@carbonenginejs/core-math 0.1.0

package/src/pln.js

@@ -0,0 +1,740 @@
+import { num } from "./num.js";
+import { vec3 } from "./vec3.js";
+import { vec4 } from "./vec4.js";
+import { mat3 } from "./mat3.js";
+import { box3 } from "./box3.js";
+import { pool } from "./pool.js";
+
+/**
+ * Plane
+ *
+ * @typedef {Float32Array} pln
+ */
+
+export const pln = {};
+
+/**
+ * Allocates a pooled pln
+ * @returns {Float32Array|pln}
+ */
+pln.alloc = function()
+{
+    return pool.allocF32(4);
+};
+
+/**
+ * Unallocates a pooled pln
+ * @param {pln|Float32Array} a
+ */
+pln.unalloc = function(a)
+{
+    pool.freeType(a);
+};
+
+/**
+ * Returns a subarray of a plane's normal
+ *
+ * @param {pln} a - source plane
+ * @returns {*}   - plane normal reference
+ */
+pln.$normal = function(a)
+{
+    return a.subarray(0, 3);
+};
+
+
+/**
+ * Clones a pln
+ *
+ * @param {pln} a - Source plane
+ * @returns {pln} - Cloned plane
+ */
+pln.clone = vec4.clone;
+
+/**
+ * Returns the constant component of the pln
+ *
+ * @param {pln} a    - Source plane
+ * @returns {number} - plane's constant
+ */
+pln.constant = function(a)
+{
+    return a[3];
+};
+
+/**
+ * Copies a pln
+ *
+ * @param {pln} a - Target plane
+ * @param {pln} b - Source plane
+ * @returns {pln} - Target plane
+ */
+pln.copy = vec4.copy;
+
+/**
+ * Creates a plane
+ *
+ * @returns {pln}
+ */
+pln.create = vec4.create;
+
+/**
+ * Gets the distance from a plane to a point
+ *
+ * @param {pln} a    - plane to compare
+ * @param {vec3} p   - Point to compare
+ * @returns {number} - The distance between them
+ */
+pln.distanceToPoint = function(a, p)
+{
+    return (a[0] * p[0] + a[1] * p[1] + a[2] * p[2]) + a[3];
+};
+
+/**
+ * Gets the distance from a plane to the components of a sphere
+ *
+ * @param {pln} a         - plane to compare
+ * @param {vec3} position - sphere position to compare
+ * @param {number} radius - sphere radius to compare
+ * @returns {number}      - The distance between them
+ */
+pln.distanceToPositionRadius = function(a, position, radius)
+{
+    return (a[0] * position[0] + a[1] * position[1] + a[2] * position[2]) + a[3] - radius;
+};
+
+/**
+ * Gets the distance from a plane to a Float32Array(4) sphere
+ *
+ * @param {pln} a       - plane to compare
+ * @param {sph3} sphere - sphere to compare
+ * @returns {number}    - The distance between them
+ */
+pln.distanceToSph3 = function(a, sphere)
+{
+    return (a[0] * sphere[0] + a[1] * sphere[1] + a[2] * sphere[2]) + a[3] - sphere[3];
+};
+
+/**
+ * Gets the distance from a plane to a point's values
+ *
+ * @param {pln} a     - plane to compare
+ * @param {Number} px - Point x to compare
+ * @param {Number} py - Point y to compare
+ * @param {Number} pz - Point z to compare
+ * @returns {number}  - The distance between them
+ */
+pln.distanceToValues = function(a, px, py, pz)
+{
+    return (a[0] * px + a[1] * py + a[2] * pz) + a[3];
+};
+
+/**
+ * Compares two plns for equality
+ *
+ * @param {pln} a     - plane to compare
+ * @param {pln} b     - plane to compare
+ * @returns {boolean} - true if equal
+ */
+pln.equals = vec4.equals;
+
+/**
+ * Compares a pln to plane components
+ *
+ * @param {pln} a           - plane to compare
+ * @param {vec3} normal     - plane normal to compare
+ * @param {number} constant - plane constant to compare
+ * @returns {boolean}       - true if equal
+ */
+pln.equalsNormalConstant = function(a, normal, constant)
+{
+    let a0 = a[0],
+        a1 = a[1],
+        a2 = a[2],
+        a3 = a[3],
+        b0 = normal[0],
+        b1 = normal[1],
+        b2 = normal[2],
+        b3 = constant;
+
+    return (
+        Math.abs(a0 - b0) <= num.EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) &&
+        Math.abs(a1 - b1) <= num.EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) &&
+        Math.abs(a2 - b2) <= num.EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) &&
+        Math.abs(a3 - b3) <= num.EPSILON * Math.max(1.0, Math.abs(a3), Math.abs(b3))
+    );
+};
+
+/**
+ * Compares two plns for exact equality
+ *
+ * @param {pln} a     - plane to compare
+ * @param {pln} b     - plane to compare
+ * @returns {boolean}
+ */
+pln.exactEquals = vec4.exactEquals;
+
+/**
+ * Compares a pln to plane components for exact equality
+ *
+ * @param {pln} a           - plane to compare
+ * @param {vec3} normal     - plane normal to compare
+ * @param {number} constant - plane constant to compare
+ * @returns {boolean}
+ */
+pln.exactEqualsNormalConstant = function(a, normal, constant)
+{
+    return a[0] === normal[0] && a[1] === normal[1] && a[2] === normal[2] && a[3] === constant;
+};
+
+/**
+ * Extracts a pln's components
+ *
+ * @param {pln} a          - Source plane
+ * @param {vec3} outNormal - Receiving vec3
+ * @returns {number}       - plane constant
+ */
+pln.extract = function(a, outNormal)
+{
+    outNormal[0] = a[0];
+    outNormal[1] = a[1];
+    outNormal[2] = a[2];
+    return a[3];
+};
+
+/**
+ * Sets a pln from plane components
+ *
+ * @param {pln} out   - Receiving plane
+ * @param {vec3} n    - plane normal to set
+ * @param {number} c  - plane constant to set
+ * @returns {pln} out - receiving plane
+ */
+pln.fromNormalConstant = function(out, n, c)
+{
+    out[0] = n[0];
+    out[1] = n[1];
+    out[2] = n[2];
+    out[3] = c;
+    return out;
+};
+
+/**
+ * Sets from coplanar points
+ *
+ * @author three.js (conversion)
+ * @param {pln} out   - Receiving plane
+ * @param {vec3} a    - Coplanar point a
+ * @param {vec3} b    - Coplanar point b
+ * @param {vec3} c    - Coplanar point c
+ * @returns {pln} out - Receiving pln
+ */
+pln.fromCoplanarPoints = function(out, a, b, c)
+{
+    let ax = c[0] - b[0],
+        ay = c[1] - b[1],
+        az = c[2] - b[2],
+        bx = a[0] - b[0],
+        by = a[1] - b[1],
+        bz = a[2] - b[2];
+
+    // get cross product
+    let x = ay * bz - az * by,
+        y = az * bx - ax * bz,
+        z = ax * by - ay * bx;
+
+    // normalize
+    let len = x * x + y * y + z * z;
+    if (len > 0)
+    {
+        len = 1 / Math.sqrt(len);
+        out[0] = x * len;
+        out[1] = y * len;
+        out[2] = z * len;
+    }
+    else
+    {
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+        throw new Error("Normalization error");
+    }
+
+    // set coplanar point
+    out[3] = -(a[0] * out[0] + a[1] * out[1] + a[2] * out[2]);
+    return out;
+};
+
+/**
+ * Sets a pln from normal and a coplanar point
+ *
+ * @param {pln} out     - receiving plane
+ * @param {vec3} normal - normal
+ * @param {vec3} point  - coplanar point
+ * @returns {pln} out   - receiving plane
+ */
+pln.fromNormalAndCoplanarPoint = function(out, normal, point)
+{
+    out[0] = normal[0];
+    out[1] = normal[1];
+    out[2] = normal[2];
+    out[3] = -(point[0] * normal[0] + point[1] * normal[1] + point[2] * normal[2]);
+    return out;
+};
+
+/**
+ * Gets a pln's coplanar point
+ *
+ * @param {vec3} out   - receiving vec3
+ * @param {pln} a      - the source plane
+ * @returns {vec3} out - receiving vec3
+ */
+pln.getCoplanarPoint = function(out, a)
+{
+    out[0] = a[0] * -a[3];
+    out[1] = a[1] * -a[3];
+    out[2] = a[2] * -a[3];
+    return out;
+};
+
+/**
+ * Sets a vec3 with the intersection point of a plane and a Float32Array(6) line
+ * - Returns null if there was no intersection, or the receiving vec3 if there was
+ *
+ * @author Three.js (conversion)
+ * @param {vec3} out                 - receiving vec3
+ * @param {pln} a                    - plane
+ * @param {(lne3|Float32Array)} l    - line
+ * @returns {(null|vec3)} null|out   - null or receiving vec3
+ */
+pln.getIntersectLne3 = function(out, a, l)
+{
+    let lsx = l[0],
+        lsy = l[1],
+        lsz = l[2],
+        lex = l[3],
+        ley = l[4],
+        lez = l[5];
+
+    // Clear the out in case of fails?
+    out[0] = 0;
+    out[1] = 0;
+    out[2] = 0;
+
+    // Get line delta
+    let dirX = lex - lsx,
+        dirY = ley - lsy,
+        dirZ = lez - lsz;
+
+    // Get dot of the plane normal and line delta
+    let den = a[0] * dirX + a[1] * dirY + a[2] * dirZ;
+
+    if (den === 0)
+    {
+        // Check if distance to the line start is 0
+        if ((a[0] * lsx + a[1] * lsy + a[2] * lsz) + a[3] === 0)
+        {
+            out[0] = lsx;
+            out[1] = lsy;
+            out[2] = lsz;
+            return out;
+        }
+
+        throw new Error("Denominator error");
+    }
+
+    let t = -((lsx * a[0] + lsy * a[1] + lsz * a[2]) + a[3]) / den;
+
+    if (t < 0 || t > 1)
+    {
+        throw new Error("Normalization error");
+    }
+
+    out[0] = (dirX * t) + lsx;
+    out[1] = (dirY * t) + lsy;
+    out[2] = (dirZ * t) + lsz;
+    return out;
+};
+
+
+/**
+ * Sets a vec3 with the intersection point of a plane and a 3d line's components
+ * Returns null if there was no intersection, or the receiving vec3 if there was
+ *
+ * @param {vec3} out
+ * @param {pln} a
+ * @param {vec3} lineStart
+ * @param {vec3} lineEnd
+ * @returns {vec3}
+ */
+pln.getIntersectStartEnd = function(out, a, lineStart, lineEnd)
+{
+    const vec6_0 = box3.alloc();
+    box3.from(vec6_0, lineStart, lineEnd);
+    pln.getIntersectLne3(out, a, vec6_0);
+    box3.unalloc(vec6_0);
+    return out;
+};
+
+/**
+ * Sets a vec3 with the normal component of the pln
+ *
+ * @param {vec3} out   - receiving vec3
+ * @param {pln} a      - source plane
+ * @returns {vec3} out - receiving vec3
+ */
+pln.getNormal = function(out, a)
+{
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    return out;
+};
+
+/**
+ * Gets an orthographic point
+ *
+ * @param {vec3} out    - receiving vec3
+ * @param {pln} a       - the plane to project from
+ * @param {vec3} p      - the point to project
+ * @returns {vec3} out  - receiving vec3
+ */
+pln.getOrthoPoint = function(out, a, p)
+{
+    let pMag = (a[0] * p[0] + a[1] * p[1] + a[2] * p[2]) + a[3];
+    vec3.multiplyScalar(out, a, pMag);
+    return out;
+};
+
+/**
+ * Gets a projected point
+ *
+ * @param {vec3} out   - receiving vec3
+ * @param {pln} a      - the plane to project from
+ * @param {vec3} p     - the point to project
+ * @returns {vec3} out - receiving vec3
+ */
+pln.getProjectedPoint = function(out, a, p)
+{
+    pln.getOrthoPoint(out, a, p);
+    out[0] = -(out[0] - p[0]);
+    out[1] = -(out[1] - p[1]);
+    out[2] = -(out[2] - p[2]);
+    return out;
+};
+
+/**
+ * Checks if a plane intersects min and max bounds
+ *
+ * @param {pln} a     - plane to compare
+ * @param {vec3} min  - box min bounds to compare
+ * @param {vec3} max  - box max bounds to compare
+ * @returns {boolean} - true if intersection occurs
+ */
+pln.intersectsBounds = function(a, min, max)
+{
+    const box3_0 = box3.from(box3.alloc(), min, max);
+    let result = box3.intersectsPln(box3_0, a);
+    box3.unalloc(box3_0);
+    return result;
+};
+
+/**
+ * Checks if a plane intersects a Float32Array(6) bounding box
+ *
+ * @param {pln} a                 - plane to compare
+ * @param {(box3|Float32Array)} b - box to compare
+ * @returns {boolean}             - true if intersection occurs
+ */
+pln.intersectsBox3 = function(a, b)
+{
+    return box3.intersectsPln(b, a);
+};
+
+/**
+ * Checks if a plane intersects a Float32Array(6) lne3
+ *
+ * @author three.js (conversion)
+ * @param {pln} a                  - plane to compare
+ * @param {lne3|Float32Array} l    - line to compare
+ * @returns {boolean}              - true if intersection occurs
+ */
+pln.intersectsLne3 = function(a, l)
+{
+    let startSign = (a[0] * l[0] + a[1] * l[1] + a[2] * l[2]) + a[3];
+    let endSign = (a[0] * l[3] + a[1] * l[4] + a[2] * l[5]) + a[3];
+    return (startSign < 0 && endSign > 0) || (endSign < 0 && startSign > 0);
+};
+
+/**
+ * Checks if a plane intersects spherical bounds
+ *
+ * @param {pln} a         - plane to compare
+ * @param {vec3} position - sphere position to compare
+ * @param {number} radius - sphere radius compare
+ * @returns {boolean}     - true if intersection occurs
+ */
+pln.intersectsPositionRadius = function(a, position, radius)
+{
+    let distance = position[0] * a[0] + position[1] * a[1] + position[2] * a[2] + a[3];
+    return Math.abs(distance) <= radius;
+};
+
+/**
+ * Checks if a plane intersects a sph3
+ *
+ * @param {pln} a     - plane to compare
+ * @param {sph3} s    - sphere to compare
+ * @returns {boolean} - true if intersection occurs
+ */
+pln.intersectsSph3 = function(a, s)
+{
+    let distance = s[0] * a[0] + s[1] * a[1] + s[2] * a[2] + a[3];
+    return Math.abs(distance) <= s[3];
+};
+
+/**
+ * Checks if a plane intersects a lne3's components
+ *
+ * @param {pln} a      - plane to compare
+ * @param {vec3} start - line start to compare
+ * @param {vec3} end   - line end to compare
+ * @returns {boolean}  - true if intersection occurs
+ */
+pln.intersectsStartEnd = function(a, start, end)
+{
+    let startSign = (a[0] * start[0] + a[1] * start[1] + a[2] * start[2]) + a[3];
+    let endSign = (a[0] * end[0] + a[1] * end[1] + a[2] * end[2]) + a[3];
+    return (startSign < 0 && endSign > 0) || (endSign < 0 && startSign > 0);
+};
+
+/**
+ * Negates a plane
+ *
+ * @param {pln} out   - receiving plane
+ * @param {pln} a     - the plane to negate
+ * @returns {pln} out - receiving plane
+ */
+pln.negate = function(out, a)
+{
+    out[0] = -a[0];
+    out[1] = -a[1];
+    out[2] = -a[2];
+    out[3] = a[3] * -1;
+    return out;
+};
+
+/**
+ * Normalizes a plane
+ *
+ * @param {pln} out   - receiving plane
+ * @param {pln} a     - the plane to normalize
+ * @returns {pln} out - receiving plane
+ */
+pln.normalize = function(out, a)
+{
+    let x = a[0],
+        y = a[1],
+        z = a[2];
+
+    let len = x * x + y * y + z * z;
+
+    if (len > 0)
+    {
+        len = 1 / Math.sqrt(len);
+        out[0] = a[0] * len;
+        out[1] = a[1] * len;
+        out[2] = a[2] * len;
+        out[3] = a[3] * len;
+    }
+    else
+    {
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+        throw new Error("Normalization error");
+    }
+
+    return out;
+};
+
+
+/**
+ * Sets a plane from values
+ *
+ * @param {pln} out
+ * @param {number} nX
+ * @param {number} nY
+ * @param {number} nZ
+ * @param {number} c
+ * @returns {pln} out
+ */
+pln.set = vec4.set;
+
+
+/**
+ * Sets a plane from values and then normalizes the results
+ * @param {pln} out
+ * @param {Number} nx
+ * @param {Number} ny
+ * @param {Number} nz
+ * @param {Number} c
+ * @returns {pln} out
+ */
+pln.setAndNormalize = function(out, nx, ny, nz, c)
+{
+    out[0] = nx;
+    out[1] = ny;
+    out[2] = nz;
+    out[3] = c;
+    return pln.normalize(out, out);
+};
+
+
+/**
+ * Sets a pln from an array at an optional offset
+ *
+ * @param {pln} out
+ * @param {Array} arr
+ * @param {number} [index=0]
+ * @returns {pln} out
+ */
+pln.setArray = vec4.setArray;
+
+/**
+ * Sets an array at an optional offset, with the values of a pln
+ *
+ * @param {pln} a
+ * @param {Array} arr
+ * @param {number} [offset = 0]
+ * @returns {pln} a
+ */
+pln.toArray = function(a, arr, offset = 0)
+{
+    arr[offset] = a[0];
+    arr[offset + 1] = a[1];
+    arr[offset + 2] = a[2];
+    arr[offset + 3] = a[3];
+    return a;
+};
+
+/**
+ * Transforms a plane by a mat4
+ *
+ * @author three.js (conversion)
+ * @param {pln} out        - the receiving plane
+ * @param {pln} a          - the plane to transform
+ * @param {mat4} m         - the affine matrix to transform with
+ * @param {mat3} [nMatrix] - optional normal matrix
+ * @returns {pln} out      - the receiving plane
+ */
+pln.transformMat4 = function(out, a, m, nMatrix)
+{
+    let mat3_0;
+    if (!nMatrix)
+    {
+        mat3_0 = mat3.alloc();
+        nMatrix = mat3.normalFromMat4(mat3_0, m);
+    }
+
+    // Coplanar Point
+    let cpX = a[0] * -a[3],
+        cpY = a[1] * -a[3],
+        cpZ = a[2] * -a[3];
+
+    // Create reference point from Coplanar Point transformed by the affine mat4
+    let rX = m[0] * cpX + m[4] * cpY + m[8] * cpZ + m[12],
+        rY = m[1] * cpX + m[5] * cpY + m[9] * cpZ + m[13],
+        rZ = m[2] * cpX + m[6] * cpY + m[10] * cpZ + m[14];
+
+    // Transform plane normal by normal matrix
+    let nX = a[0],
+        nY = a[1],
+        nZ = a[2],
+        pX = nX * nMatrix[0] + nY * nMatrix[3] + nZ * nMatrix[6],
+        pY = nX * nMatrix[1] + nY * nMatrix[4] + nZ * nMatrix[7],
+        pZ = nX * nMatrix[2] + nY * nMatrix[5] + nZ * nMatrix[8];
+
+    if (mat3_0) mat3.unalloc(mat3_0);
+
+    // Normalize plane normal
+    let len = pX * pX + pY * pY + pZ * pZ;
+    if (len > 0)
+    {
+        len = 1 / Math.sqrt(len);
+        out[0] = pX * len;
+        out[1] = pY * len;
+        out[2] = pZ * len;
+    }
+    else
+    {
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+        throw new Error("Normalization error");
+    }
+
+    // recalculate constant from negative dot of reference point and the resulting plane normal
+    out[3] = -(rX * out[0] + rY * out[1] + rZ * out[2]);
+
+    return out;
+};
+
+/**
+ * Translates a plane with the given vector
+ *
+ * @param {pln} out   - the receiving plane
+ * @param {pln} a     - the plane to translate
+ * @param {vec3} v    - the vector to translate with
+ * @returns {pln} out - the receiving plane
+ */
+pln.translate = function(out, a, v)
+{
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    out[3] = a[3] - (v[0] * a[0] + v[1] * a[1] + v[2] * a[2]);
+    return out;
+};
+
+export const {
+    alloc,
+    unalloc,
+    $normal,
+    clone,
+    constant,
+    copy,
+    create,
+    distanceToPoint,
+    distanceToPositionRadius,
+    distanceToSph3,
+    distanceToValues,
+    equals,
+    equalsNormalConstant,
+    exactEquals,
+    exactEqualsNormalConstant,
+    extract,
+    fromNormalConstant,
+    fromCoplanarPoints,
+    fromNormalAndCoplanarPoint,
+    getCoplanarPoint,
+    getIntersectLne3,
+    getIntersectStartEnd,
+    getNormal,
+    getOrthoPoint,
+    getProjectedPoint,
+    intersectsBounds,
+    intersectsBox3,
+    intersectsLne3,
+    intersectsPositionRadius,
+    intersectsSph3,
+    intersectsStartEnd,
+    negate,
+    normalize,
+    set,
+    setAndNormalize,
+    setArray,
+    toArray,
+    transformMat4,
+    translate
+} = pln;