@babylonjs/core 9.12.1 → 9.14.0

package/Collisions/gpuPicker.js

@@ -1,14 +1,35 @@
 
+import { MultiRenderTarget } from "../Materials/Textures/multiRenderTarget.pure.js";
 import { RenderTargetTexture } from "../Materials/Textures/renderTargetTexture.pure.js";
 import { ShaderMaterial } from "../Materials/shaderMaterial.pure.js";
 import { GaussianSplattingMaterial } from "../Materials/GaussianSplatting/gaussianSplattingMaterial.pure.js";
 import { GaussianSplattingGpuPickingMaterialPlugin } from "../Materials/GaussianSplatting/gaussianSplattingGpuPickingMaterialPlugin.pure.js";
 import { Color4 } from "../Maths/math.color.pure.js";
+import { Epsilon } from "../Maths/math.constants.js";
+import { Matrix, TmpVectors, Vector3 } from "../Maths/math.vector.pure.js";
 import { VertexBuffer } from "../Meshes/buffer.js";
 import { Logger } from "../Misc/logger.js";
+/**
+ * Defines how multi pick texture readbacks should be performed.
+ */
+export var GPUMultiPickReadbackStrategy;
+(function (GPUMultiPickReadbackStrategy) {
+    /**
+     * Chooses between a single rectangle readback and small per-point readbacks using the thresholds in IGPUMultiPickOptions.
+     */
+    GPUMultiPickReadbackStrategy[GPUMultiPickReadbackStrategy["Auto"] = 0] = "Auto";
+    /**
+     * Always reads the full bounding rectangle of the picked points. This minimizes readback calls and is best for dense point sets.
+     */
+    GPUMultiPickReadbackStrategy[GPUMultiPickReadbackStrategy["Rectangle"] = 1] = "Rectangle";
+    /**
+     * Always reads each picked point independently. This minimizes transferred pixels for sparse point sets but can be slower when many points are picked.
+     */
+    GPUMultiPickReadbackStrategy[GPUMultiPickReadbackStrategy["Individual"] = 2] = "Individual";
+})(GPUMultiPickReadbackStrategy || (GPUMultiPickReadbackStrategy = {}));
 /**
  * Class used to perform a picking operation using GPU
- * GPUPIcker can pick meshes, instances and thin instances
+ * GPUPicker can pick meshes, instances and thin instances
  */
 export class GPUPicker {
     constructor() {
@@ -23,10 +44,16 @@ export class GPUPicker {
         this._pickableMeshes = [];
         this._meshMaterialMap = new Map();
         this._readbuffer = null;
+        this._depthReadbuffer = null;
+        this._depthTextureType = 0;
+        this._isDepthTexturePacked = false;
+        this._useDepthPicking = false;
+        this._isUsingDepthPickingRenderTarget = false;
         this._meshRenderingCount = 0;
         this._renderWarningIssued = false;
         this._renderPickingTexture = false;
         this._sceneBeforeRenderObserver = null;
+        this._pickingTextureClearObserver = null;
         this._pickingTextureAfterRenderObserver = null;
         this._nextFreeId = 1;
         this._gsPickingMaterials = [];
@@ -55,12 +82,68 @@ export class GPUPicker {
     get defaultRenderMaterials() {
         return this._pickingMaterialCache;
     }
+    /**
+     * Gets or sets a boolean indicating if depth-based pickedPoint and normal reconstruction should be enabled.
+     *
+     * When disabled, GPUPicker uses the original single-color render target and shader path. When enabled, GPUPicker
+     * switches to a MultiRenderTarget and compiles the default picking shader with GPUPICKER_DEPTH to output both the
+     * picking id and the depth required to reconstruct the picked point and normal.
+     *
+     * Custom picking materials and special picking material plugins should also write the depth attachment. If they do
+     * not, GPUPicker will still try to reconstruct pickedPoint and normal from the depth target, but the returned values
+     * may be missing or incorrect.
+     */
+    get enableDepthPicking() {
+        return this._useDepthPicking;
+    }
+    set enableDepthPicking(value) {
+        if (this._useDepthPicking === value) {
+            return;
+        }
+        this._useDepthPicking = value;
+        this._isUsingDepthPickingRenderTarget = false;
+        this._depthReadbuffer = null;
+        let pickableMeshes = [];
+        if (this._cachedScene && this._pickingTexture) {
+            pickableMeshes = this._pickableMeshes.map((mesh) => {
+                const material = this._meshMaterialMap.get(mesh);
+                const className = mesh.getClassName();
+                if (material instanceof ShaderMaterial &&
+                    !this._pickingMaterialCache.includes(material) &&
+                    className !== "GaussianSplattingMesh" &&
+                    className !== "GaussianSplattingPartProxyMesh") {
+                    return { mesh, material };
+                }
+                return mesh;
+            });
+        }
+        this._clearPickingMaterials();
+        if (this._cachedScene && this._pickingTexture) {
+            this.clearPickingList();
+            this._pickingTexture.dispose();
+            this._pickingTexture = null;
+            if (pickableMeshes.length > 0) {
+                this.addPickingList(pickableMeshes);
+            }
+        }
+    }
     _getColorIdFromReadBuffer(offset) {
         const r = this._readbuffer[offset];
         const g = this._readbuffer[offset + 1];
         const b = this._readbuffer[offset + 2];
         return (r << 16) + (g << 8) + b;
     }
+    _getReadBufferOffset(x, y, width, height) {
+        const bufferY = this._cachedScene?.getEngine().isWebGPU ? height - y - 1 : y;
+        return (bufferY * width + x) * 4;
+    }
+    _createColorPickingRenderTarget(scene, width, height) {
+        return new RenderTargetTexture("pickingTexture", { width: width, height: height }, scene, {
+            generateMipMaps: false,
+            type: 0,
+            samplingMode: 1,
+        });
+    }
     _createRenderTarget(scene, width, height) {
         if (this._cachedScene && this._pickingTexture) {
             const index = this._cachedScene.customRenderTargets.indexOf(this._pickingTexture);
@@ -72,11 +155,53 @@ export class GPUPicker {
         if (this._pickingTexture) {
             this._pickingTexture.dispose();
         }
-        this._pickingTexture = new RenderTargetTexture("pickingTexure", { width: width, height: height }, scene, {
-            generateMipMaps: false,
-            type: 0,
-            samplingMode: 1,
-        });
+        if (this._useDepthPicking) {
+            const engine = scene.getEngine();
+            const supportsDepthPickingRenderTarget = engine.isWebGPU || engine.webGLVersion !== 1;
+            if (!supportsDepthPickingRenderTarget) {
+                Logger.Warn("GPUPicker depth picking requires WebGL2, WebGPU, or Native engine support. Falling back to color-only GPU picking.");
+                this._useDepthPicking = false;
+                this._isUsingDepthPickingRenderTarget = false;
+                this._isDepthTexturePacked = false;
+                this._pickingTexture = this._createColorPickingRenderTarget(scene, width, height);
+                return;
+            }
+            if (engine.getCaps().textureFloatRender) {
+                this._depthTextureType = 1;
+            }
+            else if (engine.getCaps().textureHalfFloatRender) {
+                this._depthTextureType = 2;
+            }
+            else {
+                this._depthTextureType = 0;
+            }
+            this._isDepthTexturePacked = this._depthTextureType === 0;
+            const pickingTexture = new MultiRenderTarget("pickingTexture", { width: width, height: height }, 2, scene, {
+                generateMipMaps: false,
+                generateDepthBuffer: true,
+                generateStencilBuffer: false,
+                types: [0, this._depthTextureType],
+                samplingModes: [1, 1],
+                formats: [5, 5],
+            }, ["pickingTexture_id", "pickingTexture_depth"]);
+            if (pickingTexture.isSupported) {
+                this._pickingTexture = pickingTexture;
+                this._isUsingDepthPickingRenderTarget = true;
+            }
+            else {
+                Logger.Warn("GPUPicker depth picking requires MultiRenderTarget support. Falling back to color-only GPU picking.");
+                this._useDepthPicking = false;
+                this._isUsingDepthPickingRenderTarget = false;
+                this._isDepthTexturePacked = false;
+                pickingTexture.dispose();
+                this._pickingTexture = this._createColorPickingRenderTarget(scene, width, height);
+            }
+        }
+        else {
+            this._pickingTexture = this._createColorPickingRenderTarget(scene, width, height);
+            this._isUsingDepthPickingRenderTarget = false;
+            this._isDepthTexturePacked = false;
+        }
     }
     _clearPickingMaterials() {
         for (let i = 0; i < this._pickingMaterialCache.length; i++) {
@@ -100,6 +225,12 @@ export class GPUPicker {
             this._shaderLanguage = 1 /* ShaderLanguage.WGSL */;
         }
         const defines = [];
+        if (this._useDepthPicking) {
+            defines.push("#define GPUPICKER_DEPTH");
+            if (this._isDepthTexturePacked) {
+                defines.push("#define GPUPICKER_PACK_DEPTH");
+            }
+        }
         const options = {
             attributes: [VertexBuffer.PositionKind, GPUPicker._AttributeName],
             uniforms: ["world", "viewProjection", "meshID"],
@@ -429,25 +560,28 @@ export class GPUPicker {
         if (!this._pickableMeshes || this._pickableMeshes.length === 0) {
             return null;
         }
-        const { rttSizeW, rttSizeH, devicePixelRatio } = this._getRenderInfo();
-        const { x: adjustedX, y: adjustedY } = this._prepareForPicking(x, y, devicePixelRatio);
+        const { rttSizeW, rttSizeH, scaleX, scaleY } = this._getRenderInfo();
+        const { x: adjustedX, y: adjustedY } = this._prepareForPicking(x, y, scaleX, scaleY);
         if (adjustedX < 0 || adjustedY < 0 || adjustedX >= rttSizeW || adjustedY >= rttSizeH) {
             return null;
         }
         this._pickingInProgress = true;
         // Invert Y
         const invertedY = rttSizeH - adjustedY - 1;
-        this._preparePickingBuffer(this._engine, rttSizeW, rttSizeH, adjustedX, invertedY);
+        const pickingRegion = this._getPickingRenderRegion(adjustedX, invertedY, rttSizeW, rttSizeH);
+        this._preparePickingBuffer(this._engine, rttSizeW, rttSizeH, pickingRegion.x, pickingRegion.y, pickingRegion.width, pickingRegion.height);
         await this._waitForPickingMaterialsReadyAsync();
+        this._addPickingTextureToRenderTargets();
         return await this._executePickingAsync(adjustedX, invertedY, disposeWhenDone);
     }
     /**
      * Execute a picking operation on multiple coordinates
      * @param xy defines the X,Y coordinates where to run the pick
      * @param disposeWhenDone defines a boolean indicating we do not want to keep resources alive (false by default)
+     * @param options defines options used to tune the multi pick readback strategy
      * @returns A promise with the picking results. Always returns an array with the same length as the number of coordinates. The mesh or null at the index where no mesh was picked.
      */
-    async multiPickAsync(xy, disposeWhenDone = false) {
+    async multiPickAsync(xy, disposeWhenDone = false, options) {
         if (this._pickingInProgress) {
             return null;
         }
@@ -456,10 +590,15 @@ export class GPUPicker {
         }
         if (xy.length === 1) {
             const pi = await this.pickAsync(xy[0].x, xy[0].y, disposeWhenDone);
-            return {
+            const result = {
                 meshes: [pi?.mesh ?? null],
-                thinInstanceIndexes: pi?.thinInstanceIndex ? [pi.thinInstanceIndex] : undefined,
+                thinInstanceIndexes: pi?.thinInstanceIndex !== undefined ? [pi.thinInstanceIndex] : undefined,
             };
+            if (this._useDepthPicking) {
+                result.pickedPoints = [pi?.pickedPoint ?? null];
+                result.normals = [pi?.normal ?? null];
+            }
+            return result;
         }
         this._pickingInProgress = true;
         const processedXY = new Array(xy.length);
@@ -467,28 +606,50 @@ export class GPUPicker {
         let maxX = -Infinity;
         let minY = Infinity;
         let maxY = -Infinity;
-        const { rttSizeW, rttSizeH, devicePixelRatio } = this._getRenderInfo();
+        const { rttSizeW, rttSizeH, scaleX, scaleY } = this._getRenderInfo();
+        let hasInBoundsPoint = false;
+        let inBoundsPointCount = 0;
         // Process screen coordinates adjust to dpr
         for (let i = 0; i < xy.length; i++) {
             const item = xy[i];
             const { x, y } = item;
-            const { x: adjustedX, y: adjustedY } = this._prepareForPicking(x, y, devicePixelRatio);
+            const { x: adjustedX, y: adjustedY } = this._prepareForPicking(x, y, scaleX, scaleY);
             processedXY[i] = {
                 ...item,
                 x: adjustedX,
                 y: adjustedY,
             };
+            if (adjustedX < 0 || adjustedY < 0 || adjustedX >= rttSizeW || adjustedY >= rttSizeH) {
+                continue;
+            }
+            hasInBoundsPoint = true;
+            inBoundsPointCount++;
             minX = Math.min(minX, adjustedX);
             maxX = Math.max(maxX, adjustedX);
             minY = Math.min(minY, adjustedY);
             maxY = Math.max(maxY, adjustedY);
         }
-        const w = Math.max(maxX - minX, 1);
-        const h = Math.max(maxY - minY, 1);
-        const partialCutH = rttSizeH - maxY - 1;
-        this._preparePickingBuffer(this._engine, rttSizeW, rttSizeH, minX, partialCutH, w, h);
+        if (!hasInBoundsPoint) {
+            this._pickingInProgress = false;
+            return null;
+        }
+        const depthPadding = this._useDepthPicking ? GPUPicker._DepthPixelRadius : 0;
+        const regionLeft = Math.max(minX - depthPadding, 0);
+        const regionRight = Math.min(maxX + depthPadding, rttSizeW - 1);
+        const regionTop = Math.max(minY - depthPadding, 0);
+        const regionBottom = Math.min(maxY + depthPadding, rttSizeH - 1);
+        if (regionLeft >= rttSizeW || regionTop >= rttSizeH || regionRight < 0 || regionBottom < 0) {
+            this._pickingInProgress = false;
+            return null;
+        }
+        const w = regionRight - regionLeft + 1;
+        const h = regionBottom - regionTop + 1;
+        const partialCutH = rttSizeH - regionBottom - 1;
+        const useIndividualReadback = this._shouldUseIndividualMultiPickReadback(inBoundsPointCount, w * h, options);
+        this._preparePickingBuffer(this._engine, rttSizeW, rttSizeH, regionLeft, partialCutH, w, h, useIndividualReadback ? 1 : w, useIndividualReadback ? 1 : h);
         await this._waitForPickingMaterialsReadyAsync();
-        return await this._executeMultiPickingAsync(processedXY, minX, maxY, rttSizeH, w, h, disposeWhenDone);
+        this._addPickingTextureToRenderTargets();
+        return await this._executeMultiPickingAsync(processedXY, regionLeft, partialCutH, rttSizeW, rttSizeH, w, h, useIndividualReadback, disposeWhenDone);
     }
     /**
      * Execute a picking operation on box defined by two screen coordinates
@@ -497,7 +658,7 @@ export class GPUPicker {
      * @param x2 defines the X coordinate of the opposite corner of the box where to run the pick
      * @param y2 defines the Y coordinate of the opposite corner of the box where to run the pick
      * @param disposeWhenDone defines a boolean indicating we do not want to keep resources alive (false by default)
-     * @returns A promise with the picking results. Always returns an array with the same length as the number of coordinates. The mesh or null at the index where no mesh was picked.
+     * @returns A promise with the picking results. Contains one entry for each picked pixel in the box.
      */
     async boxPickAsync(x1, y1, x2, y2, disposeWhenDone = false) {
         if (this._pickingInProgress) {
@@ -507,9 +668,9 @@ export class GPUPicker {
             return null;
         }
         this._pickingInProgress = true;
-        const { rttSizeW, rttSizeH, devicePixelRatio } = this._getRenderInfo();
-        const { x: adjustedX1, y: adjustedY1 } = this._prepareForPicking(x1, y1, devicePixelRatio);
-        const { x: adjustedX2, y: adjustedY2 } = this._prepareForPicking(x2, y2, devicePixelRatio);
+        const { rttSizeW, rttSizeH, scaleX, scaleY } = this._getRenderInfo();
+        const { x: adjustedX1, y: adjustedY1 } = this._prepareForPicking(x1, y1, scaleX, scaleY);
+        const { x: adjustedX2, y: adjustedY2 } = this._prepareForPicking(x2, y2, scaleX, scaleY);
         const minX = Math.max(Math.min(adjustedX1, adjustedX2), 0);
         const maxX = Math.min(Math.max(adjustedX1, adjustedX2), rttSizeW - 1);
         const minY = Math.max(Math.min(adjustedY1, adjustedY2), 0);
@@ -518,30 +679,84 @@ export class GPUPicker {
             this._pickingInProgress = false;
             return null;
         }
-        const w = Math.max(maxX - minX, 1);
-        const h = Math.max(maxY - minY, 1);
-        const partialCutH = rttSizeH - maxY - 1;
-        this._preparePickingBuffer(this._engine, rttSizeW, rttSizeH, minX, partialCutH, w, h);
+        const depthPadding = this._useDepthPicking ? GPUPicker._DepthPixelRadius : 0;
+        const regionLeft = Math.max(minX - depthPadding, 0);
+        const regionRight = Math.min(maxX + depthPadding, rttSizeW - 1);
+        const regionTop = Math.max(minY - depthPadding, 0);
+        const regionBottom = Math.min(maxY + depthPadding, rttSizeH - 1);
+        const w = regionRight - regionLeft + 1;
+        const h = regionBottom - regionTop + 1;
+        const partialCutH = rttSizeH - regionBottom - 1;
+        this._preparePickingBuffer(this._engine, rttSizeW, rttSizeH, regionLeft, partialCutH, w, h);
         await this._waitForPickingMaterialsReadyAsync();
-        return await this._executeBoxPickingAsync(minX, partialCutH, w, h, disposeWhenDone);
+        this._addPickingTextureToRenderTargets();
+        return await this._executeBoxPickingAsync(minX, maxY, Math.max(maxX - minX, 1), Math.max(maxY - minY, 1), regionLeft, partialCutH, rttSizeW, rttSizeH, w, h, disposeWhenDone);
     }
     _getRenderInfo() {
         const engine = this._cachedScene.getEngine();
         const rttSizeW = engine.getRenderWidth();
         const rttSizeH = engine.getRenderHeight();
-        const devicePixelRatio = 1 / engine._hardwareScalingLevel;
+        // Picking coordinates are expected in input/canvas CSS pixels, matching Babylon pointer coordinates.
+        // Use the actual client rect so CSS scaling/stretching is handled, and fall back to hardware scaling
+        // for engines without a DOM input element.
+        let inputElementClientRect = null;
+        try {
+            inputElementClientRect = engine.getInputElementClientRect();
+        }
+        catch {
+            // Non-DOM or pure engine builds may not register the DOM side effect. Fall back below.
+        }
+        const scaleX = inputElementClientRect?.width ? rttSizeW / inputElementClientRect.width : 1 / engine._hardwareScalingLevel;
+        const scaleY = inputElementClientRect?.height ? rttSizeH / inputElementClientRect.height : 1 / engine._hardwareScalingLevel;
         return {
             rttSizeW,
             rttSizeH,
-            devicePixelRatio,
+            scaleX,
+            scaleY,
         };
     }
-    _prepareForPicking(x, y, devicePixelRatio) {
-        return { x: (devicePixelRatio * x) >> 0, y: (devicePixelRatio * y) >> 0 };
+    _prepareForPicking(x, y, scaleX, scaleY) {
+        return { x: (scaleX * x) >> 0, y: (scaleY * y) >> 0 };
+    }
+    _getPickingRenderRegion(x, y, renderWidth, renderHeight) {
+        if (!this._useDepthPicking) {
+            return { x, y, width: 1, height: 1 };
+        }
+        const radius = GPUPicker._DepthPixelRadius;
+        const left = Math.max(x - radius, 0);
+        const bottom = Math.max(y - radius, 0);
+        const right = Math.min(x + radius, renderWidth - 1);
+        const top = Math.min(y + radius, renderHeight - 1);
+        return {
+            x: left,
+            y: bottom,
+            width: right - left + 1,
+            height: top - bottom + 1,
+        };
+    }
+    _shouldUseIndividualMultiPickReadback(inBoundsPointCount, readArea, options) {
+        const readbackStrategy = options?.readbackStrategy ?? 0 /* GPUMultiPickReadbackStrategy.Auto */;
+        if (inBoundsPointCount === 0 || readbackStrategy === 1 /* GPUMultiPickReadbackStrategy.Rectangle */) {
+            return false;
+        }
+        if (readbackStrategy === 2 /* GPUMultiPickReadbackStrategy.Individual */) {
+            return true;
+        }
+        const maxIndividualReadbackCount = options?.maxIndividualReadbackCount !== undefined && Number.isFinite(options.maxIndividualReadbackCount) && options.maxIndividualReadbackCount >= 0
+            ? options.maxIndividualReadbackCount
+            : GPUPicker._MaxMultiPickIndividualReadbackCount;
+        if (inBoundsPointCount > maxIndividualReadbackCount) {
+            return false;
+        }
+        const individualReadbackAreaRatio = options?.individualReadbackAreaRatio !== undefined && Number.isFinite(options.individualReadbackAreaRatio) && options.individualReadbackAreaRatio > 0
+            ? options.individualReadbackAreaRatio
+            : GPUPicker._MultiPickIndividualReadbackAreaRatio;
+        const pointReadArea = inBoundsPointCount * (this._useDepthPicking ? 1 + (GPUPicker._DepthPixelRadius * 2 + 1) ** 2 : 1);
+        return readArea > pointReadArea * individualReadbackAreaRatio;
     }
-    _preparePickingBuffer(engine, rttSizeW, rttSizeH, x, y, w = 1, h = 1) {
+    _preparePickingBuffer(engine, rttSizeW, rttSizeH, x, y, w = 1, h = 1, readBufferW = w, readBufferH = h) {
         this._meshRenderingCount = 0;
-        const requiredBufferSize = engine.isWebGPU ? (4 * w * h + 255) & ~255 : 4 * w * h;
+        const requiredBufferSize = engine.isWebGPU ? (4 * readBufferW * readBufferH + 255) & ~255 : 4 * readBufferW * readBufferH;
         if (!this._readbuffer || this._readbuffer.length < requiredBufferSize) {
             this._readbuffer = new Uint8Array(requiredBufferSize);
         }
@@ -552,6 +767,16 @@ export class GPUPicker {
             this._updateRenderList();
         }
         this._pickingTexture.clearColor = new Color4(0, 0, 0, 0);
+        this._pickingTextureClearObserver?.remove();
+        this._pickingTextureClearObserver = this._pickingTexture.onClearObservable.add((engine) => {
+            if (this._isUsingDepthPickingRenderTarget) {
+                engine.bindAttachments(engine.buildTextureLayout([true, false]));
+            }
+            engine.clear(this._pickingTexture.clearColor, true, true, true);
+            if (this._isUsingDepthPickingRenderTarget) {
+                engine.bindAttachments(engine.buildTextureLayout([true, true]));
+            }
+        });
         this._pickingTexture.onBeforeRender = () => {
             this._enableScissor(x, y, w, h);
         };
@@ -559,9 +784,22 @@ export class GPUPicker {
         this._pickingTextureAfterRenderObserver = this._pickingTexture.onAfterRenderObservable.add(() => {
             this._disableScissor();
         });
+    }
+    _addPickingTextureToRenderTargets() {
+        this._removePickingTextureFromRenderTargets();
         this._cachedScene.customRenderTargets.push(this._pickingTexture);
         this._renderPickingTexture = true;
     }
+    _removePickingTextureFromRenderTargets() {
+        if (!this._cachedScene || !this._pickingTexture) {
+            return;
+        }
+        const index = this._cachedScene.customRenderTargets.indexOf(this._pickingTexture);
+        if (index > -1) {
+            this._cachedScene.customRenderTargets.splice(index, 1);
+            this._renderPickingTexture = false;
+        }
+    }
     // pick one pixel
     async _executePickingAsync(x, y, disposeWhenDone) {
         return await new Promise((resolve, reject) => {
@@ -573,43 +811,60 @@ export class GPUPicker {
             // eslint-disable-next-line @typescript-eslint/no-misused-promises
             this._pickingTexture.onAfterRender = async () => {
                 if (this._checkRenderStatus()) {
-                    this._pickingTexture.onAfterRender = null;
-                    let pickedMesh = null;
-                    let thinInstanceIndex = undefined;
-                    // Remove from the active RTTs
-                    const index = this._cachedScene.customRenderTargets.indexOf(this._pickingTexture);
-                    if (index > -1) {
-                        this._cachedScene.customRenderTargets.splice(index, 1);
-                        this._renderPickingTexture = false;
-                    }
-                    // Do the actual picking
-                    if (await this._readTexturePixelsAsync(x, y)) {
-                        const colorId = this._getColorIdFromReadBuffer(0);
-                        // Thin?
-                        if (this._thinIdMap[colorId]) {
-                            pickedMesh = this._pickableMeshes[this._thinIdMap[colorId].meshId];
-                            thinInstanceIndex = this._thinIdMap[colorId].thinId;
+                    try {
+                        this._pickingTexture.onAfterRender = null;
+                        let pickedMesh = null;
+                        let thinInstanceIndex = undefined;
+                        this._removePickingTextureFromRenderTargets();
+                        // Do the actual picking
+                        if (await this._readTexturePixelsAsync(x, y)) {
+                            const colorId = this._getColorIdFromReadBuffer(0);
+                            // Thin?
+                            if (this._thinIdMap[colorId]) {
+                                pickedMesh = this._pickableMeshes[this._thinIdMap[colorId].meshId];
+                                thinInstanceIndex = this._thinIdMap[colorId].thinId;
+                            }
+                            else {
+                                pickedMesh = this._pickableMeshes[this._idMap[colorId]];
+                            }
+                        }
+                        // Depth reconstruction is guaranteed for GPUPicker's default picking shader. Custom picking
+                        // materials and special material plugins can also work if they write the second MRT attachment;
+                        // otherwise the reconstructed pickedPoint/normal may be missing or incorrect.
+                        let depthPickingInfo = null;
+                        if (this._useDepthPicking && pickedMesh) {
+                            const camera = this._cachedScene.activeCamera;
+                            if (camera) {
+                                const { rttSizeW, rttSizeH } = this._getRenderInfo();
+                                const viewport = camera.viewport.toGlobal(rttSizeW, rttSizeH);
+                                const view = this._cachedScene.getViewMatrix().clone();
+                                const projection = this._cachedScene.getProjectionMatrix().clone();
+                                const cameraPosition = camera.globalPosition.clone();
+                                depthPickingInfo = await this._getDepthPickingInfoAsync(x, y, rttSizeW, rttSizeH, view, projection, cameraPosition, viewport);
+                            }
+                        }
+                        if (disposeWhenDone) {
+                            this.dispose();
+                        }
+                        this._pickingInProgress = false;
+                        if (pickedMesh) {
+                            resolve({ mesh: pickedMesh, thinInstanceIndex: thinInstanceIndex, ...depthPickingInfo });
                         }
                         else {
-                            pickedMesh = this._pickableMeshes[this._idMap[colorId]];
+                            resolve(null);
                         }
                     }
-                    if (disposeWhenDone) {
-                        this.dispose();
-                    }
-                    this._pickingInProgress = false;
-                    if (pickedMesh) {
-                        resolve({ mesh: pickedMesh, thinInstanceIndex: thinInstanceIndex });
-                    }
-                    else {
-                        resolve(null);
+                    catch (error) {
+                        this._removePickingTextureFromRenderTargets();
+                        this._pickingInProgress = false;
+                        reject(error instanceof Error ? error : new Error(`${error}`));
                     }
                 }
             };
         });
     }
     // pick multiple pixels
-    async _executeMultiPickingAsync(xy, minX, maxY, rttSizeH, w, h, disposeWhenDone) {
+    async _executeMultiPickingAsync(xy, readX, readY, rttSizeW, rttSizeH, w, h, useIndividualReadback, disposeWhenDone) {
         return await new Promise((resolve, reject) => {
             if (!this._pickingTexture) {
                 this._pickingInProgress = false;
@@ -619,27 +874,91 @@ export class GPUPicker {
             // eslint-disable-next-line @typescript-eslint/no-misused-promises
             this._pickingTexture.onAfterRender = async () => {
                 if (this._checkRenderStatus()) {
-                    this._pickingTexture.onAfterRender = null;
-                    const pickedMeshes = [];
-                    const thinInstanceIndexes = [];
-                    if (await this._readTexturePixelsAsync(minX, rttSizeH - maxY - 1, w, h)) {
-                        for (let i = 0; i < xy.length; i++) {
-                            const { pickedMesh, thinInstanceIndex } = this._getMeshFromMultiplePoints(xy[i].x, xy[i].y, minX, maxY, w);
-                            pickedMeshes.push(pickedMesh);
-                            thinInstanceIndexes.push(thinInstanceIndex ?? 0);
+                    try {
+                        this._pickingTexture.onAfterRender = null;
+                        const pickedMeshes = new Array(xy.length).fill(null);
+                        const thinInstanceIndexes = new Array(xy.length).fill(0);
+                        if (useIndividualReadback) {
+                            for (let i = 0; i < xy.length; i++) {
+                                const pointBottomY = rttSizeH - xy[i].y - 1;
+                                if (xy[i].x < 0 || pointBottomY < 0 || xy[i].x >= rttSizeW || pointBottomY >= rttSizeH) {
+                                    continue;
+                                }
+                                // eslint-disable-next-line no-await-in-loop
+                                if (await this._readTexturePixelsAsync(xy[i].x, pointBottomY, 1, 1)) {
+                                    const { pickedMesh, thinInstanceIndex } = this._getMeshFromReadBuffer(0);
+                                    pickedMeshes[i] = pickedMesh;
+                                    thinInstanceIndexes[i] = thinInstanceIndex ?? 0;
+                                }
+                            }
+                        }
+                        else {
+                            if (await this._readTexturePixelsAsync(readX, readY, w, h)) {
+                                for (let i = 0; i < xy.length; i++) {
+                                    const { pickedMesh, thinInstanceIndex } = this._getMeshFromMultiplePoints(xy[i].x, xy[i].y, readX, readY, rttSizeH, w, h);
+                                    pickedMeshes[i] = pickedMesh;
+                                    thinInstanceIndexes[i] = thinInstanceIndex ?? 0;
+                                }
+                            }
                         }
+                        let pickedPoints;
+                        let normals;
+                        if (this._useDepthPicking) {
+                            pickedPoints = new Array(xy.length).fill(null);
+                            normals = new Array(xy.length).fill(null);
+                        }
+                        if (pickedPoints && normals && pickedMeshes.some((mesh) => !!mesh)) {
+                            const camera = this._cachedScene.activeCamera;
+                            if (camera) {
+                                const viewport = camera.viewport.toGlobal(rttSizeW, rttSizeH);
+                                const view = this._cachedScene.getViewMatrix().clone();
+                                const projection = this._cachedScene.getProjectionMatrix().clone();
+                                const cameraPosition = camera.globalPosition.clone();
+                                if (useIndividualReadback) {
+                                    for (let i = 0; i < xy.length; i++) {
+                                        if (!pickedMeshes[i]) {
+                                            continue;
+                                        }
+                                        const pointY = rttSizeH - xy[i].y - 1;
+                                        // eslint-disable-next-line no-await-in-loop
+                                        const depthPickingInfo = await this._getDepthPickingInfoAsync(xy[i].x, pointY, rttSizeW, rttSizeH, view, projection, cameraPosition, viewport);
+                                        pickedPoints[i] = depthPickingInfo?.pickedPoint ?? null;
+                                        normals[i] = depthPickingInfo?.normal ?? null;
+                                    }
+                                }
+                                else {
+                                    const depthPixels = await this._readDepthTexturePixelsAsync(readX, readY, w, h);
+                                    if (depthPixels) {
+                                        for (let i = 0; i < xy.length; i++) {
+                                            if (!pickedMeshes[i]) {
+                                                continue;
+                                            }
+                                            const pointY = rttSizeH - xy[i].y - 1;
+                                            const depthPickingInfo = this._getDepthPickingInfoFromBuffer(depthPixels, xy[i].x, pointY, readX, readY, w, h, rttSizeH, view, projection, cameraPosition, viewport);
+                                            pickedPoints[i] = depthPickingInfo?.pickedPoint ?? null;
+                                            normals[i] = depthPickingInfo?.normal ?? null;
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                        if (disposeWhenDone) {
+                            this.dispose();
+                        }
+                        this._pickingInProgress = false;
+                        resolve({ meshes: pickedMeshes, thinInstanceIndexes: thinInstanceIndexes, pickedPoints, normals });
                     }
-                    if (disposeWhenDone) {
-                        this.dispose();
+                    catch (error) {
+                        this._removePickingTextureFromRenderTargets();
+                        this._pickingInProgress = false;
+                        reject(error instanceof Error ? error : new Error(`${error}`));
                     }
-                    this._pickingInProgress = false;
-                    resolve({ meshes: pickedMeshes, thinInstanceIndexes: thinInstanceIndexes });
                 }
             };
         });
     }
     // pick box area
-    async _executeBoxPickingAsync(x, y, w, h, disposeWhenDone) {
+    async _executeBoxPickingAsync(scanX, scanMaxY, scanW, scanH, readX, readY, rttSizeW, rttSizeH, readW, readH, disposeWhenDone) {
         return await new Promise((resolve, reject) => {
             if (!this._pickingTexture) {
                 this._pickingInProgress = false;
@@ -649,42 +968,83 @@ export class GPUPicker {
             // eslint-disable-next-line @typescript-eslint/no-misused-promises
             this._pickingTexture.onAfterRender = async () => {
                 if (this._checkRenderStatus()) {
-                    this._pickingTexture.onAfterRender = null;
-                    const pickedMeshes = [];
-                    const thinInstanceIndexes = [];
-                    if (await this._readTexturePixelsAsync(x, y, w, h)) {
-                        for (let offsetY = 0; offsetY < h; ++offsetY) {
-                            for (let offsetX = 0; offsetX < w; ++offsetX) {
-                                const colorId = this._getColorIdFromReadBuffer((offsetY * w + offsetX) * 4);
-                                if (colorId > 0) {
-                                    // Thin?
-                                    if (this._thinIdMap[colorId]) {
-                                        const pickedMesh = this._pickableMeshes[this._thinIdMap[colorId].meshId];
-                                        const thinInstanceIndex = this._thinIdMap[colorId].thinId;
-                                        pickedMeshes.push(pickedMesh);
-                                        thinInstanceIndexes.push(thinInstanceIndex);
+                    try {
+                        this._pickingTexture.onAfterRender = null;
+                        const pickedMeshes = [];
+                        const thinInstanceIndexes = [];
+                        const pickedPixelCoordinates = [];
+                        const scanBufferX = scanX - readX;
+                        const scanBufferY = rttSizeH - scanMaxY - 1 - readY;
+                        if (await this._readTexturePixelsAsync(readX, readY, readW, readH)) {
+                            for (let offsetY = 0; offsetY < scanH; ++offsetY) {
+                                for (let offsetX = 0; offsetX < scanW; ++offsetX) {
+                                    const bufferX = scanBufferX + offsetX;
+                                    const bufferY = scanBufferY + offsetY;
+                                    if (bufferX < 0 || bufferY < 0 || bufferX >= readW || bufferY >= readH) {
+                                        continue;
                                     }
-                                    else {
-                                        const pickedMesh = this._pickableMeshes[this._idMap[colorId]];
-                                        pickedMeshes.push(pickedMesh);
-                                        thinInstanceIndexes.push(0);
+                                    const colorId = this._getColorIdFromReadBuffer(this._getReadBufferOffset(bufferX, bufferY, readW, readH));
+                                    if (colorId > 0) {
+                                        // Thin?
+                                        if (this._thinIdMap[colorId]) {
+                                            const pickedMesh = this._pickableMeshes[this._thinIdMap[colorId].meshId];
+                                            const thinInstanceIndex = this._thinIdMap[colorId].thinId;
+                                            pickedMeshes.push(pickedMesh);
+                                            thinInstanceIndexes.push(thinInstanceIndex);
+                                            pickedPixelCoordinates.push({ x: scanX + offsetX, y: scanMaxY - offsetY });
+                                        }
+                                        else {
+                                            const pickedMesh = this._pickableMeshes[this._idMap[colorId]];
+                                            pickedMeshes.push(pickedMesh);
+                                            thinInstanceIndexes.push(0);
+                                            pickedPixelCoordinates.push({ x: scanX + offsetX, y: scanMaxY - offsetY });
+                                        }
                                     }
                                 }
                             }
                         }
+                        let pickedPoints;
+                        let normals;
+                        if (this._useDepthPicking) {
+                            pickedPoints = new Array(pickedMeshes.length).fill(null);
+                            normals = new Array(pickedMeshes.length).fill(null);
+                        }
+                        if (pickedPoints && normals && pickedMeshes.length > 0) {
+                            const camera = this._cachedScene.activeCamera;
+                            const depthPixels = await this._readDepthTexturePixelsAsync(readX, readY, readW, readH);
+                            if (camera && depthPixels) {
+                                const viewport = camera.viewport.toGlobal(rttSizeW, rttSizeH);
+                                const view = this._cachedScene.getViewMatrix().clone();
+                                const projection = this._cachedScene.getProjectionMatrix().clone();
+                                const cameraPosition = camera.globalPosition.clone();
+                                for (let i = 0; i < pickedPixelCoordinates.length; i++) {
+                                    const point = pickedPixelCoordinates[i];
+                                    const pointY = rttSizeH - point.y - 1;
+                                    const depthPickingInfo = this._getDepthPickingInfoFromBuffer(depthPixels, point.x, pointY, readX, readY, readW, readH, rttSizeH, view, projection, cameraPosition, viewport);
+                                    pickedPoints[i] = depthPickingInfo?.pickedPoint ?? null;
+                                    normals[i] = depthPickingInfo?.normal ?? null;
+                                }
+                            }
+                        }
+                        if (disposeWhenDone) {
+                            this.dispose();
+                        }
+                        this._pickingInProgress = false;
+                        resolve({ meshes: pickedMeshes, thinInstanceIndexes: thinInstanceIndexes, pickedPoints, normals });
                     }
-                    if (disposeWhenDone) {
-                        this.dispose();
+                    catch (error) {
+                        this._removePickingTextureFromRenderTargets();
+                        this._pickingInProgress = false;
+                        reject(error instanceof Error ? error : new Error(`${error}`));
                     }
-                    this._pickingInProgress = false;
-                    resolve({ meshes: pickedMeshes, thinInstanceIndexes: thinInstanceIndexes });
                 }
             };
         });
     }
     _enableScissor(x, y, w = 1, h = 1) {
         if (this._engine.enableScissor) {
-            this._engine.enableScissor(x, y, w, h);
+            const scissorY = this._engine?.isWebGPU && this._pickingTexture ? this._pickingTexture.getSize().height - y - h : y;
+            this._engine.enableScissor(x, scissorY, w, h);
         }
     }
     _disableScissor() {
@@ -725,25 +1085,35 @@ export class GPUPicker {
         if (!renderList || renderList.length === 0) {
             return;
         }
+        const engine = this._cachedScene.getEngine();
         // Cap the number of polling attempts to avoid hanging forever if a shader fails to compile.
         const maxAttempts = 200;
         for (let attempt = 0; attempt < maxAttempts; attempt++) {
             let allReady = true;
-            // Iterate every mesh (do not break early): each isReady call kicks off compilation
-            // of that mesh's effect variant if not yet started, so visiting them all on the first
-            // attempt lets the compiles run in parallel (KHR_parallel_shader_compile) instead of
-            // being serialized one variant per render frame.
-            for (let i = 0; i < renderList.length; i++) {
-                const mesh = renderList[i];
-                const material = this._meshMaterialMap.get(mesh);
-                // Match the canonical "uses instanced shader variant" check used elsewhere in this file
-                // (see addPickingList) — InstancedMesh entries report isAnInstance=true while
-                // hasInstances=false, so omitting isAnInstance would validate the wrong shader variant.
-                const useInstances = mesh.hasInstances || mesh.isAnInstance || mesh.hasThinInstances;
-                if (material && !material.isReady(mesh, useInstances)) {
-                    allReady = false;
+            // Compile picking effects under the picking texture's render pass id so per-pass effect caches
+            // (e.g. GaussianSplattingMaterial) don't stamp them onto the main pass draw wrapper.
+            const previousRenderPassId = engine.currentRenderPassId;
+            engine.currentRenderPassId = this._pickingTexture.renderPassId;
+            try {
+                // Iterate every mesh (do not break early): each isReady call kicks off compilation
+                // of that mesh's effect variant if not yet started, so visiting them all on the first
+                // attempt lets the compiles run in parallel (KHR_parallel_shader_compile) instead of
+                // being serialized one variant per render frame.
+                for (let i = 0; i < renderList.length; i++) {
+                    const mesh = renderList[i];
+                    const material = this._meshMaterialMap.get(mesh);
+                    // Match the canonical "uses instanced shader variant" check used elsewhere in this file
+                    // (see addPickingList) — InstancedMesh entries report isAnInstance=true while
+                    // hasInstances=false, so omitting isAnInstance would validate the wrong shader variant.
+                    const useInstances = mesh.hasInstances || mesh.isAnInstance || mesh.hasThinInstances;
+                    if (material && !material.isReady(mesh, useInstances)) {
+                        allReady = false;
+                    }
                 }
             }
+            finally {
+                engine.currentRenderPassId = previousRenderPassId;
+            }
             if (allReady) {
                 return;
             }
@@ -757,12 +1127,28 @@ export class GPUPicker {
         }
         Logger.Warn(`GPUPicker: gave up waiting for picking materials to compile after ${maxAttempts} attempts; picking results may be incorrect.`);
     }
-    _getMeshFromMultiplePoints(x, y, minX, maxY, w) {
-        let offsetX = (x - minX - 1) * 4;
-        let offsetY = (maxY - y - 1) * w * 4;
-        offsetX = Math.max(offsetX, 0);
-        offsetY = Math.max(offsetY, 0);
-        const colorId = this._getColorIdFromReadBuffer(offsetX + offsetY);
+    _getMeshFromMultiplePoints(x, y, readX, readY, renderHeight, readWidth, readHeight) {
+        const bufferX = x - readX;
+        const bufferY = renderHeight - y - 1 - readY;
+        let pickedMesh = null;
+        let thinInstanceIndex;
+        if (bufferX < 0 || bufferY < 0 || bufferX >= readWidth || bufferY >= readHeight) {
+            return { pickedMesh, thinInstanceIndex };
+        }
+        const colorId = this._getColorIdFromReadBuffer(this._getReadBufferOffset(bufferX, bufferY, readWidth, readHeight));
+        if (colorId > 0) {
+            if (this._thinIdMap[colorId]) {
+                pickedMesh = this._pickableMeshes[this._thinIdMap[colorId].meshId];
+                thinInstanceIndex = this._thinIdMap[colorId].thinId;
+            }
+            else {
+                pickedMesh = this._pickableMeshes[this._idMap[colorId]];
+            }
+        }
+        return { pickedMesh, thinInstanceIndex };
+    }
+    _getMeshFromReadBuffer(offset) {
+        const colorId = this._getColorIdFromReadBuffer(offset);
         let pickedMesh = null;
         let thinInstanceIndex;
         if (colorId > 0) {
@@ -810,17 +1196,191 @@ export class GPUPicker {
         gsPickingMaterial.needAlphaBlending = () => false;
         gsPickingMaterial.backFaceCulling = false;
         // Attach the GPU picking plugin
-        new GaussianSplattingGpuPickingMaterialPlugin(gsPickingMaterial);
+        const plugin = new GaussianSplattingGpuPickingMaterialPlugin(gsPickingMaterial);
+        plugin.enableDepthPicking = this._useDepthPicking;
+        plugin.enablePackedDepthPicking = this._isDepthTexturePacked;
         return gsPickingMaterial;
     }
     async _readTexturePixelsAsync(x, y, w = 1, h = 1) {
-        if (!this._cachedScene || !this._pickingTexture?._texture) {
+        if (!this._cachedScene || !this._pickingTexture) {
+            return false;
+        }
+        const engine = this._cachedScene.getEngine();
+        const texture = this._isUsingDepthPickingRenderTarget ? this._pickingTexture.textures[0]._texture : this._pickingTexture._texture;
+        if (!texture) {
             return false;
         }
+        const readY = engine.isWebGPU ? texture.height - y - h : y;
+        await engine._readTexturePixels(texture, w, h, -1, 0, this._readbuffer, true, true, x, readY);
+        return true;
+    }
+    async _readDepthTexturePixelsAsync(x, y, w, h) {
+        if (!this._cachedScene || !this._isUsingDepthPickingRenderTarget || !(this._pickingTexture instanceof MultiRenderTarget)) {
+            return null;
+        }
+        const texture = this._pickingTexture.textures[1]._texture;
+        if (!texture) {
+            return null;
+        }
         const engine = this._cachedScene.getEngine();
-        await engine._readTexturePixels(this._pickingTexture._texture, w, h, -1, 0, this._readbuffer, true, true, x, y);
+        const requiredByteLength = engine.isWebGPU ? (4 * 4 * w * h + 255) & ~255 : 4 * 4 * w * h;
+        if (!this._depthReadbuffer || this._depthReadbuffer.byteLength < requiredByteLength) {
+            this._depthReadbuffer = this._depthTextureType === 0 ? new Uint8Array(requiredByteLength) : new Float32Array(requiredByteLength / 4);
+        }
+        const readY = engine.isWebGPU ? texture.height - y - h : y;
+        return await engine._readTexturePixels(texture, w, h, -1, 0, this._depthReadbuffer, true, false, x, readY);
+    }
+    async _getDepthPickingInfoAsync(x, y, renderWidth, renderHeight, view, projection, cameraPosition, viewport) {
+        const radius = GPUPicker._DepthPixelRadius;
+        const left = Math.max(x - radius, 0);
+        const bottom = Math.max(y - radius, 0);
+        const right = Math.min(x + radius, renderWidth - 1);
+        const top = Math.min(y + radius, renderHeight - 1);
+        const width = right - left + 1;
+        const height = top - bottom + 1;
+        const pixels = await this._readDepthTexturePixelsAsync(left, bottom, width, height);
+        if (!pixels) {
+            return null;
+        }
+        return this._getDepthPickingInfoFromBuffer(pixels, x, y, left, bottom, width, height, renderHeight, view, projection, cameraPosition, viewport);
+    }
+    _getDepthPickingInfoFromBuffer(pixels, x, y, bufferLeft, bufferBottom, bufferWidth, bufferHeight, renderHeight, view, projection, cameraPosition, viewport) {
+        let centerBufferX = x - bufferLeft;
+        let centerBufferY = y - bufferBottom;
+        let centerDepth = this._getDepthFromBuffer(pixels, centerBufferX, centerBufferY, bufferWidth, bufferHeight);
+        if (centerDepth === null) {
+            let closestDistanceSquared = Infinity;
+            for (let yy = 0; yy < bufferHeight; yy++) {
+                for (let xx = 0; xx < bufferWidth; xx++) {
+                    const depth = this._getDepthFromBuffer(pixels, xx, yy, bufferWidth, bufferHeight);
+                    if (depth === null) {
+                        continue;
+                    }
+                    const dx = xx - centerBufferX;
+                    const dy = yy - centerBufferY;
+                    const distanceSquared = dx * dx + dy * dy;
+                    if (distanceSquared < closestDistanceSquared) {
+                        closestDistanceSquared = distanceSquared;
+                        centerBufferX = xx;
+                        centerBufferY = yy;
+                        centerDepth = depth;
+                    }
+                }
+            }
+        }
+        if (centerDepth === null) {
+            return null;
+        }
+        x = bufferLeft + centerBufferX;
+        y = bufferBottom + centerBufferY;
+        const viewportTop = renderHeight - viewport.y - viewport.height;
+        const centerViewportX = x - viewport.x;
+        const centerViewportY = renderHeight - y - 1 - viewportTop;
+        if (centerViewportX < 0 || centerViewportY < 0 || centerViewportX >= viewport.width || centerViewportY >= viewport.height) {
+            return null;
+        }
+        const pickedPoint = Vector3.UnprojectFloatsToRef(centerViewportX, centerViewportY, centerDepth, viewport.width, viewport.height, Matrix.IdentityReadOnly, view, projection, new Vector3());
+        const fallbackNormal = () => cameraPosition.subtractToRef(pickedPoint, new Vector3()).normalize();
+        let bestOffsetA = null;
+        let bestOffsetB = null;
+        let bestDepthDelta = Infinity;
+        const offsets = GPUPicker._DepthNeighborOffsets;
+        const depthNeighbors = [];
+        const epsilonSquared = Epsilon * Epsilon;
+        for (let i = 0; i < offsets.length; i++) {
+            const offset = offsets[i];
+            const depth = this._getDepthFromBuffer(pixels, centerBufferX + offset[0], centerBufferY + offset[1], bufferWidth, bufferHeight);
+            if (depth === null ||
+                !this._getDepthPointFromBufferToRef(pixels, x, y, offset[0], offset[1], bufferLeft, bufferBottom, bufferWidth, bufferHeight, renderHeight, view, projection, viewport, TmpVectors.Vector3[3])) {
+                continue;
+            }
+            depthNeighbors.push({ offset, depth, depthDelta: Math.abs(centerDepth - depth) });
+        }
+        depthNeighbors.sort((a, b) => a.depthDelta - b.depthDelta);
+        for (let i = 0; i < depthNeighbors.length; i++) {
+            const neighborA = depthNeighbors[i];
+            this._getDepthPointFromBufferToRef(pixels, x, y, neighborA.offset[0], neighborA.offset[1], bufferLeft, bufferBottom, bufferWidth, bufferHeight, renderHeight, view, projection, viewport, TmpVectors.Vector3[3]);
+            for (let j = i + 1; j < depthNeighbors.length; j++) {
+                const neighborB = depthNeighbors[j];
+                this._getDepthPointFromBufferToRef(pixels, x, y, neighborB.offset[0], neighborB.offset[1], bufferLeft, bufferBottom, bufferWidth, bufferHeight, renderHeight, view, projection, viewport, TmpVectors.Vector3[4]);
+                const toA = TmpVectors.Vector3[3].subtractToRef(pickedPoint, TmpVectors.Vector3[0]);
+                const toB = TmpVectors.Vector3[4].subtractToRef(pickedPoint, TmpVectors.Vector3[1]);
+                if (toA.lengthSquared() < epsilonSquared || toB.lengthSquared() < epsilonSquared) {
+                    continue;
+                }
+                Vector3.CrossToRef(toB, toA, TmpVectors.Vector3[5]);
+                if (TmpVectors.Vector3[5].lengthSquared() < epsilonSquared) {
+                    continue;
+                }
+                const depthDelta = neighborA.depthDelta + neighborB.depthDelta + Math.abs(neighborA.depth - neighborB.depth);
+                if (depthDelta < bestDepthDelta) {
+                    bestDepthDelta = depthDelta;
+                    bestOffsetA = neighborA.offset;
+                    bestOffsetB = neighborB.offset;
+                }
+            }
+        }
+        if (!bestOffsetA || !bestOffsetB) {
+            return { pickedPoint, normal: fallbackNormal() };
+        }
+        this._getDepthPointFromBufferToRef(pixels, x, y, bestOffsetA[0], bestOffsetA[1], bufferLeft, bufferBottom, bufferWidth, bufferHeight, renderHeight, view, projection, viewport, TmpVectors.Vector3[3]);
+        this._getDepthPointFromBufferToRef(pixels, x, y, bestOffsetB[0], bestOffsetB[1], bufferLeft, bufferBottom, bufferWidth, bufferHeight, renderHeight, view, projection, viewport, TmpVectors.Vector3[4]);
+        const toA = TmpVectors.Vector3[3].subtractToRef(pickedPoint, TmpVectors.Vector3[0]);
+        const toB = TmpVectors.Vector3[4].subtractToRef(pickedPoint, TmpVectors.Vector3[1]);
+        if (toA.lengthSquared() < epsilonSquared || toB.lengthSquared() < epsilonSquared) {
+            return { pickedPoint, normal: fallbackNormal() };
+        }
+        toA.normalize();
+        toB.normalize();
+        const normal = Vector3.CrossToRef(toB, toA, new Vector3());
+        if (normal.lengthSquared() < epsilonSquared) {
+            return { pickedPoint, normal: fallbackNormal() };
+        }
+        normal.normalize();
+        const cameraDirection = pickedPoint.subtractToRef(cameraPosition, TmpVectors.Vector3[2]).normalize();
+        if (Vector3.Dot(normal, cameraDirection) > 0) {
+            normal.negateInPlace();
+        }
+        return { pickedPoint, normal };
+    }
+    _getDepthPointFromBufferToRef(pixels, x, y, offsetX, offsetY, left, bottom, bufferWidth, bufferHeight, renderHeight, view, projection, viewport, result) {
+        const bufferX = x + offsetX - left;
+        const bufferY = y + offsetY - bottom;
+        const depth = this._getDepthFromBuffer(pixels, bufferX, bufferY, bufferWidth, bufferHeight);
+        if (depth === null) {
+            return false;
+        }
+        const viewportTop = renderHeight - viewport.y - viewport.height;
+        const viewportX = x + offsetX - viewport.x;
+        const viewportY = renderHeight - (y + offsetY) - 1 - viewportTop;
+        if (viewportX < 0 || viewportY < 0 || viewportX >= viewport.width || viewportY >= viewport.height) {
+            return false;
+        }
+        Vector3.UnprojectFloatsToRef(viewportX, viewportY, depth, viewport.width, viewport.height, Matrix.IdentityReadOnly, view, projection, result);
         return true;
     }
+    _getDepthFromBuffer(pixels, x, y, width, height) {
+        if (x < 0 || y < 0 || x >= width || y >= height) {
+            return null;
+        }
+        const index = this._getReadBufferOffset(x, y, width, height);
+        let depth;
+        if (pixels instanceof Uint8Array || pixels instanceof Uint8ClampedArray) {
+            if (this._isDepthTexturePacked) {
+                depth = pixels[index] / (255 * 255 * 255 * 255) + pixels[index + 1] / (255 * 255 * 255) + pixels[index + 2] / (255 * 255) + pixels[index + 3] / 255;
+            }
+            else {
+                depth = pixels[index] / 255;
+            }
+        }
+        else {
+            depth = pixels[index];
+        }
+        if (!Number.isFinite(depth) || depth <= 0 || depth >= 1) {
+            return null;
+        }
+        return depth;
+    }
     /** Release the resources */
     dispose() {
         this.setPickingList(null);
@@ -831,8 +1391,25 @@ export class GPUPicker {
         this._clearPickingMaterials();
         this._sceneBeforeRenderObserver?.remove();
         this._sceneBeforeRenderObserver = null;
+        this._pickingTextureClearObserver?.remove();
+        this._pickingTextureClearObserver = null;
+        this._pickingTextureAfterRenderObserver?.remove();
+        this._pickingTextureAfterRenderObserver = null;
     }
 }
 GPUPicker._AttributeName = "instanceMeshID";
 GPUPicker._MaxPickingId = 0x00ffffff; // 24 bits unsigned integer max
+GPUPicker._DepthPixelRadius = 1;
+GPUPicker._MaxMultiPickIndividualReadbackCount = 32;
+GPUPicker._MultiPickIndividualReadbackAreaRatio = 16;
+GPUPicker._DepthNeighborOffsets = [
+    [-1, 1],
+    [0, 1],
+    [1, 1],
+    [1, 0],
+    [1, -1],
+    [0, -1],
+    [-1, -1],
+    [-1, 0],
+];
 //# sourceMappingURL=gpuPicker.js.map