@cesium/engine 0.1.0

package/Source/Core/OrientedBoundingBox.js

@@ -0,0 +1,1270 @@
+import BoundingSphere from "./BoundingSphere.js";
+import Cartesian2 from "./Cartesian2.js";
+import Cartesian3 from "./Cartesian3.js";
+import Cartographic from "./Cartographic.js";
+import Check from "./Check.js";
+import defaultValue from "./defaultValue.js";
+import defined from "./defined.js";
+import DeveloperError from "./DeveloperError.js";
+import Ellipsoid from "./Ellipsoid.js";
+import EllipsoidTangentPlane from "./EllipsoidTangentPlane.js";
+import Intersect from "./Intersect.js";
+import Interval from "./Interval.js";
+import CesiumMath from "./Math.js";
+import Matrix3 from "./Matrix3.js";
+import Matrix4 from "./Matrix4.js";
+import Plane from "./Plane.js";
+import Rectangle from "./Rectangle.js";
+
+/**
+ * Creates an instance of an OrientedBoundingBox.
+ * An OrientedBoundingBox of some object is a closed and convex cuboid. It can provide a tighter bounding volume than {@link BoundingSphere} or {@link AxisAlignedBoundingBox} in many cases.
+ * @alias OrientedBoundingBox
+ * @constructor
+ *
+ * @param {Cartesian3} [center=Cartesian3.ZERO] The center of the box.
+ * @param {Matrix3} [halfAxes=Matrix3.ZERO] The three orthogonal half-axes of the bounding box.
+ *                                          Equivalently, the transformation matrix, to rotate and scale a 0x0x0
+ *                                          cube centered at the origin.
+ *
+ *
+ * @example
+ * // Create an OrientedBoundingBox using a transformation matrix, a position where the box will be translated, and a scale.
+ * const center = new Cesium.Cartesian3(1.0, 0.0, 0.0);
+ * const halfAxes = Cesium.Matrix3.fromScale(new Cesium.Cartesian3(1.0, 3.0, 2.0), new Cesium.Matrix3());
+ *
+ * const obb = new Cesium.OrientedBoundingBox(center, halfAxes);
+ *
+ * @see BoundingSphere
+ * @see BoundingRectangle
+ */
+function OrientedBoundingBox(center, halfAxes) {
+  /**
+   * The center of the box.
+   * @type {Cartesian3}
+   * @default {@link Cartesian3.ZERO}
+   */
+  this.center = Cartesian3.clone(defaultValue(center, Cartesian3.ZERO));
+  /**
+   * The transformation matrix, to rotate the box to the right position.
+   * @type {Matrix3}
+   * @default {@link Matrix3.ZERO}
+   */
+  this.halfAxes = Matrix3.clone(defaultValue(halfAxes, Matrix3.ZERO));
+}
+
+/**
+ * The number of elements used to pack the object into an array.
+ * @type {Number}
+ */
+OrientedBoundingBox.packedLength =
+  Cartesian3.packedLength + Matrix3.packedLength;
+
+/**
+ * Stores the provided instance into the provided array.
+ *
+ * @param {OrientedBoundingBox} value The value to pack.
+ * @param {Number[]} array The array to pack into.
+ * @param {Number} [startingIndex=0] The index into the array at which to start packing the elements.
+ *
+ * @returns {Number[]} The array that was packed into
+ */
+OrientedBoundingBox.pack = function (value, array, startingIndex) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("value", value);
+  Check.defined("array", array);
+  //>>includeEnd('debug');
+
+  startingIndex = defaultValue(startingIndex, 0);
+
+  Cartesian3.pack(value.center, array, startingIndex);
+  Matrix3.pack(value.halfAxes, array, startingIndex + Cartesian3.packedLength);
+
+  return array;
+};
+
+/**
+ * Retrieves an instance from a packed array.
+ *
+ * @param {Number[]} array The packed array.
+ * @param {Number} [startingIndex=0] The starting index of the element to be unpacked.
+ * @param {OrientedBoundingBox} [result] The object into which to store the result.
+ * @returns {OrientedBoundingBox} The modified result parameter or a new OrientedBoundingBox instance if one was not provided.
+ */
+OrientedBoundingBox.unpack = function (array, startingIndex, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.defined("array", array);
+  //>>includeEnd('debug');
+
+  startingIndex = defaultValue(startingIndex, 0);
+
+  if (!defined(result)) {
+    result = new OrientedBoundingBox();
+  }
+
+  Cartesian3.unpack(array, startingIndex, result.center);
+  Matrix3.unpack(
+    array,
+    startingIndex + Cartesian3.packedLength,
+    result.halfAxes
+  );
+  return result;
+};
+
+const scratchCartesian1 = new Cartesian3();
+const scratchCartesian2 = new Cartesian3();
+const scratchCartesian3 = new Cartesian3();
+const scratchCartesian4 = new Cartesian3();
+const scratchCartesian5 = new Cartesian3();
+const scratchCartesian6 = new Cartesian3();
+const scratchCovarianceResult = new Matrix3();
+const scratchEigenResult = {
+  unitary: new Matrix3(),
+  diagonal: new Matrix3(),
+};
+
+/**
+ * Computes an instance of an OrientedBoundingBox of the given positions.
+ * This is an implementation of Stefan Gottschalk's Collision Queries using Oriented Bounding Boxes solution (PHD thesis).
+ * Reference: http://gamma.cs.unc.edu/users/gottschalk/main.pdf
+ *
+ * @param {Cartesian3[]} [positions] List of {@link Cartesian3} points that the bounding box will enclose.
+ * @param {OrientedBoundingBox} [result] The object onto which to store the result.
+ * @returns {OrientedBoundingBox} The modified result parameter or a new OrientedBoundingBox instance if one was not provided.
+ *
+ * @example
+ * // Compute an object oriented bounding box enclosing two points.
+ * const box = Cesium.OrientedBoundingBox.fromPoints([new Cesium.Cartesian3(2, 0, 0), new Cesium.Cartesian3(-2, 0, 0)]);
+ */
+OrientedBoundingBox.fromPoints = function (positions, result) {
+  if (!defined(result)) {
+    result = new OrientedBoundingBox();
+  }
+
+  if (!defined(positions) || positions.length === 0) {
+    result.halfAxes = Matrix3.ZERO;
+    result.center = Cartesian3.ZERO;
+    return result;
+  }
+
+  let i;
+  const length = positions.length;
+
+  const meanPoint = Cartesian3.clone(positions[0], scratchCartesian1);
+  for (i = 1; i < length; i++) {
+    Cartesian3.add(meanPoint, positions[i], meanPoint);
+  }
+  const invLength = 1.0 / length;
+  Cartesian3.multiplyByScalar(meanPoint, invLength, meanPoint);
+
+  let exx = 0.0;
+  let exy = 0.0;
+  let exz = 0.0;
+  let eyy = 0.0;
+  let eyz = 0.0;
+  let ezz = 0.0;
+  let p;
+
+  for (i = 0; i < length; i++) {
+    p = Cartesian3.subtract(positions[i], meanPoint, scratchCartesian2);
+    exx += p.x * p.x;
+    exy += p.x * p.y;
+    exz += p.x * p.z;
+    eyy += p.y * p.y;
+    eyz += p.y * p.z;
+    ezz += p.z * p.z;
+  }
+
+  exx *= invLength;
+  exy *= invLength;
+  exz *= invLength;
+  eyy *= invLength;
+  eyz *= invLength;
+  ezz *= invLength;
+
+  const covarianceMatrix = scratchCovarianceResult;
+  covarianceMatrix[0] = exx;
+  covarianceMatrix[1] = exy;
+  covarianceMatrix[2] = exz;
+  covarianceMatrix[3] = exy;
+  covarianceMatrix[4] = eyy;
+  covarianceMatrix[5] = eyz;
+  covarianceMatrix[6] = exz;
+  covarianceMatrix[7] = eyz;
+  covarianceMatrix[8] = ezz;
+
+  const eigenDecomposition = Matrix3.computeEigenDecomposition(
+    covarianceMatrix,
+    scratchEigenResult
+  );
+  const rotation = Matrix3.clone(eigenDecomposition.unitary, result.halfAxes);
+
+  let v1 = Matrix3.getColumn(rotation, 0, scratchCartesian4);
+  let v2 = Matrix3.getColumn(rotation, 1, scratchCartesian5);
+  let v3 = Matrix3.getColumn(rotation, 2, scratchCartesian6);
+
+  let u1 = -Number.MAX_VALUE;
+  let u2 = -Number.MAX_VALUE;
+  let u3 = -Number.MAX_VALUE;
+  let l1 = Number.MAX_VALUE;
+  let l2 = Number.MAX_VALUE;
+  let l3 = Number.MAX_VALUE;
+
+  for (i = 0; i < length; i++) {
+    p = positions[i];
+    u1 = Math.max(Cartesian3.dot(v1, p), u1);
+    u2 = Math.max(Cartesian3.dot(v2, p), u2);
+    u3 = Math.max(Cartesian3.dot(v3, p), u3);
+
+    l1 = Math.min(Cartesian3.dot(v1, p), l1);
+    l2 = Math.min(Cartesian3.dot(v2, p), l2);
+    l3 = Math.min(Cartesian3.dot(v3, p), l3);
+  }
+
+  v1 = Cartesian3.multiplyByScalar(v1, 0.5 * (l1 + u1), v1);
+  v2 = Cartesian3.multiplyByScalar(v2, 0.5 * (l2 + u2), v2);
+  v3 = Cartesian3.multiplyByScalar(v3, 0.5 * (l3 + u3), v3);
+
+  const center = Cartesian3.add(v1, v2, result.center);
+  Cartesian3.add(center, v3, center);
+
+  const scale = scratchCartesian3;
+  scale.x = u1 - l1;
+  scale.y = u2 - l2;
+  scale.z = u3 - l3;
+  Cartesian3.multiplyByScalar(scale, 0.5, scale);
+  Matrix3.multiplyByScale(result.halfAxes, scale, result.halfAxes);
+
+  return result;
+};
+
+const scratchOffset = new Cartesian3();
+const scratchScale = new Cartesian3();
+function fromPlaneExtents(
+  planeOrigin,
+  planeXAxis,
+  planeYAxis,
+  planeZAxis,
+  minimumX,
+  maximumX,
+  minimumY,
+  maximumY,
+  minimumZ,
+  maximumZ,
+  result
+) {
+  //>>includeStart('debug', pragmas.debug);
+  if (
+    !defined(minimumX) ||
+    !defined(maximumX) ||
+    !defined(minimumY) ||
+    !defined(maximumY) ||
+    !defined(minimumZ) ||
+    !defined(maximumZ)
+  ) {
+    throw new DeveloperError(
+      "all extents (minimum/maximum X/Y/Z) are required."
+    );
+  }
+  //>>includeEnd('debug');
+
+  if (!defined(result)) {
+    result = new OrientedBoundingBox();
+  }
+
+  const halfAxes = result.halfAxes;
+  Matrix3.setColumn(halfAxes, 0, planeXAxis, halfAxes);
+  Matrix3.setColumn(halfAxes, 1, planeYAxis, halfAxes);
+  Matrix3.setColumn(halfAxes, 2, planeZAxis, halfAxes);
+
+  let centerOffset = scratchOffset;
+  centerOffset.x = (minimumX + maximumX) / 2.0;
+  centerOffset.y = (minimumY + maximumY) / 2.0;
+  centerOffset.z = (minimumZ + maximumZ) / 2.0;
+
+  const scale = scratchScale;
+  scale.x = (maximumX - minimumX) / 2.0;
+  scale.y = (maximumY - minimumY) / 2.0;
+  scale.z = (maximumZ - minimumZ) / 2.0;
+
+  const center = result.center;
+  centerOffset = Matrix3.multiplyByVector(halfAxes, centerOffset, centerOffset);
+  Cartesian3.add(planeOrigin, centerOffset, center);
+  Matrix3.multiplyByScale(halfAxes, scale, halfAxes);
+
+  return result;
+}
+
+const scratchRectangleCenterCartographic = new Cartographic();
+const scratchRectangleCenter = new Cartesian3();
+const scratchPerimeterCartographicNC = new Cartographic();
+const scratchPerimeterCartographicNW = new Cartographic();
+const scratchPerimeterCartographicCW = new Cartographic();
+const scratchPerimeterCartographicSW = new Cartographic();
+const scratchPerimeterCartographicSC = new Cartographic();
+const scratchPerimeterCartesianNC = new Cartesian3();
+const scratchPerimeterCartesianNW = new Cartesian3();
+const scratchPerimeterCartesianCW = new Cartesian3();
+const scratchPerimeterCartesianSW = new Cartesian3();
+const scratchPerimeterCartesianSC = new Cartesian3();
+const scratchPerimeterProjectedNC = new Cartesian2();
+const scratchPerimeterProjectedNW = new Cartesian2();
+const scratchPerimeterProjectedCW = new Cartesian2();
+const scratchPerimeterProjectedSW = new Cartesian2();
+const scratchPerimeterProjectedSC = new Cartesian2();
+
+const scratchPlaneOrigin = new Cartesian3();
+const scratchPlaneNormal = new Cartesian3();
+const scratchPlaneXAxis = new Cartesian3();
+const scratchHorizonCartesian = new Cartesian3();
+const scratchHorizonProjected = new Cartesian2();
+const scratchMaxY = new Cartesian3();
+const scratchMinY = new Cartesian3();
+const scratchZ = new Cartesian3();
+const scratchPlane = new Plane(Cartesian3.UNIT_X, 0.0);
+
+/**
+ * Computes an OrientedBoundingBox that bounds a {@link Rectangle} on the surface of an {@link Ellipsoid}.
+ * There are no guarantees about the orientation of the bounding box.
+ *
+ * @param {Rectangle} rectangle The cartographic rectangle on the surface of the ellipsoid.
+ * @param {Number} [minimumHeight=0.0] The minimum height (elevation) within the tile.
+ * @param {Number} [maximumHeight=0.0] The maximum height (elevation) within the tile.
+ * @param {Ellipsoid} [ellipsoid=Ellipsoid.WGS84] The ellipsoid on which the rectangle is defined.
+ * @param {OrientedBoundingBox} [result] The object onto which to store the result.
+ * @returns {OrientedBoundingBox} The modified result parameter or a new OrientedBoundingBox instance if none was provided.
+ *
+ * @exception {DeveloperError} rectangle.width must be between 0 and pi.
+ * @exception {DeveloperError} rectangle.height must be between 0 and pi.
+ * @exception {DeveloperError} ellipsoid must be an ellipsoid of revolution (<code>radii.x == radii.y</code>)
+ */
+OrientedBoundingBox.fromRectangle = function (
+  rectangle,
+  minimumHeight,
+  maximumHeight,
+  ellipsoid,
+  result
+) {
+  //>>includeStart('debug', pragmas.debug);
+  if (!defined(rectangle)) {
+    throw new DeveloperError("rectangle is required");
+  }
+  if (rectangle.width < 0.0 || rectangle.width > CesiumMath.TWO_PI) {
+    throw new DeveloperError("Rectangle width must be between 0 and 2*pi");
+  }
+  if (rectangle.height < 0.0 || rectangle.height > CesiumMath.PI) {
+    throw new DeveloperError("Rectangle height must be between 0 and pi");
+  }
+  if (
+    defined(ellipsoid) &&
+    !CesiumMath.equalsEpsilon(
+      ellipsoid.radii.x,
+      ellipsoid.radii.y,
+      CesiumMath.EPSILON15
+    )
+  ) {
+    throw new DeveloperError(
+      "Ellipsoid must be an ellipsoid of revolution (radii.x == radii.y)"
+    );
+  }
+  //>>includeEnd('debug');
+
+  minimumHeight = defaultValue(minimumHeight, 0.0);
+  maximumHeight = defaultValue(maximumHeight, 0.0);
+  ellipsoid = defaultValue(ellipsoid, Ellipsoid.WGS84);
+
+  let minX, maxX, minY, maxY, minZ, maxZ, plane;
+
+  if (rectangle.width <= CesiumMath.PI) {
+    // The bounding box will be aligned with the tangent plane at the center of the rectangle.
+    const tangentPointCartographic = Rectangle.center(
+      rectangle,
+      scratchRectangleCenterCartographic
+    );
+    const tangentPoint = ellipsoid.cartographicToCartesian(
+      tangentPointCartographic,
+      scratchRectangleCenter
+    );
+    const tangentPlane = new EllipsoidTangentPlane(tangentPoint, ellipsoid);
+    plane = tangentPlane.plane;
+
+    // If the rectangle spans the equator, CW is instead aligned with the equator (because it sticks out the farthest at the equator).
+    const lonCenter = tangentPointCartographic.longitude;
+    const latCenter =
+      rectangle.south < 0.0 && rectangle.north > 0.0
+        ? 0.0
+        : tangentPointCartographic.latitude;
+
+    // Compute XY extents using the rectangle at maximum height
+    const perimeterCartographicNC = Cartographic.fromRadians(
+      lonCenter,
+      rectangle.north,
+      maximumHeight,
+      scratchPerimeterCartographicNC
+    );
+    const perimeterCartographicNW = Cartographic.fromRadians(
+      rectangle.west,
+      rectangle.north,
+      maximumHeight,
+      scratchPerimeterCartographicNW
+    );
+    const perimeterCartographicCW = Cartographic.fromRadians(
+      rectangle.west,
+      latCenter,
+      maximumHeight,
+      scratchPerimeterCartographicCW
+    );
+    const perimeterCartographicSW = Cartographic.fromRadians(
+      rectangle.west,
+      rectangle.south,
+      maximumHeight,
+      scratchPerimeterCartographicSW
+    );
+    const perimeterCartographicSC = Cartographic.fromRadians(
+      lonCenter,
+      rectangle.south,
+      maximumHeight,
+      scratchPerimeterCartographicSC
+    );
+
+    const perimeterCartesianNC = ellipsoid.cartographicToCartesian(
+      perimeterCartographicNC,
+      scratchPerimeterCartesianNC
+    );
+    let perimeterCartesianNW = ellipsoid.cartographicToCartesian(
+      perimeterCartographicNW,
+      scratchPerimeterCartesianNW
+    );
+    const perimeterCartesianCW = ellipsoid.cartographicToCartesian(
+      perimeterCartographicCW,
+      scratchPerimeterCartesianCW
+    );
+    let perimeterCartesianSW = ellipsoid.cartographicToCartesian(
+      perimeterCartographicSW,
+      scratchPerimeterCartesianSW
+    );
+    const perimeterCartesianSC = ellipsoid.cartographicToCartesian(
+      perimeterCartographicSC,
+      scratchPerimeterCartesianSC
+    );
+
+    const perimeterProjectedNC = tangentPlane.projectPointToNearestOnPlane(
+      perimeterCartesianNC,
+      scratchPerimeterProjectedNC
+    );
+    const perimeterProjectedNW = tangentPlane.projectPointToNearestOnPlane(
+      perimeterCartesianNW,
+      scratchPerimeterProjectedNW
+    );
+    const perimeterProjectedCW = tangentPlane.projectPointToNearestOnPlane(
+      perimeterCartesianCW,
+      scratchPerimeterProjectedCW
+    );
+    const perimeterProjectedSW = tangentPlane.projectPointToNearestOnPlane(
+      perimeterCartesianSW,
+      scratchPerimeterProjectedSW
+    );
+    const perimeterProjectedSC = tangentPlane.projectPointToNearestOnPlane(
+      perimeterCartesianSC,
+      scratchPerimeterProjectedSC
+    );
+
+    minX = Math.min(
+      perimeterProjectedNW.x,
+      perimeterProjectedCW.x,
+      perimeterProjectedSW.x
+    );
+    maxX = -minX; // symmetrical
+
+    maxY = Math.max(perimeterProjectedNW.y, perimeterProjectedNC.y);
+    minY = Math.min(perimeterProjectedSW.y, perimeterProjectedSC.y);
+
+    // Compute minimum Z using the rectangle at minimum height, since it will be deeper than the maximum height
+    perimeterCartographicNW.height = perimeterCartographicSW.height = minimumHeight;
+    perimeterCartesianNW = ellipsoid.cartographicToCartesian(
+      perimeterCartographicNW,
+      scratchPerimeterCartesianNW
+    );
+    perimeterCartesianSW = ellipsoid.cartographicToCartesian(
+      perimeterCartographicSW,
+      scratchPerimeterCartesianSW
+    );
+
+    minZ = Math.min(
+      Plane.getPointDistance(plane, perimeterCartesianNW),
+      Plane.getPointDistance(plane, perimeterCartesianSW)
+    );
+    maxZ = maximumHeight; // Since the tangent plane touches the surface at height = 0, this is okay
+
+    return fromPlaneExtents(
+      tangentPlane.origin,
+      tangentPlane.xAxis,
+      tangentPlane.yAxis,
+      tangentPlane.zAxis,
+      minX,
+      maxX,
+      minY,
+      maxY,
+      minZ,
+      maxZ,
+      result
+    );
+  }
+
+  // Handle the case where rectangle width is greater than PI (wraps around more than half the ellipsoid).
+  const fullyAboveEquator = rectangle.south > 0.0;
+  const fullyBelowEquator = rectangle.north < 0.0;
+  const latitudeNearestToEquator = fullyAboveEquator
+    ? rectangle.south
+    : fullyBelowEquator
+    ? rectangle.north
+    : 0.0;
+  const centerLongitude = Rectangle.center(
+    rectangle,
+    scratchRectangleCenterCartographic
+  ).longitude;
+
+  // Plane is located at the rectangle's center longitude and the rectangle's latitude that is closest to the equator. It rotates around the Z axis.
+  // This results in a better fit than the obb approach for smaller rectangles, which orients with the rectangle's center normal.
+  const planeOrigin = Cartesian3.fromRadians(
+    centerLongitude,
+    latitudeNearestToEquator,
+    maximumHeight,
+    ellipsoid,
+    scratchPlaneOrigin
+  );
+  planeOrigin.z = 0.0; // center the plane on the equator to simpify plane normal calculation
+  const isPole =
+    Math.abs(planeOrigin.x) < CesiumMath.EPSILON10 &&
+    Math.abs(planeOrigin.y) < CesiumMath.EPSILON10;
+  const planeNormal = !isPole
+    ? Cartesian3.normalize(planeOrigin, scratchPlaneNormal)
+    : Cartesian3.UNIT_X;
+  const planeYAxis = Cartesian3.UNIT_Z;
+  const planeXAxis = Cartesian3.cross(
+    planeNormal,
+    planeYAxis,
+    scratchPlaneXAxis
+  );
+  plane = Plane.fromPointNormal(planeOrigin, planeNormal, scratchPlane);
+
+  // Get the horizon point relative to the center. This will be the farthest extent in the plane's X dimension.
+  const horizonCartesian = Cartesian3.fromRadians(
+    centerLongitude + CesiumMath.PI_OVER_TWO,
+    latitudeNearestToEquator,
+    maximumHeight,
+    ellipsoid,
+    scratchHorizonCartesian
+  );
+  maxX = Cartesian3.dot(
+    Plane.projectPointOntoPlane(
+      plane,
+      horizonCartesian,
+      scratchHorizonProjected
+    ),
+    planeXAxis
+  );
+  minX = -maxX; // symmetrical
+
+  // Get the min and max Y, using the height that will give the largest extent
+  maxY = Cartesian3.fromRadians(
+    0.0,
+    rectangle.north,
+    fullyBelowEquator ? minimumHeight : maximumHeight,
+    ellipsoid,
+    scratchMaxY
+  ).z;
+  minY = Cartesian3.fromRadians(
+    0.0,
+    rectangle.south,
+    fullyAboveEquator ? minimumHeight : maximumHeight,
+    ellipsoid,
+    scratchMinY
+  ).z;
+
+  const farZ = Cartesian3.fromRadians(
+    rectangle.east,
+    latitudeNearestToEquator,
+    maximumHeight,
+    ellipsoid,
+    scratchZ
+  );
+  minZ = Plane.getPointDistance(plane, farZ);
+  maxZ = 0.0; // plane origin starts at maxZ already
+
+  // min and max are local to the plane axes
+  return fromPlaneExtents(
+    planeOrigin,
+    planeXAxis,
+    planeYAxis,
+    planeNormal,
+    minX,
+    maxX,
+    minY,
+    maxY,
+    minZ,
+    maxZ,
+    result
+  );
+};
+
+/**
+ * Computes an OrientedBoundingBox that bounds an affine transformation.
+ *
+ * @param {Matrix4} transformation The affine transformation.
+ * @param {OrientedBoundingBox} [result] The object onto which to store the result.
+ * @returns {OrientedBoundingBox} The modified result parameter or a new OrientedBoundingBox instance if none was provided.
+ */
+OrientedBoundingBox.fromTransformation = function (transformation, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("transformation", transformation);
+  //>>includeEnd('debug');
+
+  if (!defined(result)) {
+    result = new OrientedBoundingBox();
+  }
+
+  result.center = Matrix4.getTranslation(transformation, result.center);
+  result.halfAxes = Matrix4.getMatrix3(transformation, result.halfAxes);
+  result.halfAxes = Matrix3.multiplyByScalar(
+    result.halfAxes,
+    0.5,
+    result.halfAxes
+  );
+  return result;
+};
+
+/**
+ * Duplicates a OrientedBoundingBox instance.
+ *
+ * @param {OrientedBoundingBox} box The bounding box to duplicate.
+ * @param {OrientedBoundingBox} [result] The object onto which to store the result.
+ * @returns {OrientedBoundingBox} The modified result parameter or a new OrientedBoundingBox instance if none was provided. (Returns undefined if box is undefined)
+ */
+OrientedBoundingBox.clone = function (box, result) {
+  if (!defined(box)) {
+    return undefined;
+  }
+
+  if (!defined(result)) {
+    return new OrientedBoundingBox(box.center, box.halfAxes);
+  }
+
+  Cartesian3.clone(box.center, result.center);
+  Matrix3.clone(box.halfAxes, result.halfAxes);
+
+  return result;
+};
+
+/**
+ * Determines which side of a plane the oriented bounding box is located.
+ *
+ * @param {OrientedBoundingBox} box The oriented bounding box to test.
+ * @param {Plane} plane The plane to test against.
+ * @returns {Intersect} {@link Intersect.INSIDE} if the entire box is on the side of the plane
+ *                      the normal is pointing, {@link Intersect.OUTSIDE} if the entire box is
+ *                      on the opposite side, and {@link Intersect.INTERSECTING} if the box
+ *                      intersects the plane.
+ */
+OrientedBoundingBox.intersectPlane = function (box, plane) {
+  //>>includeStart('debug', pragmas.debug);
+  if (!defined(box)) {
+    throw new DeveloperError("box is required.");
+  }
+
+  if (!defined(plane)) {
+    throw new DeveloperError("plane is required.");
+  }
+  //>>includeEnd('debug');
+
+  const center = box.center;
+  const normal = plane.normal;
+  const halfAxes = box.halfAxes;
+  const normalX = normal.x,
+    normalY = normal.y,
+    normalZ = normal.z;
+  // plane is used as if it is its normal; the first three components are assumed to be normalized
+  const radEffective =
+    Math.abs(
+      normalX * halfAxes[Matrix3.COLUMN0ROW0] +
+        normalY * halfAxes[Matrix3.COLUMN0ROW1] +
+        normalZ * halfAxes[Matrix3.COLUMN0ROW2]
+    ) +
+    Math.abs(
+      normalX * halfAxes[Matrix3.COLUMN1ROW0] +
+        normalY * halfAxes[Matrix3.COLUMN1ROW1] +
+        normalZ * halfAxes[Matrix3.COLUMN1ROW2]
+    ) +
+    Math.abs(
+      normalX * halfAxes[Matrix3.COLUMN2ROW0] +
+        normalY * halfAxes[Matrix3.COLUMN2ROW1] +
+        normalZ * halfAxes[Matrix3.COLUMN2ROW2]
+    );
+  const distanceToPlane = Cartesian3.dot(normal, center) + plane.distance;
+
+  if (distanceToPlane <= -radEffective) {
+    // The entire box is on the negative side of the plane normal
+    return Intersect.OUTSIDE;
+  } else if (distanceToPlane >= radEffective) {
+    // The entire box is on the positive side of the plane normal
+    return Intersect.INSIDE;
+  }
+  return Intersect.INTERSECTING;
+};
+
+const scratchCartesianU = new Cartesian3();
+const scratchCartesianV = new Cartesian3();
+const scratchCartesianW = new Cartesian3();
+const scratchValidAxis2 = new Cartesian3();
+const scratchValidAxis3 = new Cartesian3();
+const scratchPPrime = new Cartesian3();
+
+/**
+ * Computes the estimated distance squared from the closest point on a bounding box to a point.
+ *
+ * @param {OrientedBoundingBox} box The box.
+ * @param {Cartesian3} cartesian The point
+ * @returns {Number} The distance squared from the oriented bounding box to the point. Returns 0 if the point is inside the box.
+ *
+ * @example
+ * // Sort bounding boxes from back to front
+ * boxes.sort(function(a, b) {
+ *     return Cesium.OrientedBoundingBox.distanceSquaredTo(b, camera.positionWC) - Cesium.OrientedBoundingBox.distanceSquaredTo(a, camera.positionWC);
+ * });
+ */
+OrientedBoundingBox.distanceSquaredTo = function (box, cartesian) {
+  // See Geometric Tools for Computer Graphics 10.4.2
+
+  //>>includeStart('debug', pragmas.debug);
+  if (!defined(box)) {
+    throw new DeveloperError("box is required.");
+  }
+  if (!defined(cartesian)) {
+    throw new DeveloperError("cartesian is required.");
+  }
+  //>>includeEnd('debug');
+
+  const offset = Cartesian3.subtract(cartesian, box.center, scratchOffset);
+
+  const halfAxes = box.halfAxes;
+  let u = Matrix3.getColumn(halfAxes, 0, scratchCartesianU);
+  let v = Matrix3.getColumn(halfAxes, 1, scratchCartesianV);
+  let w = Matrix3.getColumn(halfAxes, 2, scratchCartesianW);
+
+  const uHalf = Cartesian3.magnitude(u);
+  const vHalf = Cartesian3.magnitude(v);
+  const wHalf = Cartesian3.magnitude(w);
+
+  let uValid = true;
+  let vValid = true;
+  let wValid = true;
+
+  if (uHalf > 0) {
+    Cartesian3.divideByScalar(u, uHalf, u);
+  } else {
+    uValid = false;
+  }
+
+  if (vHalf > 0) {
+    Cartesian3.divideByScalar(v, vHalf, v);
+  } else {
+    vValid = false;
+  }
+
+  if (wHalf > 0) {
+    Cartesian3.divideByScalar(w, wHalf, w);
+  } else {
+    wValid = false;
+  }
+
+  const numberOfDegenerateAxes = !uValid + !vValid + !wValid;
+  let validAxis1;
+  let validAxis2;
+  let validAxis3;
+
+  if (numberOfDegenerateAxes === 1) {
+    let degenerateAxis = u;
+    validAxis1 = v;
+    validAxis2 = w;
+    if (!vValid) {
+      degenerateAxis = v;
+      validAxis1 = u;
+    } else if (!wValid) {
+      degenerateAxis = w;
+      validAxis2 = u;
+    }
+
+    validAxis3 = Cartesian3.cross(validAxis1, validAxis2, scratchValidAxis3);
+
+    if (degenerateAxis === u) {
+      u = validAxis3;
+    } else if (degenerateAxis === v) {
+      v = validAxis3;
+    } else if (degenerateAxis === w) {
+      w = validAxis3;
+    }
+  } else if (numberOfDegenerateAxes === 2) {
+    validAxis1 = u;
+    if (vValid) {
+      validAxis1 = v;
+    } else if (wValid) {
+      validAxis1 = w;
+    }
+
+    let crossVector = Cartesian3.UNIT_Y;
+    if (crossVector.equalsEpsilon(validAxis1, CesiumMath.EPSILON3)) {
+      crossVector = Cartesian3.UNIT_X;
+    }
+
+    validAxis2 = Cartesian3.cross(validAxis1, crossVector, scratchValidAxis2);
+    Cartesian3.normalize(validAxis2, validAxis2);
+    validAxis3 = Cartesian3.cross(validAxis1, validAxis2, scratchValidAxis3);
+    Cartesian3.normalize(validAxis3, validAxis3);
+
+    if (validAxis1 === u) {
+      v = validAxis2;
+      w = validAxis3;
+    } else if (validAxis1 === v) {
+      w = validAxis2;
+      u = validAxis3;
+    } else if (validAxis1 === w) {
+      u = validAxis2;
+      v = validAxis3;
+    }
+  } else if (numberOfDegenerateAxes === 3) {
+    u = Cartesian3.UNIT_X;
+    v = Cartesian3.UNIT_Y;
+    w = Cartesian3.UNIT_Z;
+  }
+
+  const pPrime = scratchPPrime;
+  pPrime.x = Cartesian3.dot(offset, u);
+  pPrime.y = Cartesian3.dot(offset, v);
+  pPrime.z = Cartesian3.dot(offset, w);
+
+  let distanceSquared = 0.0;
+  let d;
+
+  if (pPrime.x < -uHalf) {
+    d = pPrime.x + uHalf;
+    distanceSquared += d * d;
+  } else if (pPrime.x > uHalf) {
+    d = pPrime.x - uHalf;
+    distanceSquared += d * d;
+  }
+
+  if (pPrime.y < -vHalf) {
+    d = pPrime.y + vHalf;
+    distanceSquared += d * d;
+  } else if (pPrime.y > vHalf) {
+    d = pPrime.y - vHalf;
+    distanceSquared += d * d;
+  }
+
+  if (pPrime.z < -wHalf) {
+    d = pPrime.z + wHalf;
+    distanceSquared += d * d;
+  } else if (pPrime.z > wHalf) {
+    d = pPrime.z - wHalf;
+    distanceSquared += d * d;
+  }
+
+  return distanceSquared;
+};
+
+const scratchCorner = new Cartesian3();
+const scratchToCenter = new Cartesian3();
+
+/**
+ * The distances calculated by the vector from the center of the bounding box to position projected onto direction.
+ * <br>
+ * If you imagine the infinite number of planes with normal direction, this computes the smallest distance to the
+ * closest and farthest planes from position that intersect the bounding box.
+ *
+ * @param {OrientedBoundingBox} box The bounding box to calculate the distance to.
+ * @param {Cartesian3} position The position to calculate the distance from.
+ * @param {Cartesian3} direction The direction from position.
+ * @param {Interval} [result] A Interval to store the nearest and farthest distances.
+ * @returns {Interval} The nearest and farthest distances on the bounding box from position in direction.
+ */
+OrientedBoundingBox.computePlaneDistances = function (
+  box,
+  position,
+  direction,
+  result
+) {
+  //>>includeStart('debug', pragmas.debug);
+  if (!defined(box)) {
+    throw new DeveloperError("box is required.");
+  }
+
+  if (!defined(position)) {
+    throw new DeveloperError("position is required.");
+  }
+
+  if (!defined(direction)) {
+    throw new DeveloperError("direction is required.");
+  }
+  //>>includeEnd('debug');
+
+  if (!defined(result)) {
+    result = new Interval();
+  }
+
+  let minDist = Number.POSITIVE_INFINITY;
+  let maxDist = Number.NEGATIVE_INFINITY;
+
+  const center = box.center;
+  const halfAxes = box.halfAxes;
+
+  const u = Matrix3.getColumn(halfAxes, 0, scratchCartesianU);
+  const v = Matrix3.getColumn(halfAxes, 1, scratchCartesianV);
+  const w = Matrix3.getColumn(halfAxes, 2, scratchCartesianW);
+
+  // project first corner
+  const corner = Cartesian3.add(u, v, scratchCorner);
+  Cartesian3.add(corner, w, corner);
+  Cartesian3.add(corner, center, corner);
+
+  const toCenter = Cartesian3.subtract(corner, position, scratchToCenter);
+  let mag = Cartesian3.dot(direction, toCenter);
+
+  minDist = Math.min(mag, minDist);
+  maxDist = Math.max(mag, maxDist);
+
+  // project second corner
+  Cartesian3.add(center, u, corner);
+  Cartesian3.add(corner, v, corner);
+  Cartesian3.subtract(corner, w, corner);
+
+  Cartesian3.subtract(corner, position, toCenter);
+  mag = Cartesian3.dot(direction, toCenter);
+
+  minDist = Math.min(mag, minDist);
+  maxDist = Math.max(mag, maxDist);
+
+  // project third corner
+  Cartesian3.add(center, u, corner);
+  Cartesian3.subtract(corner, v, corner);
+  Cartesian3.add(corner, w, corner);
+
+  Cartesian3.subtract(corner, position, toCenter);
+  mag = Cartesian3.dot(direction, toCenter);
+
+  minDist = Math.min(mag, minDist);
+  maxDist = Math.max(mag, maxDist);
+
+  // project fourth corner
+  Cartesian3.add(center, u, corner);
+  Cartesian3.subtract(corner, v, corner);
+  Cartesian3.subtract(corner, w, corner);
+
+  Cartesian3.subtract(corner, position, toCenter);
+  mag = Cartesian3.dot(direction, toCenter);
+
+  minDist = Math.min(mag, minDist);
+  maxDist = Math.max(mag, maxDist);
+
+  // project fifth corner
+  Cartesian3.subtract(center, u, corner);
+  Cartesian3.add(corner, v, corner);
+  Cartesian3.add(corner, w, corner);
+
+  Cartesian3.subtract(corner, position, toCenter);
+  mag = Cartesian3.dot(direction, toCenter);
+
+  minDist = Math.min(mag, minDist);
+  maxDist = Math.max(mag, maxDist);
+
+  // project sixth corner
+  Cartesian3.subtract(center, u, corner);
+  Cartesian3.add(corner, v, corner);
+  Cartesian3.subtract(corner, w, corner);
+
+  Cartesian3.subtract(corner, position, toCenter);
+  mag = Cartesian3.dot(direction, toCenter);
+
+  minDist = Math.min(mag, minDist);
+  maxDist = Math.max(mag, maxDist);
+
+  // project seventh corner
+  Cartesian3.subtract(center, u, corner);
+  Cartesian3.subtract(corner, v, corner);
+  Cartesian3.add(corner, w, corner);
+
+  Cartesian3.subtract(corner, position, toCenter);
+  mag = Cartesian3.dot(direction, toCenter);
+
+  minDist = Math.min(mag, minDist);
+  maxDist = Math.max(mag, maxDist);
+
+  // project eighth corner
+  Cartesian3.subtract(center, u, corner);
+  Cartesian3.subtract(corner, v, corner);
+  Cartesian3.subtract(corner, w, corner);
+
+  Cartesian3.subtract(corner, position, toCenter);
+  mag = Cartesian3.dot(direction, toCenter);
+
+  minDist = Math.min(mag, minDist);
+  maxDist = Math.max(mag, maxDist);
+
+  result.start = minDist;
+  result.stop = maxDist;
+  return result;
+};
+
+const scratchXAxis = new Cartesian3();
+const scratchYAxis = new Cartesian3();
+const scratchZAxis = new Cartesian3();
+
+/**
+ * Computes the eight corners of an oriented bounding box. The corners are ordered by (-X, -Y, -Z), (-X, -Y, +Z), (-X, +Y, -Z), (-X, +Y, +Z), (+X, -Y, -Z), (+X, -Y, +Z), (+X, +Y, -Z), (+X, +Y, +Z).
+ *
+ * @param {OrientedBoundingBox} box The oriented bounding box.
+ * @param {Cartesian3[]} [result] An array of eight {@link Cartesian3} instances onto which to store the corners.
+ * @returns {Cartesian3[]} The modified result parameter or a new array if none was provided.
+ */
+OrientedBoundingBox.computeCorners = function (box, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("box", box);
+  //>>includeEnd('debug');
+
+  if (!defined(result)) {
+    result = [
+      new Cartesian3(),
+      new Cartesian3(),
+      new Cartesian3(),
+      new Cartesian3(),
+      new Cartesian3(),
+      new Cartesian3(),
+      new Cartesian3(),
+      new Cartesian3(),
+    ];
+  }
+
+  const center = box.center;
+  const halfAxes = box.halfAxes;
+  const xAxis = Matrix3.getColumn(halfAxes, 0, scratchXAxis);
+  const yAxis = Matrix3.getColumn(halfAxes, 1, scratchYAxis);
+  const zAxis = Matrix3.getColumn(halfAxes, 2, scratchZAxis);
+
+  Cartesian3.clone(center, result[0]);
+  Cartesian3.subtract(result[0], xAxis, result[0]);
+  Cartesian3.subtract(result[0], yAxis, result[0]);
+  Cartesian3.subtract(result[0], zAxis, result[0]);
+
+  Cartesian3.clone(center, result[1]);
+  Cartesian3.subtract(result[1], xAxis, result[1]);
+  Cartesian3.subtract(result[1], yAxis, result[1]);
+  Cartesian3.add(result[1], zAxis, result[1]);
+
+  Cartesian3.clone(center, result[2]);
+  Cartesian3.subtract(result[2], xAxis, result[2]);
+  Cartesian3.add(result[2], yAxis, result[2]);
+  Cartesian3.subtract(result[2], zAxis, result[2]);
+
+  Cartesian3.clone(center, result[3]);
+  Cartesian3.subtract(result[3], xAxis, result[3]);
+  Cartesian3.add(result[3], yAxis, result[3]);
+  Cartesian3.add(result[3], zAxis, result[3]);
+
+  Cartesian3.clone(center, result[4]);
+  Cartesian3.add(result[4], xAxis, result[4]);
+  Cartesian3.subtract(result[4], yAxis, result[4]);
+  Cartesian3.subtract(result[4], zAxis, result[4]);
+
+  Cartesian3.clone(center, result[5]);
+  Cartesian3.add(result[5], xAxis, result[5]);
+  Cartesian3.subtract(result[5], yAxis, result[5]);
+  Cartesian3.add(result[5], zAxis, result[5]);
+
+  Cartesian3.clone(center, result[6]);
+  Cartesian3.add(result[6], xAxis, result[6]);
+  Cartesian3.add(result[6], yAxis, result[6]);
+  Cartesian3.subtract(result[6], zAxis, result[6]);
+
+  Cartesian3.clone(center, result[7]);
+  Cartesian3.add(result[7], xAxis, result[7]);
+  Cartesian3.add(result[7], yAxis, result[7]);
+  Cartesian3.add(result[7], zAxis, result[7]);
+
+  return result;
+};
+
+const scratchRotationScale = new Matrix3();
+
+/**
+ * Computes a transformation matrix from an oriented bounding box.
+ *
+ * @param {OrientedBoundingBox} box The oriented bounding box.
+ * @param {Matrix4} result The object onto which to store the result.
+ * @returns {Matrix4} The modified result parameter or a new {@link Matrix4} instance if none was provided.
+ */
+OrientedBoundingBox.computeTransformation = function (box, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("box", box);
+  //>>includeEnd('debug');
+
+  if (!defined(result)) {
+    result = new Matrix4();
+  }
+
+  const translation = box.center;
+  const rotationScale = Matrix3.multiplyByUniformScale(
+    box.halfAxes,
+    2.0,
+    scratchRotationScale
+  );
+  return Matrix4.fromRotationTranslation(rotationScale, translation, result);
+};
+
+const scratchBoundingSphere = new BoundingSphere();
+
+/**
+ * Determines whether or not a bounding box is hidden from view by the occluder.
+ *
+ * @param {OrientedBoundingBox} box The bounding box surrounding the occludee object.
+ * @param {Occluder} occluder The occluder.
+ * @returns {Boolean} <code>true</code> if the box is not visible; otherwise <code>false</code>.
+ */
+OrientedBoundingBox.isOccluded = function (box, occluder) {
+  //>>includeStart('debug', pragmas.debug);
+  if (!defined(box)) {
+    throw new DeveloperError("box is required.");
+  }
+  if (!defined(occluder)) {
+    throw new DeveloperError("occluder is required.");
+  }
+  //>>includeEnd('debug');
+
+  const sphere = BoundingSphere.fromOrientedBoundingBox(
+    box,
+    scratchBoundingSphere
+  );
+
+  return !occluder.isBoundingSphereVisible(sphere);
+};
+
+/**
+ * Determines which side of a plane the oriented bounding box is located.
+ *
+ * @param {Plane} plane The plane to test against.
+ * @returns {Intersect} {@link Intersect.INSIDE} if the entire box is on the side of the plane
+ *                      the normal is pointing, {@link Intersect.OUTSIDE} if the entire box is
+ *                      on the opposite side, and {@link Intersect.INTERSECTING} if the box
+ *                      intersects the plane.
+ */
+OrientedBoundingBox.prototype.intersectPlane = function (plane) {
+  return OrientedBoundingBox.intersectPlane(this, plane);
+};
+
+/**
+ * Computes the estimated distance squared from the closest point on a bounding box to a point.
+ *
+ * @param {Cartesian3} cartesian The point
+ * @returns {Number} The estimated distance squared from the bounding sphere to the point.
+ *
+ * @example
+ * // Sort bounding boxes from back to front
+ * boxes.sort(function(a, b) {
+ *     return b.distanceSquaredTo(camera.positionWC) - a.distanceSquaredTo(camera.positionWC);
+ * });
+ */
+OrientedBoundingBox.prototype.distanceSquaredTo = function (cartesian) {
+  return OrientedBoundingBox.distanceSquaredTo(this, cartesian);
+};
+
+/**
+ * The distances calculated by the vector from the center of the bounding box to position projected onto direction.
+ * <br>
+ * If you imagine the infinite number of planes with normal direction, this computes the smallest distance to the
+ * closest and farthest planes from position that intersect the bounding box.
+ *
+ * @param {Cartesian3} position The position to calculate the distance from.
+ * @param {Cartesian3} direction The direction from position.
+ * @param {Interval} [result] A Interval to store the nearest and farthest distances.
+ * @returns {Interval} The nearest and farthest distances on the bounding box from position in direction.
+ */
+OrientedBoundingBox.prototype.computePlaneDistances = function (
+  position,
+  direction,
+  result
+) {
+  return OrientedBoundingBox.computePlaneDistances(
+    this,
+    position,
+    direction,
+    result
+  );
+};
+
+/**
+ * Computes the eight corners of an oriented bounding box. The corners are ordered by (-X, -Y, -Z), (-X, -Y, +Z), (-X, +Y, -Z), (-X, +Y, +Z), (+X, -Y, -Z), (+X, -Y, +Z), (+X, +Y, -Z), (+X, +Y, +Z).
+ *
+ * @param {Cartesian3[]} [result] An array of eight {@link Cartesian3} instances onto which to store the corners.
+ * @returns {Cartesian3[]} The modified result parameter or a new array if none was provided.
+ */
+OrientedBoundingBox.prototype.computeCorners = function (result) {
+  return OrientedBoundingBox.computeCorners(this, result);
+};
+
+/**
+ * Computes a transformation matrix from an oriented bounding box.
+ *
+ * @param {Matrix4} result The object onto which to store the result.
+ * @returns {Matrix4} The modified result parameter or a new {@link Matrix4} instance if none was provided.
+ */
+OrientedBoundingBox.prototype.computeTransformation = function (result) {
+  return OrientedBoundingBox.computeTransformation(this, result);
+};
+
+/**
+ * Determines whether or not a bounding box is hidden from view by the occluder.
+ *
+ * @param {Occluder} occluder The occluder.
+ * @returns {Boolean} <code>true</code> if the sphere is not visible; otherwise <code>false</code>.
+ */
+OrientedBoundingBox.prototype.isOccluded = function (occluder) {
+  return OrientedBoundingBox.isOccluded(this, occluder);
+};
+
+/**
+ * Compares the provided OrientedBoundingBox componentwise and returns
+ * <code>true</code> if they are equal, <code>false</code> otherwise.
+ *
+ * @param {OrientedBoundingBox} left The first OrientedBoundingBox.
+ * @param {OrientedBoundingBox} right The second OrientedBoundingBox.
+ * @returns {Boolean} <code>true</code> if left and right are equal, <code>false</code> otherwise.
+ */
+OrientedBoundingBox.equals = function (left, right) {
+  return (
+    left === right ||
+    (defined(left) &&
+      defined(right) &&
+      Cartesian3.equals(left.center, right.center) &&
+      Matrix3.equals(left.halfAxes, right.halfAxes))
+  );
+};
+
+/**
+ * Duplicates this OrientedBoundingBox instance.
+ *
+ * @param {OrientedBoundingBox} [result] The object onto which to store the result.
+ * @returns {OrientedBoundingBox} The modified result parameter or a new OrientedBoundingBox instance if one was not provided.
+ */
+OrientedBoundingBox.prototype.clone = function (result) {
+  return OrientedBoundingBox.clone(this, result);
+};
+
+/**
+ * Compares this OrientedBoundingBox against the provided OrientedBoundingBox componentwise and returns
+ * <code>true</code> if they are equal, <code>false</code> otherwise.
+ *
+ * @param {OrientedBoundingBox} [right] The right hand side OrientedBoundingBox.
+ * @returns {Boolean} <code>true</code> if they are equal, <code>false</code> otherwise.
+ */
+OrientedBoundingBox.prototype.equals = function (right) {
+  return OrientedBoundingBox.equals(this, right);
+};
+export default OrientedBoundingBox;