@carbonenginejs/core-math 0.1.0

package/src/sph3.js

@@ -0,0 +1,718 @@
+import { vec3 } from "./vec3.js";
+import { vec4 } from "./vec4.js";
+import { mat4 } from "./mat4.js";
+import { pln } from "./pln.js";
+import { box3 } from "./box3.js";
+
+/**
+ * 3D Sphere
+ * @typedef {Float32Array} sph3
+ */
+
+export const sph3 = {};
+
+// Scratch
+let sph3_0 = null;
+let box3_0 = null;
+
+/**
+ * Allocates a pooled sph3
+ * @returns {Float32Array|sph3}
+ */
+sph3.alloc = vec4.alloc;
+
+/**
+ * Unallocates a pooled sph3
+ * @param {sph3|Float32Array} a
+ */
+sph3.unalloc = vec4.unalloc;
+
+/**
+ * Returns a subarray containing the position component of the sph3
+ * - Why does webpack fail to resolve this if referencing pln.normal?
+ *
+ * @param {sph3} a
+ * @returns {sph3}
+ */
+sph3.$position = pln.$normal;
+
+/**
+ * Clones a sphere
+ *
+ * @param {sph3} a
+ * @returns {sph3}
+ */
+sph3.clone = vec4.clone;
+
+/**
+ * Checks if a sphere contains a point
+ *
+ * @param {sph3} a
+ * @param {vec3} p
+ * @returns {boolean}
+ */
+sph3.containsPoint = function(a, p)
+{
+    let x = p[0] - a[0],
+        y = p[1] - a[1],
+        z = p[2] - a[2];
+
+    return (x * x + y * y + z * z) <= (a[3] * a[3]);
+};
+
+/**
+ * Copies a sphere
+ *
+ * @param {sph3} a
+ * @param {sph3} b
+ * @returns {sph3}
+ */
+sph3.copy = vec4.copy;
+
+/**
+ * Creates a sphere
+ *
+ * @returns {sph3}
+ */
+sph3.create = function()
+{
+    return new Float32Array([ 0, 0, 0, 0 ]);
+};
+
+/**
+ * Returns the distance between two spheres
+ *
+ * @param {sph3} a
+ * @param {sph3} b
+ * @returns {number}
+ */
+sph3.distance = function(a, b)
+{
+    let x = b[0] - a[0],
+        y = b[1] - a[1],
+        z = b[2] - a[2],
+        rii = b[3] + a[3];
+
+    return Math.sqrt(x * x + y * y + z * z) - rii;
+};
+
+/**
+ * Returns the distance from a sphere to a given point
+ *
+ * @param {sph3} a
+ * @param {vec3} p
+ * @returns {number}
+ */
+sph3.distanceToPoint = function(a, p)
+{
+    let x = p[0] - a[0],
+        y = p[1] - a[1],
+        z = p[2] - a[2];
+
+    return Math.sqrt(x * x + y * y + z * z) - a[3];
+};
+
+/**
+ * Empties a sphere
+ * @param {sph3} a
+ * @returns {sph3} a
+ */
+sph3.empty = function(a)
+{
+    a[0] = 0;
+    a[1] = 0;
+    a[2] = 0;
+    a[3] = 0;
+    return a;
+};
+
+/**
+ * Compares two sphere's for equality
+ *
+ * @param {sph3} a
+ * @param {sph3} b
+ * @returns {boolean}
+ */
+sph3.equals = vec4.equals;
+
+/**
+ * Compares a sphere to spherical components for equality
+ *
+ * @param {sph3} a
+ * @param {vec3} position
+ * @param {number} radius
+ * @returns {boolean}
+ */
+sph3.equalsPositionRadius = pln.equalsNormalConstant;
+
+/**
+ * Compares two sphere for exact equality
+ *
+ * @param {sph3} a
+ * @param {sph3} b
+ * @returns {boolean}
+ */
+sph3.exactEquals = vec4.exactEquals;
+
+/**
+ * Compares a sphere to spherical components for exact equality
+ *
+ * @param {sph3} a
+ * @param {vec3} position
+ * @param {number} radius
+ * @returns {boolean}
+ */
+sph3.exactEqualsPositionRadius = pln.exactEqualsNormalConstant;
+
+/**
+ * Extracts a spheres's components
+ *
+ * @param {sph3} a
+ * @param {vec3} outPosition
+ * @returns {number}
+ */
+sph3.extract = pln.extract;
+
+/**
+ * Sets a sphere from a box3
+ *
+ * @param {sph3} out
+ * @param {box3} b
+ * @return {sph3} out
+ */
+sph3.fromBox3 = function(out, b)
+{
+    let sX = b[3] - b[0],
+        sY = b[4] - b[1],
+        sZ = b[5] - b[2];
+
+    out[0] = (b[0] + b[3]) * 0.5;
+    out[1] = (b[1] + b[4]) * 0.5;
+    out[2] = (b[2] + b[5]) * 0.5;
+
+    out[3] = Math.sqrt(sX * sX + sY * sY + sZ * sZ) * 0.5;
+    return out;
+};
+
+/**
+ * Sets a sphere from a box's bounds
+ *
+ * @param {sph3} out
+ * @param {vec3} min
+ * @param {vec3} max
+ * @returns {sph3}
+ */
+sph3.fromBounds = function(out, min, max)
+{
+    let sX = max[0] - min[0],
+        sY = max[1] - min[1],
+        sZ = max[2] - min[2];
+
+    out[0] = (min[0] + max[0]) * 0.5;
+    out[1] = (min[1] + max[1]) * 0.5;
+    out[2] = (min[2] + max[2]) * 0.5;
+
+    out[3] = Math.sqrt(sX * sX + sY * sY + sZ * sZ) * 0.5;
+    return out;
+};
+
+/**
+ * Sets a sphere from position and radius
+ *
+ * @param {sph3} out
+ * @param {vec3} p
+ * @param {number} r
+ * @returns {sph3} out
+ */
+sph3.fromPositionRadius = pln.fromNormalConstant;
+
+sph3.from = sph3.fromPositionRadius;
+
+/**
+ * Sets a sphere from a mat4's translation and a given radius
+ *
+ * @param {sph3} out
+ * @param {(mat4|vec3)} a
+ * @param {number} radius
+ * @returns {sph3} out
+ */
+sph3.fromTranslationRadius = function(out, a, radius)
+{
+    out[0] = a[12];
+    out[1] = a[13];
+    out[2] = a[14];
+    out[3] = radius;
+    return out;
+};
+
+/**
+ * Gets a sphere from a mat4's translation and max axis scale
+ *
+ * @param {sph3} out
+ * @param {mat4} m
+ * @returns {sph3} out
+ */
+sph3.fromMat4 = function(out, m)
+{
+    out[0] = m[12];
+    out[1] = m[13];
+    out[2] = m[14];
+    out[3] = mat4.maxScaleOnAxis(m);
+    return out;
+};
+
+let aPosition,
+    bPosition,
+    toAPosition,
+    toBPosition,
+    center;
+
+/**
+ * Gets the union of two spheres
+ * @param {sph3} out
+ * @param {sph3} a
+ * @param {sph3} b
+ * @returns {sph3} out
+ */
+sph3.union = function(out, a, b)
+{
+    if (!aPosition)
+    {
+        aPosition = vec3.create();
+        bPosition = vec3.create();
+        toAPosition = vec3.create();
+        toBPosition = vec3.create();
+    }
+
+    const
+        aRadius = sph3.extract(a, aPosition),
+        bRadius = sph3.extract(b, bPosition);
+
+    vec3.subtract(toBPosition, bPosition, aPosition);
+    const separation = vec3.length(toBPosition);
+
+    if (aRadius >= separation + bRadius)
+    {
+        return out === a ? out : sph3.copy(out, a);
+    }
+
+    if (bRadius >= separation + aRadius)
+    {
+        return out === b ? out : sph3.copy(out, b);
+    }
+
+    if (!center) center = vec3.create();
+    const halfDistance = (aRadius + separation + bRadius) * 0.5;
+    vec3.scale(center, toBPosition, (-aRadius + halfDistance) / separation);
+    vec3.add(center, aPosition, center);
+    return sph3.fromPositionRadius(out, center, halfDistance);
+};
+
+/**
+ * Gets the union of a sphere and a sphere's components
+ * @param {sph3} out
+ * @param {sph3} a
+ * @param {vec3} position
+ * @param {Number} radius
+ * @returns {sph3}
+ */
+sph3.unionPositionRadius = function(out, a, position, radius)
+{
+    if (!sph3_0) sph3_0 = sph3.create();
+    return sph3.union(out, a, sph3.fromPositionRadius(sph3_0, position, radius));
+};
+
+/**
+ * Gets a point clamped to the sphere
+ *
+ * @author three.js authors (conversion)
+ * @param {vec3} out
+ * @param {sph3} a
+ * @param {vec3} p
+ * @returns {vec3} out
+ */
+sph3.getClampedPoint = function(out, a, p)
+{
+    out[0] = p[0];
+    out[1] = p[1];
+    out[2] = p[2];
+
+    let x = a[0] - p[0],
+        y = a[1] - p[1],
+        z = a[2] - p[2];
+
+    if ((x * x + y * y + z * z) > (a[3] * a[3]))
+    {
+        out[0] = out[0] - a[0];
+        out[1] = out[1] - a[1];
+        out[2] = out[2] - a[2];
+
+        vec3.normalize(out, out);
+
+        out[0] = out[0] * a[3] + a[0];
+        out[1] = out[1] * a[3] + a[1];
+        out[2] = out[2] * a[3] + a[2];
+    }
+
+    return out;
+};
+
+/**
+ * Gets the position of a point on a sphere from longitude and latitude
+ *
+ * @param {vec3} out
+ * @param {sph3} a
+ * @param {number} longitude
+ * @param {number} latitude
+ * @returns {vec3} out
+ */
+sph3.getPointFromLongLat = function(out, a, longitude, latitude)
+{
+    out[0] = a[0] + a[3] * Math.sin(latitude) * Math.cos(longitude);
+    out[1] = a[1] + a[3] * Math.sin(latitude) * Math.sin(longitude);
+    out[2] = a[2] + a[3] * Math.cos(latitude);
+    return out;
+};
+
+/**
+ * Gets the position component of a sph3
+ *
+ * @param {vec3} out
+ * @param {sph3} a
+ * @returns {vec3} out
+ */
+sph3.getPosition = pln.getNormal;
+
+/**
+ * Checks for intersection between two sph3s
+ *
+ * @param {sph3} a
+ * @param {sph3} b
+ * @returns {boolean}
+ */
+sph3.intersectsSph3 = function(a, b)
+{
+    let x = b[0] - a[0],
+        y = b[1] - a[1],
+        z = b[2] - a[2];
+    let radii = a[3] + b[3];
+
+    return (x * x + y * y + z * z) <= (radii * radii);
+};
+
+/**
+ * Checks for intersection with a box3
+ *
+ * @param {sph3} a
+ * @param {box3} b
+ * @returns {boolean}
+ */
+sph3.intersectsBox3 = function(a, b)
+{
+    return box3.intersectsSph3(b, a);
+};
+
+/**
+ * Checks sph for intersection with a boxes' bounds
+ *
+ * @param {sph3} a
+ * @param {vec3} min
+ * @param {vec3} max
+ * @returns {boolean}
+ */
+sph3.intersectsBounds = function(a, min, max)
+{
+    let x = Math.max(min[0], Math.min(max[0], a[0])) - a[0],
+        y = Math.max(min[1], Math.min(max[1], a[1])) - a[1],
+        z = Math.max(min[2], Math.min(max[2], a[2])) - a[2];
+
+    return (x * x + y * y + z * z) <= a[3] * a[3];
+};
+
+/**
+ * Checks sph for intersection with a sphere's components
+ *
+ * @param {sph3} a
+ * @param {vec3} p
+ * @param {number} r
+ * @returns {boolean}
+ */
+sph3.intersectsPositionRadius = function(a, p, r)
+{
+    let x = p[0] - a[0],
+        y = p[1] - a[1],
+        z = p[2] - a[2];
+
+    let radii = a[3] + r;
+    return (x * x + y * y + z * z) <= (radii * radii);
+};
+
+/**
+ * Checks for intersection with a Float32Array(4) plane
+ *
+ * @param {sph3} a
+ * @param {pln} p
+ * @returns {boolean}
+ */
+sph3.intersectsPln = function(a, p)
+{
+    return pln.intersectsSph3(p, a);
+};
+
+/**
+ * Checks for intersection with a plane's components
+ *
+ * @param {sph3} a   - sphere to intersect
+ * @param {vec3} n   - plane normal
+ * @param {number} c - plane constant
+ * @returns {boolean}
+ */
+sph3.intersectsNormalConstant = function(a, n, c)
+{
+    let distance = a[0] * n[0] + a[1] * n[1] + a[2] * n[2] + c;
+    return Math.abs(distance) <= a[3];
+};
+
+/**
+ * Checks if a sph3 is empty
+ *
+ * @param {sph3} a
+ * @returns {boolean}
+ */
+sph3.isEmpty = function(a)
+{
+    return a[3] <= 0;
+};
+
+/**
+ * Returns the radius component of the sph3
+ *
+ * @param {sph3} a
+ * @returns {number}
+ */
+sph3.radius = pln.constant;
+
+/**
+ * Sets a sph3 from values
+ *
+ * @param {sph3} out
+ * @param {number} px
+ * @param {number} py
+ * @param {number} pz
+ * @param {number} r
+ * @returns {sph3}
+ */
+sph3.set = vec4.set;
+
+/**
+ * Sets a sph3 from an array at an optional offset
+ *
+ * @param {sph3} out
+ * @param {Array} arr
+ * @param {number} [index=0]
+ * @returns {sph3} out
+ */
+sph3.setArray = vec4.setArray;
+
+/**
+ * Sets a sphere from points, at an optional position vector
+ *
+ * @param {sph3} out        - the receiving sphere
+ * @param {Array} points    - The points to create the sphere from
+ * @param {vec3} [position] - An optional center position
+ * @returns {sph3} out      - the receiving sphere
+ */
+sph3.setPoints = function(out, points, position)
+{
+    if (!box3_0) box3_0 = box3.create();
+
+    if (position)
+    {
+        out[0] = position[0];
+        out[1] = position[1];
+        out[2] = position[2];
+    }
+    else
+    {
+        box3.setPoints(box3_0, points);
+        out[0] = (box3_0[0] + box3_0[3]) * 0.5;
+        out[1] = (box3_0[1] + box3_0[4]) * 0.5;
+        out[2] = (box3_0[2] + box3_0[5]) * 0.5;
+    }
+
+    let maxSquaredRadius = 0;
+
+    for (let i = 0; i < points.length; i++)
+    {
+        let x = out[0] - points[i][0],
+            y = out[1] - points[i][1],
+            z = out[2] - points[i][2];
+
+        maxSquaredRadius = Math.max(maxSquaredRadius, x * x + y * y + z * z);
+    }
+
+    out[3] = Math.sqrt(maxSquaredRadius);
+    return out;
+};
+
+/**
+ * Returns the squared distance between two sph3s
+ *
+ * @param {sph3} a
+ * @param {sph3} b
+ * @returns {number}
+ */
+sph3.squaredDistance = function(a, b)
+{
+    let x = b[0] - a[0],
+        y = b[1] - a[1],
+        z = b[2] - a[2],
+        r = b[3] + a[3];
+
+    return (x * x + y * y + z * z) - (r * r);
+};
+
+/**
+ * Returns the square distance from a sphere to a given point
+ *
+ * @param {sph3} a
+ * @param {vec3} p
+ * @returns {number}
+ */
+sph3.squaredDistanceToPoint = function(a, p)
+{
+    let x = p[0] - a[0],
+        y = p[1] - a[1],
+        z = p[2] - a[2];
+
+    return (x * x + y * y + z * z) - a[3] * a[3];
+};
+
+/**
+ * Sets an array at an optional offset, with the values of a sph3
+ *
+ * @param {sph3} a
+ * @param {Array} arr
+ * @param {number} [offset = 0]
+ * @returns {sph3} a
+ */
+sph3.toArray = vec4.toArray;
+
+/**
+ * Converts a sphere to bounds
+ *
+ * @param {sph3} a
+ * @param {vec3} minBounds
+ * @param {vec3} maxBounds
+ */
+sph3.toBounds = function(a, minBounds, maxBounds)
+{
+    if (!box3_0) box3_0 = box3.create();
+    box3.fromSph3(box3_0, a);
+    box3.toBounds(box3_0, minBounds, maxBounds);
+};
+
+/**
+ *
+ * @param a
+ * @param position
+ * @returns {*}
+ */
+sph3.toPositionRadius = function(a, position)
+{
+    position[0] = a[0];
+    position[1] = a[1];
+    position[2] = a[2];
+    return a[3];
+};
+
+/**
+ * Transforms a sphere with a mat4
+ *
+ * @author three.js authors (conversion)
+ * @param {sph3} out - the receiving sphere
+ * @param {sph3} a   - the sphere to transform
+ * @param {mat4} m   - the matrix to transform by
+ * @returns {sph3}
+ */
+sph3.transformMat4 = function(out, a, m)
+{
+    let x = a[0],
+        y = a[1],
+        z = a[2];
+
+    let sX = m[0] * m[0] + m[1] * m[1] + m[2] * m[2],
+        sY = m[4] * m[4] + m[5] * m[5] + m[6] * m[6],
+        sZ = m[8] * m[8] + m[9] * m[9] + m[10] * m[10];
+
+    out[0] = m[0] * x + m[4] * y + m[8] * z + m[12];
+    out[1] = m[1] * x + m[5] * y + m[9] * z + m[13];
+    out[2] = m[2] * x + m[6] * y + m[10] * z + m[14];
+
+    out[3] = a[3] * Math.sqrt(Math.max(sX, sY, sZ));
+    return out;
+};
+
+/**
+ * Returns the result of a sphere translated by a given vector
+ *
+ * @param {sph3} out - the receiving sphere
+ * @param {sph3} a   - the sphere to translate
+ * @param {vec3} v   - the vector to translate with
+ * @returns {sph3}
+ */
+sph3.translate = function(out, a, v)
+{
+    out[0] = a[0] + v[0];
+    out[1] = a[1] + v[1];
+    out[2] = a[2] + v[2];
+    out[3] = a[3];
+    return out;
+};
+
+export const {
+    alloc,
+    unalloc,
+    $position,
+    clone,
+    containsPoint,
+    copy,
+    create,
+    distance,
+    distanceToPoint,
+    empty,
+    equals,
+    equalsPositionRadius,
+    exactEquals,
+    exactEqualsPositionRadius,
+    extract,
+    fromBox3,
+    fromBounds,
+    fromPositionRadius,
+    from,
+    fromTranslationRadius,
+    fromMat4,
+    union,
+    unionPositionRadius,
+    getClampedPoint,
+    getPointFromLongLat,
+    getPosition,
+    intersectsSph3,
+    intersectsBox3,
+    intersectsBounds,
+    intersectsPositionRadius,
+    intersectsPln,
+    intersectsNormalConstant,
+    isEmpty,
+    radius,
+    set,
+    setArray,
+    setPoints,
+    squaredDistance,
+    squaredDistanceToPoint,
+    toArray,
+    toBounds,
+    toPositionRadius,
+    transformMat4,
+    translate
+} = sph3;