@carbonenginejs/core-math 0.1.0

package/src/box3.js

@@ -0,0 +1,1329 @@
+import { num } from "./num.js";
+import { vec3 } from "./vec3.js";
+import { sph3 } from "./sph3.js";
+import { pool } from "./pool.js";
+
+
+/**
+ * 3D Box
+ * @typedef {Float32Array} box3
+ */
+
+export const box3 = { bounds: {} };
+
+/**
+ * Allocates a pooled box3
+ * @returns {box3|Float32Array}
+ */
+box3.alloc = function()
+{
+    return pool.allocF32(6);
+};
+
+/**
+ * Frees a pooled box3
+ * @param {box3|Float32Array} b
+ */
+box3.unalloc = function(b)
+{
+    pool.freeType(b);
+};
+
+/**
+ * Gets a subarray of a box3's min vector
+ * @property {box3} a
+ * @returns {TypedArray}
+ */
+box3.$min = function (a)
+{
+    return a.subarray(0, 3);
+};
+
+/**
+ * Gets a subarray of a box3's max vector
+ * @property {box3} a
+ * @returns {TypedArray}
+ */
+box3.$max = function (a)
+{
+    return a.subarray(3, 6);
+};
+
+/**
+ * Adds a point to a box3
+ *
+ * @param {box3} out   - receiving box3
+ * @param {box3} a     - source box3
+ * @param {vec3} p     - point to add
+ * @returns {box3} out - receiving box3
+ */
+box3.addPoint = function (out, a, p)
+{
+    out[0] = Math.min(a[0], p[0]);
+    out[1] = Math.min(a[1], p[1]);
+    out[2] = Math.min(a[2], p[2]);
+    out[3] = Math.max(a[3], p[0]);
+    out[4] = Math.max(a[4], p[1]);
+    out[5] = Math.max(a[5], p[2]);
+    return out;
+};
+
+/**
+ * Sets a box3 from a box3 with added points
+ *
+ * @param {box3} out              - receiving box3
+ * @param {box3} a                - source box3
+ * @param {Array.<number>} points - points to add
+ * @returns {box3} out            - receiving box3
+ */
+box3.addPoints = function (out, a, points)
+{
+    let minX = a[0],
+        minY = a[1],
+        minZ = a[2],
+        maxX = a[3],
+        maxY = a[4],
+        maxZ = a[5];
+
+    for (let i = 0; i < points.length; i++)
+    {
+        minX = Math.min(minX, points[i][0]);
+        minY = Math.min(minY, points[i][1]);
+        minZ = Math.min(minZ, points[i][2]);
+        maxX = Math.max(maxX, points[i][0]);
+        maxY = Math.max(maxY, points[i][1]);
+        maxZ = Math.max(maxZ, points[i][2]);
+    }
+
+    out[0] = minX;
+    out[1] = minY;
+    out[2] = minZ;
+    out[3] = maxX;
+    out[4] = maxY;
+    out[5] = maxZ;
+    return out;
+};
+
+/**
+ * Clones a box3
+ *
+ * @param {box3} a - source box3
+ * @returns {box3} - a new box3
+ */
+box3.clone = function (a)
+{
+    let out = new Float32Array(6);
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    out[3] = a[3];
+    out[4] = a[4];
+    out[5] = a[5];
+    return out;
+};
+
+/**
+ * Checks if a box3 contains another box3
+ *
+ * @param {box3} a    - source box3
+ * @param {box3} b    - box3 to compare
+ * @returns {boolean} - true if the source box3 contains the second
+ */
+box3.contains = function (a, b)
+{
+    return (
+        (a[0] <= b[0]) && (b[3] <= a[3]) &&
+        (a[1] <= b[1]) && (b[4] <= a[4]) &&
+        (a[2] <= b[2]) && (b[5] <= a[5])
+    );
+};
+
+/**
+ * Checks if the box3 contains min and max bounds
+ *
+ * @param {box3} a    - source box3
+ * @param {vec3} min  - min bounds
+ * @param {vec3} max  - max bounds
+ * @returns {boolean} - true if the source box3 contains the bounds
+ */
+box3.containsBounds = function (a, min, max)
+{
+    return (
+        (a[0] <= min[0]) && (max[0] <= a[3]) &&
+        (a[1] <= min[1]) && (max[1] <= a[4]) &&
+        (a[2] <= min[2]) && (max[2] <= a[5])
+    );
+};
+
+/**
+ * Checks if a box3 contains a point
+ *
+ * @param {box3} a    - source box3
+ * @param {vec3} p    - point to compare
+ * @returns {boolean} - true if the source box contains the point
+ */
+box3.containsPoint = function (a, p)
+{
+    return !(
+        p[0] < a[0] || p[0] > a[3] ||
+        p[1] < a[1] || p[1] > a[4] ||
+        p[2] < a[2] || p[2] > a[5]
+    );
+};
+
+/**
+ * Checks if a box3 contains a point's values
+ *
+ * @param {box3} a    - source box3
+ * @param {Number} px - point X
+ * @param {Number} py - point Y
+ * @param {Number} pz - point Z
+ * @returns {boolean} - true if the source box3 contains the point
+ */
+box3.containsValue = function (a, px, py, pz)
+{
+    return !(
+        px < a[0] || px > a[3] ||
+        py < a[1] || py > a[4] ||
+        pz < a[2] || pz > a[5]
+    );
+};
+
+/**
+ * Copies the values from one box3 into another
+ *
+ * @param {box3} out   - receiving box3
+ * @param {box3} a     - source box3
+ * @returns {box3} out - receiving box3
+ */
+box3.copy = function (out, a)
+{
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    out[3] = a[3];
+    out[4] = a[4];
+    out[5] = a[5];
+    return out;
+};
+
+/**
+ * Copies the min vector of one box3 to another
+ *
+ * @param {box3} out
+ * @param {box3} a
+ * @returns {box3}
+ */
+box3.copyMin = vec3.copy;
+
+/**
+ * Copies the max vector of one box3 to another
+ *
+ * @param {box3} out
+ * @param {box3} a
+ * @returns {box3}
+ */
+box3.copyMax = function (out, a)
+{
+    out[3] = a[3];
+    out[4] = a[4];
+    out[5] = a[5];
+    return out;
+};
+
+/**
+ * Creates a box3
+ *
+ * @returns {box3} - The new box3
+ */
+box3.create = function ()
+{
+    return box3.empty(new Float32Array(6));
+};
+
+/**
+ * Gets the distance from a box3 to a point
+ *
+ * @param {box3} a   - source box3
+ * @param {vec3} p   - point
+ * @returns {number} - distance between the source box3 and point
+ */
+box3.distanceToPoint = function (a, p)
+{
+    let x = Math.max(a[0], Math.min(a[3], p[0])) - p[0],
+        y = Math.max(a[1], Math.min(a[4], p[1])) - p[1],
+        z = Math.max(a[2], Math.min(a[5], p[2])) - p[2];
+
+    return Math.sqrt(x * x + y * y + z * z);
+};
+
+/**
+ * Gets the distance from a box3 to a point's values
+ *
+ * @param {box3} a    - source box3
+ * @param {Number} px - point x
+ * @param {Number} py - point y
+ * @param {Number} pz - point z
+ * @returns {number}  - distance between the source box3 and point
+ */
+box3.distanceToValues = function (a, px, py, pz)
+{
+    let x = Math.max(a[0], Math.min(a[3], px)) - px,
+        y = Math.max(a[1], Math.min(a[4], py)) - py,
+        z = Math.max(a[2], Math.min(a[5], pz)) - pz;
+
+    return Math.sqrt(x * x + y * y + z * z);
+};
+
+/**
+ * Empties a box3
+ *
+ * @param {box3} a - box3 to empty
+ * @returns {box3} - the empty box3
+ */
+box3.empty = function (a)
+{
+    a[0] = 0;
+    a[1] = 0;
+    a[2] = 0;
+    a[3] = 0;
+    a[4] = 0;
+    a[5] = 0;
+    return a;
+};
+
+/**
+ * Empties bounds
+ *
+ * @param {vec3} min - min bounds
+ * @param {vec3} max - max bounds
+ */
+box3.bounds.empty = function (min, max)
+{
+    min[0] = 0;
+    min[1] = 0;
+    min[2] = 0;
+    max[0] = 0;
+    max[1] = 0;
+    max[2] = 0;
+};
+
+/**
+ * Checks two box3's for equality
+ *
+ * @param {box3} a    - box3 to compare
+ * @param {box3} b    - box3 to compare
+ * @returns {boolean} - true if box3s are equal
+ */
+box3.equals = function (a, b)
+{
+    let a0 = a[0],
+        a1 = a[1],
+        a2 = a[2],
+        a3 = a[3],
+        a4 = a[4],
+        a5 = a[5];
+
+    let b0 = b[0],
+        b1 = b[1],
+        b2 = b[2],
+        b3 = b[3],
+        b4 = b[4],
+        b5 = b[5];
+
+    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)) &&
+        Math.abs(a4 - b4) <= num.EPSILON * Math.max(1.0, Math.abs(a4), Math.abs(b4)) &&
+        Math.abs(a5 - b5) <= num.EPSILON * Math.max(1.0, Math.abs(a5), Math.abs(b5))
+    );
+};
+
+/**
+ * Checks a box3 and box3 components for equality
+ *
+ * @param {box3} a    - box3 to compare
+ * @param {vec3} min  - min bounds to compare
+ * @param {vec3} max  - max bounds to compare
+ * @returns {boolean} - true if the box3 and bounds are equal
+ */
+box3.equalsBounds = function (a, min, max)
+{
+    let a0 = a[0],
+        a1 = a[1],
+        a2 = a[2],
+        a3 = a[3],
+        a4 = a[4],
+        a5 = a[5];
+
+    let b0 = min[0],
+        b1 = min[1],
+        b2 = min[2],
+        b3 = max[0],
+        b4 = max[1],
+        b5 = max[2];
+
+    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)) &&
+        Math.abs(a4 - b4) <= num.EPSILON * Math.max(1.0, Math.abs(a4), Math.abs(b4)) &&
+        Math.abs(a5 - b5) <= num.EPSILON * Math.max(1.0, Math.abs(a5), Math.abs(b5))
+    );
+};
+
+/**
+ * Checks for vec6 exact equality
+ *
+ * @param {box3} a    - box3 to compare
+ * @param {box3} b    - box3 to compare
+ * @returns {boolean} - true if both box3s are exactly equal
+ */
+box3.exactEquals = function (a, b)
+{
+    return (
+        a[0] === b[0] && a[1] === b[1] && a[2] === b[2] &&
+        a[3] === b[3] && a[4] === b[4] && a[5] === b[5]
+    );
+};
+
+/**
+ * Checks for exact equality between a box3 and components
+ *
+ * @param {box3} a    - box3 to compare
+ * @param {vec3} min  - min bounds to compare
+ * @param {vec3} max  - max bounds to compare
+ * @returns {boolean} - true if the box3 and bounds are exactly equal
+ */
+box3.exactEqualsBounds = function (a, min, max)
+{
+    return (
+        a[0] === min[0] && a[1] === min[1] && a[2] === min[2] &&
+        a[3] === max[0] && a[4] === max[1] && a[5] === max[2]
+    );
+};
+
+/**
+ * Sets a box3 from the expansion of a box3 and a given scalar
+ *
+ * @param {box3} out   - receiving box3
+ * @param {box3} a     - source box3
+ * @param {number} s   - scalar to expand by
+ * @returns {box3} out - receiving box3
+ */
+box3.expandScalar = function (out, a, s)
+{
+    out[0] = a[0] - s;
+    out[1] = a[1] - s;
+    out[2] = a[2] - s;
+    out[3] = a[3] + s;
+    out[4] = a[4] + s;
+    out[5] = a[5] + s;
+    return out;
+};
+
+/**
+ * Sets a box3 from the expansion of a box3 and a vector's values
+ *
+ * @param {box3} out   - receiving box3
+ * @param {box3} a     - source box3
+ * @param {number} vx  - vector x
+ * @param {number} vy  - vector y
+ * @param {number} vz  - vector z
+ * @returns {box3} out - receiving box3
+ */
+box3.expandValues = function (out, a, vx, vy, vz)
+{
+    out[0] = a[0] - vx;
+    out[1] = a[1] - vy;
+    out[2] = a[2] - vz;
+    out[3] = a[3] + vx;
+    out[4] = a[4] + vy;
+    out[5] = a[5] + vz;
+    return out;
+};
+
+/**
+ * Expands a box3 by a vec3
+ *
+ * @param {box3} out   - receiving box3
+ * @param {box3} a     - source box3
+ * @param {vec3} v     - vector to expand by
+ * @returns {box3} out - receiving box3
+ */
+box3.expandVec3 = 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] + v[0];
+    out[4] = a[4] + v[1];
+    out[5] = a[5] + v[2];
+    return out;
+};
+
+/**
+ * Sets a box3 from an array at an optional offset
+ *
+ * @param {box3} out         - receiving box3
+ * @param {Array} arr        - source array
+ * @param {number} [index=0] - optional array index
+ * @returns {box3}           - receiving box3
+ */
+box3.fromArray = function (out, arr, index = 0)
+{
+    out[0] = arr[index];
+    out[1] = arr[index + 1];
+    out[2] = arr[index + 2];
+    out[3] = arr[index + 3];
+    out[4] = arr[index + 4];
+    out[5] = arr[index + 5];
+    return out;
+};
+
+/**
+ * Sets a box3 from bounds
+ *
+ * @param {box3} out   - receiving box3
+ * @param {vec3} min   - source min bounds
+ * @param {vec3} max   - source max bounds
+ * @returns {box3} out - receiving box3
+ */
+box3.fromBounds = function (out, min, max)
+{
+    out[0] = min[0];
+    out[1] = min[1];
+    out[2] = min[2];
+    out[3] = max[0];
+    out[4] = max[1];
+    out[5] = max[2];
+    return out;
+};
+
+box3.from = box3.fromBounds;
+
+
+/**
+ * Sets a box3 from position and size
+ *
+ * @param {box3} out      - receiving box3
+ * @param {vec3} position - source position
+ * @param {vec3} size     - source size
+ * @returns {box3} out    - receiving box3
+ */
+box3.fromPositionSize = function (out, position, size)
+{
+    out[0] = position[0] - size[0] * 0.5;
+    out[1] = position[1] - size[1] * 0.5;
+    out[2] = position[2] - size[2] * 0.5;
+    out[3] = position[0] + size[0] * 0.5;
+    out[4] = position[1] + size[1] * 0.5;
+    out[5] = position[2] + size[2] * 0.5;
+    return out;
+};
+
+/**
+ * Sets a box3 from an array of points
+ *
+ * @param {box3} out            - receiving box3
+ * @param {Array.<vec3>} points - array of points
+ * @returns {box3} out          - receiving box3
+ */
+box3.fromPoints = function (out, points)
+{
+    if (!points.length) return box3.empty(out);
+
+    out[0] = out[3] = points[0][0];
+    out[1] = out[4] = points[0][1];
+    out[2] = out[5] = points[0][2];
+
+    for (let i = 1; i < points.length; i++)
+    {
+        out[0] = Math.min(out[0], points[i][0]);
+        out[1] = Math.min(out[1], points[i][1]);
+        out[2] = Math.min(out[2], points[i][2]);
+        out[3] = Math.max(out[3], points[i][0]);
+        out[4] = Math.max(out[4], points[i][1]);
+        out[5] = Math.max(out[5], points[i][2]);
+    }
+
+    return out;
+};
+
+box3.setPoints = box3.fromPoints;
+
+/**
+ * Sets a box3 from a sphere's components
+ *
+ * @param {box3} out      - receiving box3
+ * @param {vec3} position - position
+ * @param {number} radius - radius
+ * @returns {box3}        - receiving box3
+ */
+box3.fromPositionRadius = function (out, position, radius)
+{
+    out[0] = position[0] - radius;
+    out[1] = position[1] - radius;
+    out[2] = position[2] - radius;
+    out[3] = position[0] + radius;
+    out[4] = position[1] + radius;
+    out[5] = position[2] + radius;
+    return out;
+};
+
+/**
+ * Sets a box3 from a Float32Array(4) sphere
+ *
+ * @param {box3} out   - receiving box3
+ * @param {sph3} sphere - source sphere
+ * @returns {box3} out - receiving box3
+ */
+box3.fromSph3 = function (out, sphere)
+{
+    out[0] = sphere[0] - sphere[3];
+    out[1] = sphere[1] - sphere[3];
+    out[2] = sphere[2] - sphere[3];
+    out[3] = sphere[0] + sphere[3];
+    out[4] = sphere[1] + sphere[3];
+    out[5] = sphere[2] + sphere[3];
+    return out;
+};
+
+/**
+ * Creates a box3 from a transform
+ * @param {box3} out
+ * @param {mat4} m
+ * @param {Number} [initialScale=1]
+ * @returns {box3} out
+ */
+box3.fromTransform = function(out, m, initialScale=1)
+{
+    out[0] = out[1] = out[2] = -initialScale / 2;
+    out[3] = out[4] = out[5] = initialScale / 2;
+    return box3.transformMat4(out, out, m);
+};
+
+/**
+ * Creates a box3 from values
+ * @param {Number} minx
+ * @param {Number} miny
+ * @param {Number} minz
+ * @param {Number} maxx
+ * @param {Number} maxy
+ * @param {Number} maxz
+ * @returns {box3}
+ */
+box3.fromValues = function (minx, miny, minz, maxx, maxy, maxz)
+{
+    const out = box3.create();
+    out[0] = minx;
+    out[1] = miny;
+    out[2] = minz;
+    out[3] = maxx;
+    out[4] = maxy;
+    out[5] = maxz;
+    return out;
+};
+
+/**
+ * Gets a box3's center
+ *
+ * @param {vec3} out
+ * @param {box3} a
+ * @return {vec3} out
+ */
+box3.getCenter = function (out, a)
+{
+    if (box3.isEmpty(a))
+    {
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+        return out;
+    }
+
+    out[0] = (a[0] + a[3]) * 0.5;
+    out[1] = (a[1] + a[4]) * 0.5;
+    out[2] = (a[2] + a[5]) * 0.5;
+    return out;
+};
+
+/**
+ * Sets a vec3 from a point clamped to a box3
+ *
+ * @param {vec3} out     - receiving vec3
+ * @param {box3} a       - source box
+ * @param {vec3} p       - the point to clamp
+ * @returns {vec3} [out] - receiving vec3
+ */
+box3.getClampedPoint = function (out, a, p)
+{
+    out[0] = Math.max(a[0], Math.min(a[3], p[0]));
+    out[1] = Math.max(a[1], Math.min(a[4], p[1]));
+    out[2] = Math.max(a[2], Math.min(a[5], p[2]));
+    return out;
+};
+
+/**
+ * Sets a vec3 with the box3's max bounds
+ *
+ * @param {vec3} out     - receiving vec3
+ * @param {box3} a          - source box
+ * @returns {vec3} [out] - receiving vec3
+ */
+box3.getMax = function (out, a)
+{
+    out[0] = a[3];
+    out[1] = a[4];
+    out[2] = a[5];
+    return out;
+};
+
+/**
+ * Sets a vec3 with the box3's min bounds
+ *
+ * @param {vec3} out     - receiving vec3
+ * @param {box3} a          - source box
+ * @returns {vec3} [out] - receiving vec3
+ */
+box3.getMin = function (out, a)
+{
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    return out;
+};
+
+/**
+ * Sets a vec3 with a box3's size
+ *
+ * @param {vec3} out     - receiving vec3
+ * @param {box3} a          - source box
+ * @returns {vec3} [out] - receiving vec3
+ */
+box3.getSize = function (out, a)
+{
+    out[0] = a[3] - a[0];
+    out[1] = a[4] - a[1];
+    out[2] = a[5] - a[2];
+    return out;
+};
+
+/**
+ * Sets a vec3 with the box3's position
+ *
+ * @param {vec3} out     - receiving vec3
+ * @param {box3} a          - source box
+ * @returns {vec3} [out] - receiving vec3
+ */
+box3.getPosition = function (out, a)
+{
+    out[0] = (a[0] + a[3]) * 0.5;
+    out[1] = (a[1] + a[4]) * 0.5;
+    out[2] = (a[2] + a[5]) * 0.5;
+    return out;
+};
+
+/**
+ * Gets the effective radius of a bounding box
+ * @param {box3} a
+ * @returns {number}
+ */
+box3.radius = function (a)
+{
+    let sX = a[3] - a[0],
+        sY = a[4] - a[1],
+        sZ = a[5] - a[2];
+
+    return Math.sqrt(sX * sX + sY * sY + sZ * sZ) * 0.5;
+};
+
+/**
+ * Sets a box3 from the intersect of two box3s
+ *
+ * @param {box3} out   - receiving box3
+ * @param {box3} a     - first box3
+ * @param {box3} b     - second box3
+ * @returns {box3} out - receiving box3
+ */
+box3.intersect = function (out, a, b)
+{
+    out[0] = Math.max(a[0], b[0]);
+    out[1] = Math.max(a[1], b[1]);
+    out[2] = Math.max(a[2], b[2]);
+    out[3] = Math.min(a[3], b[3]);
+    out[4] = Math.min(a[4], b[4]);
+    out[5] = Math.min(a[5], b[5]);
+    return out;
+};
+
+/**
+ * Sets a box3 from the intersect of a box3 and min and max bounds
+ *
+ * @param {box3} out   - receiving box3
+ * @param {box3} a     - box3
+ * @param {vec3} min   - min bounds
+ * @param {vec3} max   - max bounds
+ * @returns {box3} out - receiving box3
+ */
+box3.intersectBounds = function (out, a, min, max)
+{
+    out[0] = Math.max(a[0], min[0]);
+    out[1] = Math.max(a[1], min[1]);
+    out[2] = Math.max(a[2], min[2]);
+    out[3] = Math.min(a[3], max[0]);
+    out[4] = Math.min(a[4], max[1]);
+    out[5] = Math.min(a[5], max[2]);
+    return out;
+};
+
+/**
+ * Checks for box3 intersection with another box3
+ *
+ * @param a           - first box3 to compare
+ * @param b           - second box3 to compare
+ * @returns {boolean} - true if intersection occurred
+ */
+box3.intersects = function (a, b)
+{
+    return !(
+        b[3] < a[0] || b[0] > a[3] ||
+        b[4] < a[1] || b[1] > a[4] ||
+        b[5] < a[2] || b[2] > a[5]
+    );
+};
+
+/**
+ * Checks for box3 intersection with min and max bounds
+ *
+ * @param {box3} a    - box3 to compare
+ * @param {vec3} min  - min bounds to compare
+ * @param {vec3} max  - max bounds to compare
+ * @returns {boolean} - true if intersection occurred
+ */
+box3.intersectsBounds = function (a, min, max)
+{
+    return !(
+        max[0] < a[0] || min[0] > a[3] ||
+        max[1] < a[1] || min[1] > a[4] ||
+        max[2] < a[2] || min[2] > a[5]
+    );
+};
+
+/**
+ * Checks for box3 intersection with a plane normal and constant
+ *
+ * @param {box3} a          - source box3
+ * @param {vec3} normal     - plane normal vec3
+ * @param {number} constant - plane constant
+ * @returns {boolean}       - true if intersection occurs
+ */
+box3.intersectsNormalConstant = function (a, normal, constant)
+{
+    let tMin = 0,
+        tMax = 0;
+
+    if (normal[0] > 0)
+    {
+        tMin += normal[0] * a[0];
+        tMax += normal[0] * a[3];
+    }
+    else
+    {
+        tMin += normal[0] * a[3];
+        tMax += normal[0] * a[0];
+    }
+
+    if (normal[1] > 0)
+    {
+        tMin += normal[1] * a[1];
+        tMax += normal[1] * a[4];
+    }
+    else
+    {
+        tMin += normal[1] * a[4];
+        tMax += normal[1] * a[1];
+    }
+
+    if (normal[2] > 0)
+    {
+        tMin += normal[2] * a[2];
+        tMax += normal[2] * a[5];
+    }
+    else
+    {
+        tMin += normal[2] * a[5];
+        tMax += normal[2] * a[2];
+    }
+
+    return (tMin <= constant && tMax >= constant);
+};
+
+/**
+ * Checks for box3 intersection with a Float32Array(4) plane
+ *
+ * @param {box3} a                   - box3 to compare
+ * @param {(pln|Float32Array)} p     - plane to compare
+ * @returns {boolean}                - true if intersection occurs
+ */
+box3.intersectsPln = function (a, p)
+{
+    // const x = p.subarray(0, 3);
+    return box3.intersectsNormalConstant(a, p, p[3]);
+};
+
+/**
+ * Checks for box3 intersection with a point
+ *
+ * @param {box3} a    - box3 to compare
+ * @param {vec3} p    - point to compare
+ * @returns {boolean} - true if intersection occurs
+ */
+box3.intersectsPoint = function (a, p)
+{
+    return p[0] >= a[0] && p[0] <= a[3] && p[1] >= a[1] && p[1] <= a[4] && p[2] >= a[2] && p[2] <= a[5];
+};
+
+/**
+ * Checks for box3 intersection with a point's values
+ *
+ * @param {box3} a    - box3 to compare
+ * @param {Number} px - point x to compare
+ * @param {Number} py - point y to compare
+ * @param {Number} pz - point z to compare
+ * @returns {boolean} - true if intersection occurs
+ */
+box3.intersectsValues = function (a, px, py, pz)
+{
+    return px >= a[0] && px <= a[3] && py >= a[1] && py <= a[4] && pz >= a[2] && pz <= a[5];
+};
+
+/**
+ * Checks for box3 intersection with a sphere's components
+ *
+ * @param {box3} a        - box3 to compare
+ * @param {vec3} position - sphere position to compare
+ * @param {number} radius - sphere radius to compare
+ * @returns {boolean}     - true if intersection occurs
+ */
+box3.intersectsPositionRadius = function (a, position, radius)
+{
+    let x = Math.max(a[0], Math.min(a[3], position[0])) - position[0],
+        y = Math.max(a[1], Math.min(a[4], position[1])) - position[1],
+        z = Math.max(a[2], Math.min(a[5], position[2])) - position[2];
+
+    return (x * x + y * y + z * z) <= radius * radius;
+};
+
+/**
+ * Checks for box3 intersection with a Float32Array(4) sphere
+ *
+ * @param {box3} a      - box3 to compare
+ * @param {sph3} sphere - sph3 to compare
+ * @returns {boolean}   - true if intersection occurs
+ */
+box3.intersectsSph3 = function (a, sphere)
+{
+    let x = Math.max(a[0], Math.min(a[3], sphere[0])) - sphere[0],
+        y = Math.max(a[1], Math.min(a[4], sphere[1])) - sphere[1],
+        z = Math.max(a[2], Math.min(a[5], sphere[2])) - sphere[2];
+
+    return (x * x + y * y + z * z) <= sphere[3] * sphere[3];
+};
+
+/**
+ * Checks if a box3 is empty
+ *
+ * @param {box3} a    - source box3
+ * @returns {boolean} - true if empty
+ */
+box3.isEmpty = function (a)
+{
+    if (a[0] + a[1] + a[2] + a[3] + a[4] + a[5] === 0) return true;
+    return (a[3] < a[0]) || (a[4] < a[1]) || (a[5] < a[2]);
+};
+
+/**
+ * Checks if bounds are empty
+ *
+ * @param {vec3} min
+ * @param {vec3} max
+ * @returns {boolean}
+ */
+box3.bounds.isEmpty = function (min, max)
+{
+    if (min[0] + min[1] + min[2] + max[0] + max[1] + max[2] === 0) return true;
+    return (max[0] < min[0]) || (max[1] < min[1]) || (max[2] < min[2]);
+};
+
+/**
+ * Sets a box3 from values
+ *
+ * @param {box3} out  - receiving box3
+ * @param {Number} aX
+ * @param {Number} aY
+ * @param {Number} aZ
+ * @param {Number} bX
+ * @param {Number} bY
+ * @param {Number} bZ
+ * @returns {box3}
+ */
+box3.set = function (out, aX, aY, aZ, bX, bY, bZ)
+{
+    out[0] = aX;
+    out[1] = aY;
+    out[2] = aZ;
+    out[3] = bX;
+    out[4] = bY;
+    out[5] = bZ;
+    return out;
+};
+
+/**
+ * Sets the box's min bounds
+ * @param {box3} out
+ * @param {vec3} v
+ * @returns {box3} out
+ */
+box3.setMinBounds = vec3.copy;
+
+/**
+ * Sets the box's max bounds
+ * @param {box3} out
+ * @param {vec3} v
+ * @returns {box3} out
+ */
+box3.setMaxBounds = function (out, v)
+{
+    out[3] = v[0];
+    out[4] = v[1];
+    out[5] = v[2];
+    return out;
+};
+
+/**
+ * Gets the distance from a box3 to a point
+ *
+ * @param {box3} a   - source box3
+ * @param {vec3} p   - point
+ * @returns {number} - distance
+ */
+box3.squaredDistanceToPoint = function (a, p)
+{
+    let x = Math.max(a[0], Math.min(a[3], p[0])) - p[0],
+        y = Math.max(a[1], Math.min(a[4], p[1])) - p[1],
+        z = Math.max(a[2], Math.min(a[5], p[2])) - p[2];
+
+    return x * x + y * y + z * z;
+};
+
+/**
+ * Gets the surface area of a box3
+ *
+ * @param {box3} a   - source box3
+ * @returns {number} - surface area
+ */
+box3.surfaceArea = function (a)
+{
+    let aa = a[3] - a[0],
+        h = a[4] - a[1],
+        d = a[5] - a[2];
+
+    return 2 * (aa * (h + d) + h * d);
+};
+
+/**
+ * Converts the box3 into an array
+ *
+ * @param {box3} a            - receiving box3
+ * @param {Array} arr         - source array
+ * @param {number} [offset=0] - optional offset
+ * @returns {box3} a          - receiving box3
+ */
+box3.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];
+    arr[offset + 4] = a[4];
+    arr[offset + 5] = a[5];
+    return a;
+};
+
+/**
+ * Converts a box3 to bounds
+ *
+ * @param {vec3} outMin - receiving vector for min bounds
+ * @param {vec3} outMax - receiving vector for max bounds
+ * @param {box3} a      - source box3
+ */
+box3.toBounds = function (a, outMin, outMax)
+{
+    outMin[0] = a[0];
+    outMin[1] = a[1];
+    outMin[2] = a[2];
+    outMax[0] = a[3];
+    outMax[1] = a[4];
+    outMax[2] = a[5];
+    return a;
+};
+
+/**
+ * Converts a box3 to an array of points
+ * @param {box3} a
+ * @param {Array} [points]
+ * @returns {Array<Array>} points
+ */
+box3.toPoints = function (a, points = [])
+{
+    const
+        ax = a[0],
+        ay = a[1],
+        az = a[2],
+        bx = a[3],
+        by = a[4],
+        bz = a[5],
+        x = bx + Math.abs(ax),
+        y = by + Math.abs(ay),
+        z = bz + Math.abs(az);
+
+    points.push([ bx + 0, by + 0, bz + 0 ]);
+    points.push([ bx - x, by + 0, bz + 0 ]);
+    points.push([ bx + 0, by + 0, bz - z ]);
+    points.push([ bx - x, by + 0, bz - z ]);
+    points.push([ bx + 0, by - y, bz + 0 ]);
+    points.push([ bx - x, by - y, bz + 0 ]);
+    points.push([ bx + 0, by - y, bz - z ]);
+    points.push([ bx - x, by - y, bz - z ]);
+
+    return points;
+};
+
+/**
+ * Converts a box3 to position radius
+ * @param a
+ * @param outCenter
+ * @returns {number}
+ */
+box3.toPositionRadius = function (a, outCenter)
+{
+    let sX = a[3] - a[0],
+        sY = a[4] - a[1],
+        sZ = a[5] - a[2];
+
+    outCenter[0] = (a[0] + a[3]) * 0.5;
+    outCenter[1] = (a[1] + a[4]) * 0.5;
+    outCenter[2] = (a[2] + a[5]) * 0.5;
+
+    return Math.sqrt(sX * sX + sY * sY + sZ * sZ) * 0.5;
+};
+
+/**
+ * Converts bounds to position radius
+ * @param {vec3} minBounds
+ * @param {vec3} maxBounds
+ * @param {vec3} outCenter
+ * @returns {number}
+ */
+box3.bounds.toPositionRadius = function (minBounds, maxBounds, outCenter)
+{
+    let sX = maxBounds[0] - minBounds[0],
+        sY = maxBounds[1] - minBounds[1],
+        sZ = maxBounds[2] - minBounds[2];
+
+    outCenter[0] = (minBounds[0] + maxBounds[0]) * 0.5;
+    outCenter[1] = (minBounds[1] + maxBounds[1]) * 0.5;
+    outCenter[2] = (minBounds[2] + maxBounds[2]) * 0.5;
+
+    return Math.sqrt(sX * sX + sY * sY + sZ * sZ) * 0.5;
+};
+
+/**
+ * Sets a receiving box3 from the translation of a box3 and a vec3
+ *
+ * @param {box3} out   - receiving box3
+ * @param {box3} a     - source box3
+ * @param {vec3} v     - vec3 to translate by
+ * @returns {box3} out - receiving box3
+ */
+box3.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] + v[0];
+    out[4] = a[4] + v[1];
+    out[5] = a[5] + v[2];
+    return out;
+};
+
+/**
+ * Sets a receiving box3 from the transformation of a box3 with a mat4
+ *
+ * @param {box3} out   - receiving box3
+ * @param {box3} a     - source box3
+ * @param {mat4} m     - mat4 to transform with
+ * @returns {box3} out - receiving box3
+ */
+box3.transformMat4 = function (out, a, m)
+{
+    if (box3.isEmpty(a)) return box3.empty(out);
+
+    const
+        ax = a[0],
+        ay = a[1],
+        az = a[2],
+        bx = a[3],
+        by = a[4],
+        bz = a[5],
+        point = vec3.alloc();
+
+    out[0] = out[1] = out[2] = Infinity;
+    out[3] = out[4] = out[5] = -Infinity;
+
+    for (let i = 0; i < 8; i++)
+    {
+        point[0] = i & 1 ? bx : ax;
+        point[1] = i & 2 ? by : ay;
+        point[2] = i & 4 ? bz : az;
+        vec3.transformMat4(point, point, m);
+        box3.addPoint(out, out, point);
+    }
+
+    vec3.unalloc(point);
+
+    return out;
+};
+
+/**
+ * Sets a box3 from the union of two box3s
+ *
+ * @param {box3} out   - receiving box3
+ * @param {box3} a     - first box3
+ * @param {box3} b     - second box3
+ * @returns {box3} out - receiving box3
+ */
+box3.union = function (out, a, b)
+{
+    out[0] = Math.min(a[0], b[0]);
+    out[1] = Math.min(a[1], b[1]);
+    out[2] = Math.min(a[2], b[2]);
+    out[3] = Math.max(a[3], b[3]);
+    out[4] = Math.max(a[4], b[4]);
+    out[5] = Math.max(a[5], b[5]);
+    return out;
+};
+
+/**
+ * Sets a box3 from the union of a box3 and min and max bounds
+ *
+ * @param {box3} out   - receiving box3
+ * @param {box3} a     - box3
+ * @param {vec3} min   - min bounds
+ * @param {vec3} max   - max bounds
+ * @returns {box3} out - receiving box3
+ */
+box3.unionBounds = function (out, a, min, max)
+{
+    out[0] = Math.min(a[0], min[0]);
+    out[1] = Math.min(a[1], min[1]);
+    out[2] = Math.min(a[2], min[2]);
+    out[3] = Math.max(a[3], max[0]);
+    out[4] = Math.max(a[4], max[1]);
+    out[5] = Math.max(a[5], max[2]);
+    return out;
+};
+
+/**
+ * Sets bounds from the union of two sets of bounds
+ *
+ * @param {vec3} outMin
+ * @param {vec3} outMax
+ * @param {vec3} aMin
+ * @param {vec3} aMax
+ * @param {vec3} bMin
+ * @param {vec3} bMax
+ */
+box3.bounds.union = function (outMin, outMax, aMin, aMax, bMin, bMax)
+{
+    outMin[0] = Math.min(aMin[0], bMin[0]);
+    outMin[1] = Math.min(aMin[1], bMin[1]);
+    outMin[2] = Math.min(aMin[2], bMin[2]);
+    outMax[0] = Math.max(aMax[0], bMax[0]);
+    outMax[1] = Math.max(aMax[1], bMax[1]);
+    outMax[2] = Math.max(aMax[2], bMax[2]);
+};
+
+export const {
+    bounds,
+    alloc,
+    unalloc,
+    $min,
+    $max,
+    addPoint,
+    addPoints,
+    clone,
+    contains,
+    containsBounds,
+    containsPoint,
+    containsValue,
+    copy,
+    copyMin,
+    copyMax,
+    create,
+    distanceToPoint,
+    distanceToValues,
+    empty,
+    equals,
+    equalsBounds,
+    exactEquals,
+    exactEqualsBounds,
+    expandScalar,
+    expandValues,
+    expandVec3,
+    fromArray,
+    fromBounds,
+    from,
+    fromPositionSize,
+    fromPoints,
+    setPoints,
+    fromPositionRadius,
+    fromSph3,
+    fromTransform,
+    fromValues,
+    getCenter,
+    getClampedPoint,
+    getMax,
+    getMin,
+    getSize,
+    getPosition,
+    radius,
+    intersect,
+    intersectBounds,
+    intersects,
+    intersectsBounds,
+    intersectsNormalConstant,
+    intersectsPln,
+    intersectsPoint,
+    intersectsValues,
+    intersectsPositionRadius,
+    intersectsSph3,
+    isEmpty,
+    set,
+    setMinBounds,
+    setMaxBounds,
+    squaredDistanceToPoint,
+    surfaceArea,
+    toArray,
+    toBounds,
+    toPoints,
+    toPositionRadius,
+    translate,
+    transformMat4,
+    union,
+    unionBounds
+} = box3;