@flighthq/geometry 0.1.0

package/dist/capsule.d.ts.map

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package/dist/capsule.js

@@ -0,0 +1,215 @@
+import { createEntity } from '@flighthq/entity';
+/**
+ * Creates a capsule from a start point, end point, and radius. A negative radius conventionally
+ * marks an empty capsule.
+ */
+export function createCapsule(startX, startY, startZ, endX, endY, endZ, radius) {
+    return createEntity({ endX, endY, endZ, radius, startX, startY, startZ });
+}
+/**
+ * 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 function getClosestPointOnCapsule(out, capsule, point) {
+    const ax = capsule.startX, ay = capsule.startY, az = capsule.startZ;
+    const bx = capsule.endX, by = capsule.endY, bz = capsule.endZ;
+    const px = point.x, py = point.y, pz = point.z;
+    const r = capsule.radius;
+    const abx = bx - ax, aby = by - ay, abz = bz - az;
+    const abLen2 = abx * abx + aby * aby + abz * abz;
+    let closestX, closestY, closestZ;
+    if (abLen2 < 1e-20) {
+        closestX = ax;
+        closestY = ay;
+        closestZ = az;
+    }
+    else {
+        const t = Math.min(Math.max(((px - ax) * abx + (py - ay) * aby + (pz - az) * abz) / abLen2, 0), 1);
+        closestX = ax + t * abx;
+        closestY = ay + t * aby;
+        closestZ = az + t * abz;
+    }
+    const dx = px - closestX, dy = py - closestY, dz = pz - closestZ;
+    const dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
+    if (dist < 1e-10) {
+        out.x = closestX + r;
+        out.y = closestY;
+        out.z = closestZ;
+    }
+    else {
+        const inv = r / dist;
+        out.x = closestX + dx * inv;
+        out.y = closestY + dy * inv;
+        out.z = closestZ + dz * inv;
+    }
+}
+/**
+ * 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 function intersectRay3DCapsule(ray, capsule) {
+    const ox = ray.origin.x, oy = ray.origin.y, oz = ray.origin.z;
+    const dx = ray.direction.x, dy = ray.direction.y, dz = ray.direction.z;
+    const ax = capsule.startX, ay = capsule.startY, az = capsule.startZ;
+    const bx = capsule.endX, by = capsule.endY, bz = capsule.endZ;
+    const r = capsule.radius;
+    const abx = bx - ax, aby = by - ay, abz = bz - az;
+    const abLen2 = abx * abx + aby * aby + abz * abz;
+    // Ray-sphere helper (no allocation): returns t on hit or -1 on miss.
+    const sphereHit = (cx, cy, cz) => {
+        const mx = ox - cx, my = oy - cy, mz = oz - cz;
+        const lenD2 = dx * dx + dy * dy + dz * dz;
+        if (lenD2 === 0)
+            return -1;
+        const b = mx * dx + my * dy + mz * dz;
+        const c = mx * mx + my * my + mz * mz - r * r;
+        const disc = b * b - lenD2 * c;
+        if (disc < 0)
+            return -1;
+        const sqrtD = Math.sqrt(disc);
+        const t1 = (-b - sqrtD) / lenD2;
+        if (t1 >= 0)
+            return t1;
+        const t2 = (-b + sqrtD) / lenD2;
+        return t2 >= 0 ? 0 : -1;
+    };
+    if (abLen2 < 1e-20)
+        return sphereHit(ax, ay, az);
+    let tBest = -1;
+    const invAb2 = 1 / abLen2;
+    const aox = ox - ax, aoy = oy - ay, aoz = oz - az;
+    const dab = dx * abx + dy * aby + dz * abz;
+    const aoab = aox * abx + aoy * aby + aoz * abz;
+    // Perpendicular components of direction and AO relative to the capsule axis.
+    const dpx = dx - dab * invAb2 * abx, dpy = dy - dab * invAb2 * aby, dpz = dz - dab * invAb2 * abz;
+    const apx = aox - aoab * invAb2 * abx, apy = aoy - aoab * invAb2 * aby, apz = aoz - aoab * invAb2 * abz;
+    const qa = dpx * dpx + dpy * dpy + dpz * dpz;
+    const qb = apx * dpx + apy * dpy + apz * dpz;
+    const qc = apx * apx + apy * apy + apz * apz - r * r;
+    if (qa > 1e-20) {
+        const disc = qb * qb - qa * qc;
+        if (disc >= 0) {
+            const sqrtD = Math.sqrt(disc);
+            const t1 = (-qb - sqrtD) / qa;
+            const s1 = (aoab + t1 * dab) * invAb2;
+            if (t1 >= 0 && s1 >= 0 && s1 <= 1) {
+                tBest = t1;
+            }
+            else if (t1 < 0) {
+                const t2 = (-qb + sqrtD) / qa;
+                if (t2 >= 0) {
+                    const s0 = aoab * invAb2;
+                    if (s0 >= 0 && s0 <= 1)
+                        return 0; // ray origin inside cylinder body
+                }
+            }
+        }
+    }
+    const tA = sphereHit(ax, ay, az);
+    if (tA >= 0 && (tBest < 0 || tA < tBest))
+        tBest = tA;
+    const tB = sphereHit(bx, by, bz);
+    if (tB >= 0 && (tBest < 0 || tB < tBest))
+        tBest = tB;
+    return tBest;
+}
+/**
+ * Returns whether two capsules overlap (their inflated axis-segments share any point).
+ * An empty capsule (negative radius) does not intersect anything.
+ */
+export function isCapsuleIntersectingCapsule(a, b) {
+    if (a.radius < 0 || b.radius < 0)
+        return false;
+    const dist = segmentToSegmentDistanceSq(a.startX, a.startY, a.startZ, a.endX, a.endY, a.endZ, b.startX, b.startY, b.startZ, b.endX, b.endY, b.endZ);
+    const sumR = a.radius + b.radius;
+    return dist <= sumR * sumR;
+}
+/**
+ * Returns whether a capsule overlaps a bounding sphere. An empty capsule (negative radius) or
+ * empty sphere (negative radius) does not intersect anything.
+ */
+export function isCapsuleIntersectingSphere(capsule, sphere) {
+    if (capsule.radius < 0 || sphere.radius < 0)
+        return false;
+    const dist2 = pointToSegmentDistanceSq(sphere.center.x, sphere.center.y, sphere.center.z, capsule.startX, capsule.startY, capsule.startZ, capsule.endX, capsule.endY, capsule.endZ);
+    const sumR = capsule.radius + sphere.radius;
+    return dist2 <= sumR * sumR;
+}
+/**
+ * Sets all fields of a capsule in place.
+ */
+export function setCapsule(out, startX, startY, startZ, endX, endY, endZ, radius) {
+    out.startX = startX;
+    out.startY = startY;
+    out.startZ = startZ;
+    out.endX = endX;
+    out.endY = endY;
+    out.endZ = endZ;
+    out.radius = radius;
+}
+// Squared distance from a point P to the line segment AB.
+function pointToSegmentDistanceSq(px, py, pz, ax, ay, az, bx, by, bz) {
+    const abx = bx - ax, aby = by - ay, abz = bz - az;
+    const apx = px - ax, apy = py - ay, apz = pz - az;
+    const len2 = abx * abx + aby * aby + abz * abz;
+    let t = len2 > 0 ? (apx * abx + apy * aby + apz * abz) / len2 : 0;
+    t = Math.min(Math.max(t, 0), 1);
+    const cx = ax + t * abx - px, cy = ay + t * aby - py, cz = az + t * abz - pz;
+    return cx * cx + cy * cy + cz * cz;
+}
+// Squared distance between two line segments AB and CD (Ericson, Real-Time Collision Detection).
+function segmentToSegmentDistanceSq(ax, ay, az, bx, by, bz, cx, cy, cz, dx, dy, dz) {
+    const d1x = bx - ax, d1y = by - ay, d1z = bz - az;
+    const d2x = dx - cx, d2y = dy - cy, d2z = dz - cz;
+    const rx = ax - cx, ry = ay - cy, rz = az - cz;
+    const a = d1x * d1x + d1y * d1y + d1z * d1z;
+    const e = d2x * d2x + d2y * d2y + d2z * d2z;
+    const f = d2x * rx + d2y * ry + d2z * rz;
+    let s, t;
+    if (a < 1e-20 && e < 1e-20) {
+        s = 0;
+        t = 0;
+    }
+    else if (a < 1e-20) {
+        s = 0;
+        t = Math.min(Math.max(f / e, 0), 1);
+    }
+    else {
+        const c = d1x * rx + d1y * ry + d1z * rz;
+        if (e < 1e-20) {
+            t = 0;
+            s = Math.min(Math.max(-c / a, 0), 1);
+        }
+        else {
+            const b = d1x * d2x + d1y * d2y + d1z * d2z;
+            const denom = a * e - b * b;
+            if (denom > 1e-20) {
+                s = Math.min(Math.max((b * f - c * e) / denom, 0), 1);
+            }
+            else {
+                s = 0;
+            }
+            t = (b * s + f) / e;
+            if (t < 0) {
+                t = 0;
+                s = Math.min(Math.max(-c / a, 0), 1);
+            }
+            else if (t > 1) {
+                t = 1;
+                s = Math.min(Math.max((b - c) / a, 0), 1);
+            }
+        }
+    }
+    const qx = ax + s * d1x - (cx + t * d2x);
+    const qy = ay + s * d1y - (cy + t * d2y);
+    const qz = az + s * d1z - (cz + t * d2z);
+    return qx * qx + qy * qy + qz * qz;
+}
+//# sourceMappingURL=capsule.js.map

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package/dist/frustum.d.ts

@@ -0,0 +1,49 @@
+import type { AabbLike, BoundingSphereLike, Frustum, FrustumLike, Matrix4Like, Vector3Like } from '@flighthq/types';
+/**
+ * Creates a view frustum as six bounding planes, each with an inward-pointing normal. The
+ * planes start at zero (a degenerate frustum) and are populated by setFrustumFromMatrix4.
+ */
+export declare function createFrustum(): Frustum;
+/**
+ * Computes the 8 world-space corner points of the frustum from the inverse view-projection
+ * matrix. The NDC corners (all ±1 combinations in clip space) are unprojected via
+ * `inverseViewProjection`.
+ *
+ * Writes exactly 8 Vector3-like objects to `out` in the order:
+ *   0: near-left-bottom  1: near-right-bottom  2: near-right-top  3: near-left-top
+ *   4: far-left-bottom   5: far-right-bottom   6: far-right-top   7: far-left-top
+ *
+ * The caller is responsible for passing the correct inverse matrix (e.g. the inverse of the
+ * same view-projection used with `setFrustumFromMatrix4`). If `out` has fewer than 8 elements
+ * this function writes only as many as are available.
+ */
+export declare function getFrustumCorners(out: readonly Vector3Like[], inverseViewProjection: Readonly<Matrix4Like>): void;
+/**
+ * Returns whether a point lies inside the frustum. A point is inside when its signed
+ * distance to every plane is non-negative (each normal points inward).
+ */
+export declare function isFrustumContainingPoint(frustum: Readonly<FrustumLike>, point: Readonly<Vector3Like>): boolean;
+/**
+ * Returns whether an axis-aligned bounding box intersects (or is contained by) the frustum.
+ * Uses the conservative positive-vertex test: the box is rejected only when it lies entirely
+ * on the outside (negative) side of any single plane. This may report a false positive for
+ * boxes straddling a frustum corner but never a false negative.
+ */
+export declare function isFrustumIntersectingAabb(frustum: Readonly<FrustumLike>, aabb: Readonly<AabbLike>): boolean;
+/**
+ * Returns whether a bounding sphere intersects (or is contained by) the frustum. A sphere is
+ * rejected only when its signed distance to some plane is less than -radius (entirely on the
+ * outside of that plane). An empty sphere (negative radius) always returns false.
+ *
+ * This may report false positives for spheres near frustum edges but never false negatives.
+ */
+export declare function isFrustumIntersectingSphere(frustum: Readonly<FrustumLike>, sphere: Readonly<BoundingSphereLike>): boolean;
+/**
+ * Extracts the six frustum planes from a view-projection Matrix4 (Gribb–Hartmann), each
+ * normalized and oriented with an inward-pointing normal. Pass a `view × projection` (or
+ * `projection × view`, depending on multiply order) matrix to cull in that space.
+ *
+ * `out` may be a fresh frustum; the matrix is read-only.
+ */
+export declare function setFrustumFromMatrix4(out: FrustumLike, viewProjection: Readonly<Matrix4Like>): void;
+//# sourceMappingURL=frustum.d.ts.map

package/dist/frustum.d.ts.map

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package/dist/frustum.js

@@ -0,0 +1,149 @@
+import { createEntity } from '@flighthq/entity';
+import { createPlane } from './plane';
+/**
+ * Creates a view frustum as six bounding planes, each with an inward-pointing normal. The
+ * planes start at zero (a degenerate frustum) and are populated by setFrustumFromMatrix4.
+ */
+export function createFrustum() {
+    return createEntity({
+        bottom: createPlane(),
+        far: createPlane(),
+        left: createPlane(),
+        near: createPlane(),
+        right: createPlane(),
+        top: createPlane(),
+    });
+}
+/**
+ * Computes the 8 world-space corner points of the frustum from the inverse view-projection
+ * matrix. The NDC corners (all ±1 combinations in clip space) are unprojected via
+ * `inverseViewProjection`.
+ *
+ * Writes exactly 8 Vector3-like objects to `out` in the order:
+ *   0: near-left-bottom  1: near-right-bottom  2: near-right-top  3: near-left-top
+ *   4: far-left-bottom   5: far-right-bottom   6: far-right-top   7: far-left-top
+ *
+ * The caller is responsible for passing the correct inverse matrix (e.g. the inverse of the
+ * same view-projection used with `setFrustumFromMatrix4`). If `out` has fewer than 8 elements
+ * this function writes only as many as are available.
+ */
+export function getFrustumCorners(out, inverseViewProjection) {
+    const m = inverseViewProjection.m;
+    const ndcCorners = [
+        [-1, -1, -1],
+        [1, -1, -1],
+        [1, 1, -1],
+        [-1, 1, -1],
+        [-1, -1, 1],
+        [1, -1, 1],
+        [1, 1, 1],
+        [-1, 1, 1],
+    ];
+    const len = Math.min(out.length, ndcCorners.length);
+    for (let i = 0; i < len; i++) {
+        const [nx, ny, nz] = ndcCorners[i];
+        // Homogeneous multiply: p = M * [nx, ny, nz, 1]^T
+        const x = m[0] * nx + m[4] * ny + m[8] * nz + m[12];
+        const y = m[1] * nx + m[5] * ny + m[9] * nz + m[13];
+        const z = m[2] * nx + m[6] * ny + m[10] * nz + m[14];
+        const w = m[3] * nx + m[7] * ny + m[11] * nz + m[15];
+        const invW = w !== 0 ? 1 / w : 1;
+        const corner = out[i];
+        corner.x = x * invW;
+        corner.y = y * invW;
+        corner.z = z * invW;
+    }
+}
+/**
+ * Returns whether a point lies inside the frustum. A point is inside when its signed
+ * distance to every plane is non-negative (each normal points inward).
+ */
+export function isFrustumContainingPoint(frustum, point) {
+    return (__planeSignedDistance(frustum.left, point) >= 0 &&
+        __planeSignedDistance(frustum.right, point) >= 0 &&
+        __planeSignedDistance(frustum.bottom, point) >= 0 &&
+        __planeSignedDistance(frustum.top, point) >= 0 &&
+        __planeSignedDistance(frustum.near, point) >= 0 &&
+        __planeSignedDistance(frustum.far, point) >= 0);
+}
+/**
+ * Returns whether an axis-aligned bounding box intersects (or is contained by) the frustum.
+ * Uses the conservative positive-vertex test: the box is rejected only when it lies entirely
+ * on the outside (negative) side of any single plane. This may report a false positive for
+ * boxes straddling a frustum corner but never a false negative.
+ */
+export function isFrustumIntersectingAabb(frustum, aabb) {
+    return (__planeIntersectsAabb(frustum.left, aabb) &&
+        __planeIntersectsAabb(frustum.right, aabb) &&
+        __planeIntersectsAabb(frustum.bottom, aabb) &&
+        __planeIntersectsAabb(frustum.top, aabb) &&
+        __planeIntersectsAabb(frustum.near, aabb) &&
+        __planeIntersectsAabb(frustum.far, aabb));
+}
+/**
+ * Returns whether a bounding sphere intersects (or is contained by) the frustum. A sphere is
+ * rejected only when its signed distance to some plane is less than -radius (entirely on the
+ * outside of that plane). An empty sphere (negative radius) always returns false.
+ *
+ * This may report false positives for spheres near frustum edges but never false negatives.
+ */
+export function isFrustumIntersectingSphere(frustum, sphere) {
+    if (sphere.radius < 0)
+        return false;
+    const r = sphere.radius;
+    return (__planeSignedDistance(frustum.left, sphere.center) >= -r &&
+        __planeSignedDistance(frustum.right, sphere.center) >= -r &&
+        __planeSignedDistance(frustum.bottom, sphere.center) >= -r &&
+        __planeSignedDistance(frustum.top, sphere.center) >= -r &&
+        __planeSignedDistance(frustum.near, sphere.center) >= -r &&
+        __planeSignedDistance(frustum.far, sphere.center) >= -r);
+}
+/**
+ * Extracts the six frustum planes from a view-projection Matrix4 (Gribb–Hartmann), each
+ * normalized and oriented with an inward-pointing normal. Pass a `view × projection` (or
+ * `projection × view`, depending on multiply order) matrix to cull in that space.
+ *
+ * `out` may be a fresh frustum; the matrix is read-only.
+ */
+export function setFrustumFromMatrix4(out, viewProjection) {
+    const m = viewProjection.m;
+    // Column-major: row r is (m[r], m[4+r], m[8+r], m[12+r]).
+    const r00 = m[0], r01 = m[4], r02 = m[8], r03 = m[12];
+    const r10 = m[1], r11 = m[5], r12 = m[9], r13 = m[13];
+    const r20 = m[2], r21 = m[6], r22 = m[10], r23 = m[14];
+    const r30 = m[3], r31 = m[7], r32 = m[11], r33 = m[15];
+    __setPlane(out.left, r30 + r00, r31 + r01, r32 + r02, r33 + r03);
+    __setPlane(out.right, r30 - r00, r31 - r01, r32 - r02, r33 - r03);
+    __setPlane(out.bottom, r30 + r10, r31 + r11, r32 + r12, r33 + r13);
+    __setPlane(out.top, r30 - r10, r31 - r11, r32 - r12, r33 - r13);
+    __setPlane(out.near, r30 + r20, r31 + r21, r32 + r22, r33 + r23);
+    __setPlane(out.far, r30 - r20, r31 - r21, r32 - r22, r33 - r23);
+}
+// The box intersects (is not fully outside) this plane if its positive vertex — the corner
+// farthest along the plane normal — is on the inside (non-negative) side.
+function __planeIntersectsAabb(plane, aabb) {
+    const px = plane.a >= 0 ? aabb.max.x : aabb.min.x;
+    const py = plane.b >= 0 ? aabb.max.y : aabb.min.y;
+    const pz = plane.c >= 0 ? aabb.max.z : aabb.min.z;
+    return plane.a * px + plane.b * py + plane.c * pz + plane.d >= 0;
+}
+function __planeSignedDistance(plane, point) {
+    return plane.a * point.x + plane.b * point.y + plane.c * point.z + plane.d;
+}
+function __setPlane(out, a, b, c, d) {
+    const l = Math.sqrt(a * a + b * b + c * c);
+    if (l !== 0) {
+        const inv = 1 / l;
+        out.a = a * inv;
+        out.b = b * inv;
+        out.c = c * inv;
+        out.d = d * inv;
+    }
+    else {
+        out.a = a;
+        out.b = b;
+        out.c = c;
+        out.d = d;
+    }
+}
+//# sourceMappingURL=frustum.js.map

package/dist/frustum.js.map

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package/dist/index.d.ts

@@ -0,0 +1,25 @@
+export * from './aabb';
+export * from './boundingSphere';
+export * from './capsule';
+export * from './frustum';
+export * from './matrix';
+export * from './matrix3';
+export * from './matrix3Pool';
+export * from './matrix4';
+export * from './matrix4Pool';
+export * from './matrixPool';
+export * from './obb';
+export * from './plane';
+export * from './quaternion';
+export * from './quaternionPool';
+export * from './ray3d';
+export * from './rectangle';
+export * from './rectanglePool';
+export * from './typedarray';
+export * from './vector2';
+export * from './vector2Pool';
+export * from './vector3';
+export * from './vector3Pool';
+export * from './vector4';
+export * from './vector4Pool';
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -0,0 +1 @@
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package/dist/index.js

@@ -0,0 +1,25 @@
+export * from './aabb';
+export * from './boundingSphere';
+export * from './capsule';
+export * from './frustum';
+export * from './matrix';
+export * from './matrix3';
+export * from './matrix3Pool';
+export * from './matrix4';
+export * from './matrix4Pool';
+export * from './matrixPool';
+export * from './obb';
+export * from './plane';
+export * from './quaternion';
+export * from './quaternionPool';
+export * from './ray3d';
+export * from './rectangle';
+export * from './rectanglePool';
+export * from './typedarray';
+export * from './vector2';
+export * from './vector2Pool';
+export * from './vector3';
+export * from './vector3Pool';
+export * from './vector4';
+export * from './vector4Pool';
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

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