@flighthq/geometry 0.1.0

package/dist/aabb.d.ts

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+import type { Aabb, AabbLike, BoundingSphereLike, Matrix4Like, Vector3Like } from '@flighthq/types';
+export declare function cloneAabb(source: Readonly<AabbLike>): Aabb;
+/**
+ * Copies the min and max corners of an axis-aligned bounding box.
+ *
+ * Safe when `out` aliases `source`.
+ */
+export declare function copyAabb(out: AabbLike, source: Readonly<AabbLike>): void;
+/**
+ * Creates an axis-aligned bounding box from explicit min/max corner components. With no
+ * arguments the box is empty (min = +Infinity, max = -Infinity) so the first point expanded
+ * into it sets both corners.
+ */
+export declare function createAabb(minX?: number, minY?: number, minZ?: number, maxX?: number, maxY?: number, maxZ?: number): Aabb;
+/**
+ * Grows an axis-aligned bounding box to include a point, writing the result to `out`. When
+ * `aabb` is empty (min > max) the first point sets both corners exactly.
+ *
+ * Safe when `out` aliases `aabb`.
+ */
+export declare function expandAabbByPoint(out: AabbLike, aabb: Readonly<AabbLike>, point: Readonly<Vector3Like>): void;
+/**
+ * Grows an axis-aligned bounding box to include a bounding sphere. The sphere is expanded to
+ * its AABB first, then unioned with the existing box.
+ *
+ * Safe when `out` aliases `aabb`.
+ */
+export declare function expandAabbBySphere(out: AabbLike, aabb: Readonly<AabbLike>, sphere: Readonly<BoundingSphereLike>): void;
+/**
+ * Writes the center point of an axis-aligned bounding box (the midpoint of its corners).
+ */
+export declare function getAabbCenter(out: Vector3Like, aabb: Readonly<AabbLike>): void;
+/**
+ * Returns whether a point lies inside (or on the boundary of) an axis-aligned bounding box.
+ */
+export declare function getAabbContainsPoint(aabb: Readonly<AabbLike>, point: Readonly<Vector3Like>): boolean;
+/**
+ * Writes the half-extents (half the size along each axis) of an axis-aligned bounding box.
+ */
+export declare function getAabbExtents(out: Vector3Like, aabb: Readonly<AabbLike>): void;
+/**
+ * Writes the full size (extent along each axis) of an axis-aligned bounding box.
+ */
+export declare function getAabbSize(out: Vector3Like, aabb: Readonly<AabbLike>): void;
+/**
+ * Writes the point on (or inside) an axis-aligned bounding box closest to `point` — each
+ * coordinate is clamped to the box's range on that axis. When `point` is already inside the box
+ * the result equals `point`. An empty box (min > max) clamps to the inverted range and yields a
+ * degenerate result; callers should guard empties.
+ *
+ * Safe when `out` aliases `point`.
+ */
+export declare function getClosestPointOnAabb(out: Vector3Like, aabb: Readonly<AabbLike>, point: Readonly<Vector3Like>): void;
+/**
+ * Writes the intersection (overlap region) of two axis-aligned bounding boxes to `out`.
+ * If the boxes do not overlap, `out` is set to an empty box (min > max).
+ *
+ * Reads all inputs into locals before writing, so it is safe when `out` aliases `a` or `b`.
+ */
+export declare function intersectAabb(out: AabbLike, a: Readonly<AabbLike>, b: Readonly<AabbLike>): void;
+/**
+ * Returns whether two axis-aligned bounding boxes overlap (share any interior or surface point).
+ */
+export declare function isAabbIntersectingAabb(a: Readonly<AabbLike>, b: Readonly<AabbLike>): boolean;
+/**
+ * Sets the min and max corners of an axis-aligned bounding box from explicit components.
+ */
+export declare function setAabb(out: AabbLike, minX: number, minY: number, minZ: number, maxX: number, maxY: number, maxZ: number): void;
+/**
+ * Computes the tight axis-aligned bounding box of a set of points. An empty list yields an
+ * empty box (min = +Infinity, max = -Infinity).
+ */
+export declare function setAabbFromPoints(out: AabbLike, points: Readonly<readonly Readonly<Vector3Like>[]>): void;
+/**
+ * Transforms an axis-aligned bounding box by a Matrix4 and writes the tight AABB of the
+ * transformed box. Uses the center/extent absolute-value method so the result stays
+ * axis-aligned in the destination space.
+ *
+ * Reads all of `aabb` into locals before writing, so it is safe when `out` aliases `aabb`.
+ */
+export declare function transformAabbByMatrix4(out: AabbLike, aabb: Readonly<AabbLike>, m: Readonly<Matrix4Like>): void;
+/**
+ * Writes the union of two axis-aligned bounding boxes — the smallest box enclosing both.
+ *
+ * Reads both inputs into locals before writing, so it is safe when `out` aliases `a` or `b`.
+ */
+export declare function unionAabb(out: AabbLike, a: Readonly<AabbLike>, b: Readonly<AabbLike>): void;
+//# sourceMappingURL=aabb.d.ts.map

package/dist/aabb.d.ts.map

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package/dist/aabb.js

@@ -0,0 +1,230 @@
+import { createEntity } from '@flighthq/entity';
+import { createVector3 } from './vector3';
+export function cloneAabb(source) {
+    return createAabb(source.min.x, source.min.y, source.min.z, source.max.x, source.max.y, source.max.z);
+}
+/**
+ * Copies the min and max corners of an axis-aligned bounding box.
+ *
+ * Safe when `out` aliases `source`.
+ */
+export function copyAabb(out, source) {
+    out.min.x = source.min.x;
+    out.min.y = source.min.y;
+    out.min.z = source.min.z;
+    out.max.x = source.max.x;
+    out.max.y = source.max.y;
+    out.max.z = source.max.z;
+}
+/**
+ * Creates an axis-aligned bounding box from explicit min/max corner components. With no
+ * arguments the box is empty (min = +Infinity, max = -Infinity) so the first point expanded
+ * into it sets both corners.
+ */
+export function createAabb(minX, minY, minZ, maxX, maxY, maxZ) {
+    const min = createVector3(minX ?? Number.POSITIVE_INFINITY, minY ?? Number.POSITIVE_INFINITY, minZ ?? Number.POSITIVE_INFINITY);
+    const max = createVector3(maxX ?? Number.NEGATIVE_INFINITY, maxY ?? Number.NEGATIVE_INFINITY, maxZ ?? Number.NEGATIVE_INFINITY);
+    return createEntity({ max: max, min: min });
+}
+/**
+ * Grows an axis-aligned bounding box to include a point, writing the result to `out`. When
+ * `aabb` is empty (min > max) the first point sets both corners exactly.
+ *
+ * Safe when `out` aliases `aabb`.
+ */
+export function expandAabbByPoint(out, aabb, point) {
+    const px = point.x, py = point.y, pz = point.z;
+    out.min.x = Math.min(aabb.min.x, px);
+    out.min.y = Math.min(aabb.min.y, py);
+    out.min.z = Math.min(aabb.min.z, pz);
+    out.max.x = Math.max(aabb.max.x, px);
+    out.max.y = Math.max(aabb.max.y, py);
+    out.max.z = Math.max(aabb.max.z, pz);
+}
+/**
+ * Grows an axis-aligned bounding box to include a bounding sphere. The sphere is expanded to
+ * its AABB first, then unioned with the existing box.
+ *
+ * Safe when `out` aliases `aabb`.
+ */
+export function expandAabbBySphere(out, aabb, sphere) {
+    if (sphere.radius < 0) {
+        // empty sphere — no expansion
+        out.min.x = aabb.min.x;
+        out.min.y = aabb.min.y;
+        out.min.z = aabb.min.z;
+        out.max.x = aabb.max.x;
+        out.max.y = aabb.max.y;
+        out.max.z = aabb.max.z;
+        return;
+    }
+    const cx = sphere.center.x, cy = sphere.center.y, cz = sphere.center.z, r = sphere.radius;
+    out.min.x = Math.min(aabb.min.x, cx - r);
+    out.min.y = Math.min(aabb.min.y, cy - r);
+    out.min.z = Math.min(aabb.min.z, cz - r);
+    out.max.x = Math.max(aabb.max.x, cx + r);
+    out.max.y = Math.max(aabb.max.y, cy + r);
+    out.max.z = Math.max(aabb.max.z, cz + r);
+}
+/**
+ * Writes the center point of an axis-aligned bounding box (the midpoint of its corners).
+ */
+export function getAabbCenter(out, aabb) {
+    out.x = (aabb.min.x + aabb.max.x) * 0.5;
+    out.y = (aabb.min.y + aabb.max.y) * 0.5;
+    out.z = (aabb.min.z + aabb.max.z) * 0.5;
+}
+/**
+ * Returns whether a point lies inside (or on the boundary of) an axis-aligned bounding box.
+ */
+export function getAabbContainsPoint(aabb, point) {
+    return (point.x >= aabb.min.x &&
+        point.x <= aabb.max.x &&
+        point.y >= aabb.min.y &&
+        point.y <= aabb.max.y &&
+        point.z >= aabb.min.z &&
+        point.z <= aabb.max.z);
+}
+/**
+ * Writes the half-extents (half the size along each axis) of an axis-aligned bounding box.
+ */
+export function getAabbExtents(out, aabb) {
+    out.x = (aabb.max.x - aabb.min.x) * 0.5;
+    out.y = (aabb.max.y - aabb.min.y) * 0.5;
+    out.z = (aabb.max.z - aabb.min.z) * 0.5;
+}
+/**
+ * Writes the full size (extent along each axis) of an axis-aligned bounding box.
+ */
+export function getAabbSize(out, aabb) {
+    out.x = aabb.max.x - aabb.min.x;
+    out.y = aabb.max.y - aabb.min.y;
+    out.z = aabb.max.z - aabb.min.z;
+}
+/**
+ * Writes the point on (or inside) an axis-aligned bounding box closest to `point` — each
+ * coordinate is clamped to the box's range on that axis. When `point` is already inside the box
+ * the result equals `point`. An empty box (min > max) clamps to the inverted range and yields a
+ * degenerate result; callers should guard empties.
+ *
+ * Safe when `out` aliases `point`.
+ */
+export function getClosestPointOnAabb(out, aabb, point) {
+    const px = point.x, py = point.y, pz = point.z;
+    out.x = Math.min(Math.max(px, aabb.min.x), aabb.max.x);
+    out.y = Math.min(Math.max(py, aabb.min.y), aabb.max.y);
+    out.z = Math.min(Math.max(pz, aabb.min.z), aabb.max.z);
+}
+/**
+ * Writes the intersection (overlap region) of two axis-aligned bounding boxes to `out`.
+ * If the boxes do not overlap, `out` is set to an empty box (min > max).
+ *
+ * Reads all inputs into locals before writing, so it is safe when `out` aliases `a` or `b`.
+ */
+export function intersectAabb(out, a, b) {
+    const aMinX = a.min.x, aMinY = a.min.y, aMinZ = a.min.z;
+    const aMaxX = a.max.x, aMaxY = a.max.y, aMaxZ = a.max.z;
+    const bMinX = b.min.x, bMinY = b.min.y, bMinZ = b.min.z;
+    const bMaxX = b.max.x, bMaxY = b.max.y, bMaxZ = b.max.z;
+    out.min.x = Math.max(aMinX, bMinX);
+    out.min.y = Math.max(aMinY, bMinY);
+    out.min.z = Math.max(aMinZ, bMinZ);
+    out.max.x = Math.min(aMaxX, bMaxX);
+    out.max.y = Math.min(aMaxY, bMaxY);
+    out.max.z = Math.min(aMaxZ, bMaxZ);
+}
+/**
+ * Returns whether two axis-aligned bounding boxes overlap (share any interior or surface point).
+ */
+export function isAabbIntersectingAabb(a, b) {
+    return (a.min.x <= b.max.x &&
+        a.max.x >= b.min.x &&
+        a.min.y <= b.max.y &&
+        a.max.y >= b.min.y &&
+        a.min.z <= b.max.z &&
+        a.max.z >= b.min.z);
+}
+/**
+ * Sets the min and max corners of an axis-aligned bounding box from explicit components.
+ */
+export function setAabb(out, minX, minY, minZ, maxX, maxY, maxZ) {
+    out.min.x = minX;
+    out.min.y = minY;
+    out.min.z = minZ;
+    out.max.x = maxX;
+    out.max.y = maxY;
+    out.max.z = maxZ;
+}
+/**
+ * Computes the tight axis-aligned bounding box of a set of points. An empty list yields an
+ * empty box (min = +Infinity, max = -Infinity).
+ */
+export function setAabbFromPoints(out, points) {
+    let minX = Number.POSITIVE_INFINITY, minY = Number.POSITIVE_INFINITY, minZ = Number.POSITIVE_INFINITY;
+    let maxX = Number.NEGATIVE_INFINITY, maxY = Number.NEGATIVE_INFINITY, maxZ = Number.NEGATIVE_INFINITY;
+    for (let i = 0; i < points.length; i++) {
+        const p = points[i];
+        if (p.x < minX)
+            minX = p.x;
+        if (p.y < minY)
+            minY = p.y;
+        if (p.z < minZ)
+            minZ = p.z;
+        if (p.x > maxX)
+            maxX = p.x;
+        if (p.y > maxY)
+            maxY = p.y;
+        if (p.z > maxZ)
+            maxZ = p.z;
+    }
+    out.min.x = minX;
+    out.min.y = minY;
+    out.min.z = minZ;
+    out.max.x = maxX;
+    out.max.y = maxY;
+    out.max.z = maxZ;
+}
+/**
+ * Transforms an axis-aligned bounding box by a Matrix4 and writes the tight AABB of the
+ * transformed box. Uses the center/extent absolute-value method so the result stays
+ * axis-aligned in the destination space.
+ *
+ * Reads all of `aabb` into locals before writing, so it is safe when `out` aliases `aabb`.
+ */
+export function transformAabbByMatrix4(out, aabb, m) {
+    const minX = aabb.min.x, minY = aabb.min.y, minZ = aabb.min.z;
+    const maxX = aabb.max.x, maxY = aabb.max.y, maxZ = aabb.max.z;
+    const cx = (minX + maxX) * 0.5, cy = (minY + maxY) * 0.5, cz = (minZ + maxZ) * 0.5;
+    const ex = (maxX - minX) * 0.5, ey = (maxY - minY) * 0.5, ez = (maxZ - minZ) * 0.5;
+    const _m = m.m;
+    // Transformed center (column-major Matrix4, includes translation).
+    const tcx = _m[0] * cx + _m[4] * cy + _m[8] * cz + _m[12];
+    const tcy = _m[1] * cx + _m[5] * cy + _m[9] * cz + _m[13];
+    const tcz = _m[2] * cx + _m[6] * cy + _m[10] * cz + _m[14];
+    // Transformed extent via |M| · extent (absolute values of the linear part).
+    const tex = Math.abs(_m[0]) * ex + Math.abs(_m[4]) * ey + Math.abs(_m[8]) * ez;
+    const tey = Math.abs(_m[1]) * ex + Math.abs(_m[5]) * ey + Math.abs(_m[9]) * ez;
+    const tez = Math.abs(_m[2]) * ex + Math.abs(_m[6]) * ey + Math.abs(_m[10]) * ez;
+    out.min.x = tcx - tex;
+    out.min.y = tcy - tey;
+    out.min.z = tcz - tez;
+    out.max.x = tcx + tex;
+    out.max.y = tcy + tey;
+    out.max.z = tcz + tez;
+}
+/**
+ * Writes the union of two axis-aligned bounding boxes — the smallest box enclosing both.
+ *
+ * Reads both inputs into locals before writing, so it is safe when `out` aliases `a` or `b`.
+ */
+export function unionAabb(out, a, b) {
+    const aMinX = a.min.x, aMinY = a.min.y, aMinZ = a.min.z, aMaxX = a.max.x, aMaxY = a.max.y, aMaxZ = a.max.z;
+    const bMinX = b.min.x, bMinY = b.min.y, bMinZ = b.min.z, bMaxX = b.max.x, bMaxY = b.max.y, bMaxZ = b.max.z;
+    out.min.x = Math.min(aMinX, bMinX);
+    out.min.y = Math.min(aMinY, bMinY);
+    out.min.z = Math.min(aMinZ, bMinZ);
+    out.max.x = Math.max(aMaxX, bMaxX);
+    out.max.y = Math.max(aMaxY, bMaxY);
+    out.max.z = Math.max(aMaxZ, bMaxZ);
+}
+//# sourceMappingURL=aabb.js.map

package/dist/aabb.js.map

@@ -0,0 +1 @@
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package/dist/boundingSphere.d.ts

@@ -0,0 +1,62 @@
+import type { AabbLike, BoundingSphere, BoundingSphereLike, Matrix4Like, Vector3Like } from '@flighthq/types';
+export declare function cloneBoundingSphere(source: Readonly<BoundingSphereLike>): BoundingSphere;
+/**
+ * Copies the center and radius of a bounding sphere.
+ *
+ * Safe when `out` aliases `source`.
+ */
+export declare function copyBoundingSphere(out: BoundingSphereLike, source: Readonly<BoundingSphereLike>): void;
+/**
+ * Creates a bounding sphere from an explicit center and radius. With no arguments the sphere
+ * is empty (center at the origin, radius -1).
+ */
+export declare function createBoundingSphere(centerX?: number, centerY?: number, centerZ?: number, radius?: number): BoundingSphere;
+/**
+ * Returns whether a point lies inside (or on the surface of) a bounding sphere. An empty
+ * sphere (negative radius) contains no points.
+ */
+export declare function getBoundingSphereContainsPoint(sphere: Readonly<BoundingSphereLike>, point: Readonly<Vector3Like>): boolean;
+/**
+ * Writes the point on the surface of a bounding sphere closest to `point`: the point projected
+ * onto the sphere along the ray from the center. When `point` lies at the center (no defined
+ * direction) the sphere center offset by `radius` along +X is written as a stable fallback. An
+ * empty sphere (negative radius) writes the sphere center.
+ *
+ * Reads `point` and the sphere into locals before writing, so it is safe when `out` aliases
+ * `point`.
+ */
+export declare function getClosestPointOnBoundingSphere(out: Vector3Like, sphere: Readonly<BoundingSphereLike>, point: Readonly<Vector3Like>): void;
+/**
+ * Returns whether two bounding spheres overlap (share any interior or surface point).
+ * An empty sphere (negative radius) does not intersect anything.
+ */
+export declare function isBoundingSphereIntersectingBoundingSphere(a: Readonly<BoundingSphereLike>, b: Readonly<BoundingSphereLike>): boolean;
+/**
+ * Writes the smallest sphere that encloses both `a` and `b`. An empty sphere (negative radius)
+ * is treated as having no volume; merging an empty sphere with a non-empty sphere returns the
+ * non-empty sphere.
+ *
+ * Reads all inputs before writing, so it is safe when `out` aliases `a` or `b`.
+ */
+export declare function mergeBoundingSphere(out: BoundingSphereLike, a: Readonly<BoundingSphereLike>, b: Readonly<BoundingSphereLike>): void;
+/**
+ * Sets the center and radius of a bounding sphere.
+ */
+export declare function setBoundingSphere(out: BoundingSphereLike, centerX: number, centerY: number, centerZ: number, radius: number): void;
+/**
+ * Writes the bounding sphere that tightly encloses an axis-aligned bounding box: its center
+ * is the box center and its radius reaches the box corners. An empty box (min > max) yields
+ * an empty sphere (negative radius).
+ *
+ * Reads `aabb` into locals before writing, so it is safe even if `out` shares vector storage.
+ */
+export declare function setBoundingSphereFromAabb(out: BoundingSphereLike, aabb: Readonly<AabbLike>): void;
+/**
+ * Transforms a bounding sphere by a Matrix4: its center is transformed as a point and its
+ * radius is scaled by the largest axis scale of the matrix's linear part, so the result still
+ * encloses the transformed sphere under non-uniform scale.
+ *
+ * Reads `sphere` into locals before writing, so it is safe when `out` aliases `sphere`.
+ */
+export declare function transformBoundingSphereByMatrix4(out: BoundingSphereLike, sphere: Readonly<BoundingSphereLike>, m: Readonly<Matrix4Like>): void;
+//# sourceMappingURL=boundingSphere.d.ts.map

package/dist/boundingSphere.d.ts.map

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package/dist/boundingSphere.js

@@ -0,0 +1,188 @@
+import { createEntity } from '@flighthq/entity';
+import { createVector3 } from './vector3';
+export function cloneBoundingSphere(source) {
+    return createBoundingSphere(source.center.x, source.center.y, source.center.z, source.radius);
+}
+/**
+ * Copies the center and radius of a bounding sphere.
+ *
+ * Safe when `out` aliases `source`.
+ */
+export function copyBoundingSphere(out, source) {
+    out.center.x = source.center.x;
+    out.center.y = source.center.y;
+    out.center.z = source.center.z;
+    out.radius = source.radius;
+}
+/**
+ * Creates a bounding sphere from an explicit center and radius. With no arguments the sphere
+ * is empty (center at the origin, radius -1).
+ */
+export function createBoundingSphere(centerX, centerY, centerZ, radius) {
+    const center = createVector3(centerX ?? 0, centerY ?? 0, centerZ ?? 0);
+    return createEntity({ center: center, radius: radius ?? -1 });
+}
+/**
+ * Returns whether a point lies inside (or on the surface of) a bounding sphere. An empty
+ * sphere (negative radius) contains no points.
+ */
+export function getBoundingSphereContainsPoint(sphere, point) {
+    if (sphere.radius < 0)
+        return false;
+    const dx = point.x - sphere.center.x;
+    const dy = point.y - sphere.center.y;
+    const dz = point.z - sphere.center.z;
+    return dx * dx + dy * dy + dz * dz <= sphere.radius * sphere.radius;
+}
+/**
+ * Writes the point on the surface of a bounding sphere closest to `point`: the point projected
+ * onto the sphere along the ray from the center. When `point` lies at the center (no defined
+ * direction) the sphere center offset by `radius` along +X is written as a stable fallback. An
+ * empty sphere (negative radius) writes the sphere center.
+ *
+ * Reads `point` and the sphere into locals before writing, so it is safe when `out` aliases
+ * `point`.
+ */
+export function getClosestPointOnBoundingSphere(out, sphere, point) {
+    const cx = sphere.center.x, cy = sphere.center.y, cz = sphere.center.z, r = sphere.radius;
+    if (r < 0) {
+        out.x = cx;
+        out.y = cy;
+        out.z = cz;
+        return;
+    }
+    const dx = point.x - cx, dy = point.y - cy, dz = point.z - cz;
+    const dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
+    if (dist === 0) {
+        out.x = cx + r;
+        out.y = cy;
+        out.z = cz;
+        return;
+    }
+    const scale = r / dist;
+    out.x = cx + dx * scale;
+    out.y = cy + dy * scale;
+    out.z = cz + dz * scale;
+}
+/**
+ * Returns whether two bounding spheres overlap (share any interior or surface point).
+ * An empty sphere (negative radius) does not intersect anything.
+ */
+export function isBoundingSphereIntersectingBoundingSphere(a, b) {
+    if (a.radius < 0 || b.radius < 0)
+        return false;
+    const dx = a.center.x - b.center.x;
+    const dy = a.center.y - b.center.y;
+    const dz = a.center.z - b.center.z;
+    const distSq = dx * dx + dy * dy + dz * dz;
+    const sumR = a.radius + b.radius;
+    return distSq <= sumR * sumR;
+}
+/**
+ * Writes the smallest sphere that encloses both `a` and `b`. An empty sphere (negative radius)
+ * is treated as having no volume; merging an empty sphere with a non-empty sphere returns the
+ * non-empty sphere.
+ *
+ * Reads all inputs before writing, so it is safe when `out` aliases `a` or `b`.
+ */
+export function mergeBoundingSphere(out, a, b) {
+    // Handle empty spheres
+    if (a.radius < 0) {
+        out.center.x = b.center.x;
+        out.center.y = b.center.y;
+        out.center.z = b.center.z;
+        out.radius = b.radius;
+        return;
+    }
+    if (b.radius < 0) {
+        out.center.x = a.center.x;
+        out.center.y = a.center.y;
+        out.center.z = a.center.z;
+        out.radius = a.radius;
+        return;
+    }
+    const acx = a.center.x, acy = a.center.y, acz = a.center.z, ar = a.radius;
+    const bcx = b.center.x, bcy = b.center.y, bcz = b.center.z, br = b.radius;
+    const dx = bcx - acx, dy = bcy - acy, dz = bcz - acz;
+    const dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
+    // One sphere completely contains the other
+    if (dist + br <= ar) {
+        out.center.x = acx;
+        out.center.y = acy;
+        out.center.z = acz;
+        out.radius = ar;
+        return;
+    }
+    if (dist + ar <= br) {
+        out.center.x = bcx;
+        out.center.y = bcy;
+        out.center.z = bcz;
+        out.radius = br;
+        return;
+    }
+    // General case: new radius = (dist + ar + br) / 2
+    const newRadius = (dist + ar + br) * 0.5;
+    // New center is along the line from a to b, offset by (newRadius - ar)
+    const t = dist !== 0 ? (newRadius - ar) / dist : 0;
+    out.center.x = acx + dx * t;
+    out.center.y = acy + dy * t;
+    out.center.z = acz + dz * t;
+    out.radius = newRadius;
+}
+/**
+ * Sets the center and radius of a bounding sphere.
+ */
+export function setBoundingSphere(out, centerX, centerY, centerZ, radius) {
+    out.center.x = centerX;
+    out.center.y = centerY;
+    out.center.z = centerZ;
+    out.radius = radius;
+}
+/**
+ * Writes the bounding sphere that tightly encloses an axis-aligned bounding box: its center
+ * is the box center and its radius reaches the box corners. An empty box (min > max) yields
+ * an empty sphere (negative radius).
+ *
+ * Reads `aabb` into locals before writing, so it is safe even if `out` shares vector storage.
+ */
+export function setBoundingSphereFromAabb(out, aabb) {
+    const minX = aabb.min.x, minY = aabb.min.y, minZ = aabb.min.z;
+    const maxX = aabb.max.x, maxY = aabb.max.y, maxZ = aabb.max.z;
+    if (minX > maxX || minY > maxY || minZ > maxZ) {
+        out.center.x = 0;
+        out.center.y = 0;
+        out.center.z = 0;
+        out.radius = -1;
+        return;
+    }
+    const cx = (minX + maxX) * 0.5, cy = (minY + maxY) * 0.5, cz = (minZ + maxZ) * 0.5;
+    const ex = (maxX - minX) * 0.5, ey = (maxY - minY) * 0.5, ez = (maxZ - minZ) * 0.5;
+    out.center.x = cx;
+    out.center.y = cy;
+    out.center.z = cz;
+    out.radius = Math.sqrt(ex * ex + ey * ey + ez * ez);
+}
+/**
+ * Transforms a bounding sphere by a Matrix4: its center is transformed as a point and its
+ * radius is scaled by the largest axis scale of the matrix's linear part, so the result still
+ * encloses the transformed sphere under non-uniform scale.
+ *
+ * Reads `sphere` into locals before writing, so it is safe when `out` aliases `sphere`.
+ */
+export function transformBoundingSphereByMatrix4(out, sphere, m) {
+    const cx = sphere.center.x, cy = sphere.center.y, cz = sphere.center.z;
+    const radius = sphere.radius;
+    const _m = m.m;
+    const tcx = _m[0] * cx + _m[4] * cy + _m[8] * cz + _m[12];
+    const tcy = _m[1] * cx + _m[5] * cy + _m[9] * cz + _m[13];
+    const tcz = _m[2] * cx + _m[6] * cy + _m[10] * cz + _m[14];
+    const sx = Math.sqrt(_m[0] * _m[0] + _m[1] * _m[1] + _m[2] * _m[2]);
+    const sy = Math.sqrt(_m[4] * _m[4] + _m[5] * _m[5] + _m[6] * _m[6]);
+    const sz = Math.sqrt(_m[8] * _m[8] + _m[9] * _m[9] + _m[10] * _m[10]);
+    const maxScale = Math.max(sx, sy, sz);
+    out.center.x = tcx;
+    out.center.y = tcy;
+    out.center.z = tcz;
+    out.radius = radius < 0 ? radius : radius * maxScale;
+}
+//# sourceMappingURL=boundingSphere.js.map

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package/dist/capsule.d.ts

@@ -0,0 +1,38 @@
+import type { BoundingSphereLike, Capsule, CapsuleLike, Ray3DLike, Vector3Like } from '@flighthq/types';
+/**
+ * Creates a capsule from a start point, end point, and radius. A negative radius conventionally
+ * marks an empty capsule.
+ */
+export declare function createCapsule(startX: number, startY: number, startZ: number, endX: number, endY: number, endZ: number, radius: number): Capsule;
+/**
+ * Writes the point on the capsule surface (or axis) closest to `point`. Projects `point` onto
+ * the capsule axis segment, clamps the parameter to [0, 1], then offsets by `radius` toward
+ * `point`. When `point` lies on the axis the stable fallback is the axis point itself offset
+ * along +X.
+ *
+ * Safe when `out` aliases `point` (reads all inputs before writing).
+ */
+export declare function getClosestPointOnCapsule(out: Vector3Like, capsule: Readonly<CapsuleLike>, point: Readonly<Vector3Like>): void;
+/**
+ * Tests whether a ray intersects a capsule. Combines an infinite-cylinder slab test (clamped to
+ * the capsule axis segment) with hemispherical cap tests at start and end.
+ *
+ * Returns the entry parameter `t` (>= 0) on hit, or `-1` on miss. A ray starting inside the
+ * capsule returns `t = 0`.
+ */
+export declare function intersectRay3DCapsule(ray: Readonly<Ray3DLike>, capsule: Readonly<CapsuleLike>): number;
+/**
+ * Returns whether two capsules overlap (their inflated axis-segments share any point).
+ * An empty capsule (negative radius) does not intersect anything.
+ */
+export declare function isCapsuleIntersectingCapsule(a: Readonly<CapsuleLike>, b: Readonly<CapsuleLike>): boolean;
+/**
+ * Returns whether a capsule overlaps a bounding sphere. An empty capsule (negative radius) or
+ * empty sphere (negative radius) does not intersect anything.
+ */
+export declare function isCapsuleIntersectingSphere(capsule: Readonly<CapsuleLike>, sphere: Readonly<BoundingSphereLike>): boolean;
+/**
+ * Sets all fields of a capsule in place.
+ */
+export declare function setCapsule(out: CapsuleLike, startX: number, startY: number, startZ: number, endX: number, endY: number, endZ: number, radius: number): void;
+//# sourceMappingURL=capsule.d.ts.map