOnTriangle(support, triangle[0], triangle[1], triangle[2]);
-    return {
-        normal: orientToward(triangleNormal, subVec3(triangleCenter, poly.center)),
-        penetration,
-        point
-    };
-}
-function surfaceTriangles(shape, body) {
-    if (shape.kind === "mesh") {
-        const triangles = [];
-        for (let offset = 0; offset < shape.indices.length; offset += 3) {
-            triangles.push([
-                worldPoint(shape.vertices[shape.indices[offset]], body),
-                worldPoint(shape.vertices[shape.indices[offset + 1]], body),
-                worldPoint(shape.vertices[shape.indices[offset + 2]], body)
-            ]);
-        }
-        return triangles;
-    }
-    const triangles = [];
-    const halfWidth = (shape.columns - 1) * shape.cellSize * 0.5;
-    const halfDepth = (shape.rows - 1) * shape.cellSize * 0.5;
-    const sample = (row, column) => worldPoint([
-        column * shape.cellSize - halfWidth,
-        shape.heights[row * shape.columns + column],
-        row * shape.cellSize - halfDepth
-    ], body);
-    for (let row = 0; row < shape.rows - 1; row += 1) {
-        for (let column = 0; column < shape.columns - 1; column += 1) {
-            const a = sample(row, column);
-            const b = sample(row, column + 1);
-            const c = sample(row + 1, column);
-            const d = sample(row + 1, column + 1);
-            triangles.push([a, c, b], [b, c, d]);
-        }
-    }
-    return triangles;
-}
-function faceAxes(poly) {
-    const axes = [];
-    for (const [a, b, c] of poly.faces) {
-        const normal = cross(subVec3(poly.vertices[b], poly.vertices[a]), subVec3(poly.vertices[c], poly.vertices[a]));
-        if (lengthVec3(normal) > EPSILON)
-            axes.push(normalizeVec3(normal));
-    }
-    return uniqueAxes(axes);
-}
-function edgeDirections(poly) {
-    return uniqueAxes(poly.edges.map(([a, b]) => normalizeOr(subVec3(poly.vertices[b], poly.vertices[a]), [1, 0, 0])));
-}
-function uniqueEdges(faces) {
-    const keys = new Set();
-    const edges = [];
-    for (const [a, b, c] of faces) {
-        for (const [left, right] of [[a, b], [b, c], [c, a]]) {
-            const edge = left < right ? [left, right] : [right, left];
-            const key = `${edge[0]}:${edge[1]}`;
-            if (!keys.has(key)) {
-                keys.add(key);
-                edges.push(edge);
-            }
-        }
-    }
-    return edges;
-}
-function uniqueAxes(axes) {
-    const unique = [];
-    for (const axis of axes) {
-        if (!unique.some((candidate) => Math.abs(dotVec3(candidate, axis)) > 0.999999))
-            unique.push(axis);
-    }
-    return unique;
-}
-function minkowskiSupport(a, b, direction) {
-    const pointA = supportVertex(a.vertices, direction);
-    const pointB = supportVertex(b.vertices, scaleVec3(direction, -1));
-    return { point: subVec3(pointA, pointB), pointA, pointB };
-}
-function supportVertex(vertices, direction) {
-    let best = vertices[0];
-    let bestProjection = dotVec3(best, direction);
-    for (let index = 1; index < vertices.length; index += 1) {
-        const projection = dotVec3(vertices[index], direction);
-        if (projection > bestProjection) {
-            best = vertices[index];
-            bestProjection = projection;
-        }
-    }
-    return best;
-}
-function opposingSupportContactPoint(verticesA, verticesB, normal) {
-    const featureA = supportFeature(verticesA, normal);
-    const featureB = supportFeature(verticesB, scaleVec3(normal, -1));
-    const selected = featureA.spread <= featureB.spread ? featureA.point : featureB.point;
-    const middlePlane = (dotVec3(featureA.point, normal) + dotVec3(featureB.point, normal)) * 0.5;
-    return addVec3(selected, scaleVec3(normal, middlePlane - dotVec3(selected, normal)));
-}
-function supportFeature(vertices, direction) {
-    const maximum = Math.max(...vertices.map((vertex) => dotVec3(vertex, direction)));
-    const support = vertices.filter((vertex) => maximum - dotVec3(vertex, direction) <= 1e-7);
-    const point = centroid(support);
-    const spread = support.reduce((sum, vertex) => sum + squaredDistance(vertex, point), 0);
-    return { point, spread };
-}
-function project(vertices, axis) {
-    let min = dotVec3(vertices[0], axis);
-    let max = min;
-    for (let index = 1; index < vertices.length; index += 1) {
-        const value = dotVec3(vertices[index], axis);
-        min = Math.min(min, value);
-        max = Math.max(max, value);
-    }
-    return { min, max };
-}
-function createEpaFace(vertices, indices) {
-    const a = vertices[indices[0]].point;
-    const b = vertices[indices[1]].point;
-    const c = vertices[indices[2]].point;
-    let normal = cross(subVec3(b, a), subVec3(c, a));
-    if (lengthVec3(normal) <= EPSILON)
-        return undefined;
-    normal = normalizeVec3(normal);
-    let distance = dotVec3(normal, a);
-    let orientedIndices = indices;
-    if (distance < 0) {
-        normal = scaleVec3(normal, -1);
-        distance = -distance;
-        orientedIndices = [indices[0], indices[2], indices[1]];
-    }
-    return { indices: orientedIndices, normal, distance };
-}
-function boundaryEdges(faces) {
-    const edges = [];
-    for (const face of faces) {
-        for (const edge of [
-            [face.indices[0], face.indices[1]],
-            [face.indices[1], face.indices[2]],
-            [face.indices[2], face.indices[0]]
-        ]) {
-            const reverse = edges.findIndex((candidate) => candidate[0] === edge[1] && candidate[1] === edge[0]);
-            if (reverse >= 0)
-                edges.splice(reverse, 1);
-            else
-                edges.push(edge);
-        }
-    }
-    return edges;
-}
-function worldPoint(local, body) {
-    return addVec3(body.position, rotateVec3ByQuat(local, body.rotation));
-}
-function centroid(points) {
-    const sum = points.reduce((value, point) => addVec3(value, point), [0, 0, 0]);
-    return scaleVec3(sum, 1 / points.length);
-}
-function cross(a, b) {
-    return [
-        a[1] * b[2] - a[2] * b[1],
-        a[2] * b[0] - a[0] * b[2],
-        a[0] * b[1] - a[1] * b[0]
-    ];
-}
-function tripleCross(a, b, c) {
-    const result = cross(cross(a, b), c);
-    return lengthVec3(result) > EPSILON ? result : perpendicular(c);
-}
-function perpendicular(value) {
-    const reference = Math.abs(value[0]) < Math.abs(value[1]) ? [1, 0, 0] : [0, 1, 0];
-    return normalizeOr(cross(value, reference), [0, 0, 1]);
-}
-function outwardFaceNormal(a, b, c, opposite) {
-    let normal = normalizeOr(cross(subVec3(b, a), subVec3(c, a)), [1, 0, 0]);
-    if (dotVec3(normal, subVec3(opposite, a)) > 0)
-        normal = scaleVec3(normal, -1);
-    return normal;
-}
-function orientToward(normal, direction) {
-    return dotVec3(normal, direction) < 0 ? scaleVec3(normal, -1) : normal;
-}
-function normalizeOr(value, fallback) {
-    return lengthVec3(value) > EPSILON ? normalizeVec3(value) : fallback;
-}
-function closestPointOnTriangle(point, a, b, c) {
-    const ab = subVec3(b, a);
-    const ac = subVec3(c, a);
-    const ap = subVec3(point, a);
-    const d1 = dotVec3(ab, ap);
-    const d2 = dotVec3(ac, ap);
-    if (d1 <= 0 && d2 <= 0)
-        return a;
-    const bp = subVec3(point, b);
-    const d3 = dotVec3(ab, bp);
-    const d4 = dotVec3(ac, bp);
-    if (d3 >= 0 && d4 <= d3)
-        return b;
-    const vc = d1 * d4 - d3 * d2;
-    if (vc <= 0 && d1 >= 0 && d3 <= 0)
-        return addVec3(a, scaleVec3(ab, d1 / (d1 - d3)));
-    const cp = subVec3(point, c);
-    const d5 = dotVec3(ab, cp);
-    const d6 = dotVec3(ac, cp);
-    if (d6 >= 0 && d5 <= d6)
-        return c;
-    const vb = d5 * d2 - d1 * d6;
-    if (vb <= 0 && d2 >= 0 && d6 <= 0)
-        return addVec3(a, scaleVec3(ac, d2 / (d2 - d6)));
-    const va = d3 * d6 - d5 * d4;
-    if (va <= 0 && d4 - d3 >= 0 && d5 - d6 >= 0)
-        return addVec3(b, scaleVec3(subVec3(c, b), (d4 - d3) / ((d4 - d3) + (d5 - d6))));
-    const denominator = 1 / (va + vb + vc);
-    const v = vb * denominator;
-    const w = vc * denominator;
-    return addVec3(a, addVec3(scaleVec3(ab, v), scaleVec3(ac, w)));
-}
-function closestPointOnSegment(point, start, end) {
-    const direction = subVec3(end, start);
-    const denominator = dotVec3(direction, direction);
-    if (denominator <= EPSILON)
-        return start;
-    const t = Math.max(0, Math.min(1, dotVec3(subVec3(point, start), direction) / denominator));
-    return addVec3(start, scaleVec3(direction, t));
-}
-function squaredDistance(a, b) {
-    const delta = subVec3(a, b);
-    return dotVec3(delta, delta);
-}
-//# sourceMappingURL=NarrowPhase.js.map

package/dist/NarrowPhase.js.map

@@ -1 +0,0 @@
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