@flighthq/geometry 0.3.1-next.704.69286f6 → 0.3.1-next.733.f1845ac
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/aabb.d.ts +1 -0
- package/dist/aabb.d.ts.map +1 -1
- package/dist/aabb.js +9 -0
- package/dist/aabb.js.map +1 -1
- package/dist/capsule.d.ts +2 -1
- package/dist/capsule.d.ts.map +1 -1
- package/dist/capsule.js +11 -8
- package/dist/capsule.js.map +1 -1
- package/dist/frustum.d.ts +2 -1
- package/dist/frustum.d.ts.map +1 -1
- package/dist/frustum.js +4 -1
- package/dist/frustum.js.map +1 -1
- package/dist/matrix3.d.ts +2 -2
- package/dist/matrix3.js +2 -2
- package/dist/matrix4.js +2 -2
- package/dist/matrix4.js.map +1 -1
- package/dist/obb.d.ts +4 -2
- package/dist/obb.d.ts.map +1 -1
- package/dist/obb.js +7 -3
- package/dist/obb.js.map +1 -1
- package/dist/ray3d.d.ts +3 -2
- package/dist/ray3d.d.ts.map +1 -1
- package/dist/ray3d.js +19 -6
- package/dist/ray3d.js.map +1 -1
- package/dist/vector3.d.ts +2 -2
- package/dist/vector3.js +2 -2
- package/dist/vector4.d.ts +2 -2
- package/dist/vector4.js +2 -2
- package/package.json +3 -3
- package/src/aabb.test.ts +10 -0
- package/src/capsule.test.ts +5 -0
- package/src/frustum.test.ts +10 -0
- package/src/matrix4.test.ts +42 -0
- package/src/obb.test.ts +9 -0
- package/src/ray3d.test.ts +59 -0
package/dist/aabb.d.ts
CHANGED
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@@ -60,6 +60,7 @@ export declare function getClosestPointOnAabb(out: Vector3Like, aabb: Readonly<A
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export declare function intersectAabb(out: AabbLike, a: Readonly<AabbLike>, b: Readonly<AabbLike>): void;
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/**
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* Returns whether two axis-aligned bounding boxes overlap (share any interior or surface point).
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+
* An empty box (min > max on any axis) does not intersect anything.
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*/
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export declare function isAabbIntersectingAabb(a: Readonly<AabbLike>, b: Readonly<AabbLike>): boolean;
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/**
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package/dist/aabb.d.ts.map
CHANGED
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@@ -1 +1 @@
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1
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-
{"version":3,"file":"aabb.d.ts","sourceRoot":"","sources":["../src/aabb.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,IAAI,EAAE,QAAQ,EAAE,kBAAkB,EAAE,WAAW,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAI7G,wBAAgB,SAAS,CAAC,MAAM,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,IAAI,CAE1D;AAED;;GAEG;AACH,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,OAAO,CASjG;AAED;;;;GAIG;AACH,wBAAgB,QAAQ,CAAC,GAAG,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,IAAI,CAaxE;AAED;;;;GAIG;AACH,wBAAgB,UAAU,CACxB,IAAI,CAAC,EAAE,MAAM,EACb,IAAI,CAAC,EAAE,MAAM,EACb,IAAI,CAAC,EAAE,MAAM,EACb,IAAI,CAAC,EAAE,MAAM,EACb,IAAI,CAAC,EAAE,MAAM,EACb,IAAI,CAAC,EAAE,MAAM,GACZ,IAAI,CAYN;AAED;;;;;GAKG;AACH,wBAAgB,iBAAiB,CAAC,GAAG,EAAE,QAAQ,EAAE,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CAgB7G;AAED;;;;;GAKG;AACH,wBAAgB,kBAAkB,CAChC,GAAG,EAAE,QAAQ,EACb,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,EACxB,MAAM,EAAE,QAAQ,CAAC,kBAAkB,CAAC,GACnC,IAAI,CA2BN;AAED;;GAEG;AACH,wBAAgB,aAAa,CAAC,GAAG,EAAE,WAAW,EAAE,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,IAAI,CAO9E;AAED;;GAEG;AACH,wBAAgB,cAAc,CAAC,GAAG,EAAE,WAAW,EAAE,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,IAAI,CAO/E;AAED;;GAEG;AACH,wBAAgB,WAAW,CAAC,GAAG,EAAE,WAAW,EAAE,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,IAAI,CAO5E;AAED;;;;;;;GAOG;AACH,wBAAgB,qBAAqB,CAAC,GAAG,EAAE,WAAW,EAAE,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CAapH;AAED;;;;;GAKG;AACH,wBAAgB,aAAa,CAAC,GAAG,EAAE,QAAQ,EAAE,CAAC,EAAE,QAAQ,CAAC,QAAQ,CAAC,EAAE,CAAC,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,IAAI,CAmB/F;AAED
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{"version":3,"file":"aabb.d.ts","sourceRoot":"","sources":["../src/aabb.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,IAAI,EAAE,QAAQ,EAAE,kBAAkB,EAAE,WAAW,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAI7G,wBAAgB,SAAS,CAAC,MAAM,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,IAAI,CAE1D;AAED;;GAEG;AACH,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,OAAO,CASjG;AAED;;;;GAIG;AACH,wBAAgB,QAAQ,CAAC,GAAG,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,IAAI,CAaxE;AAED;;;;GAIG;AACH,wBAAgB,UAAU,CACxB,IAAI,CAAC,EAAE,MAAM,EACb,IAAI,CAAC,EAAE,MAAM,EACb,IAAI,CAAC,EAAE,MAAM,EACb,IAAI,CAAC,EAAE,MAAM,EACb,IAAI,CAAC,EAAE,MAAM,EACb,IAAI,CAAC,EAAE,MAAM,GACZ,IAAI,CAYN;AAED;;;;;GAKG;AACH,wBAAgB,iBAAiB,CAAC,GAAG,EAAE,QAAQ,EAAE,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CAgB7G;AAED;;;;;GAKG;AACH,wBAAgB,kBAAkB,CAChC,GAAG,EAAE,QAAQ,EACb,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,EACxB,MAAM,EAAE,QAAQ,CAAC,kBAAkB,CAAC,GACnC,IAAI,CA2BN;AAED;;GAEG;AACH,wBAAgB,aAAa,CAAC,GAAG,EAAE,WAAW,EAAE,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,IAAI,CAO9E;AAED;;GAEG;AACH,wBAAgB,cAAc,CAAC,GAAG,EAAE,WAAW,EAAE,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,IAAI,CAO/E;AAED;;GAEG;AACH,wBAAgB,WAAW,CAAC,GAAG,EAAE,WAAW,EAAE,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,IAAI,CAO5E;AAED;;;;;;;GAOG;AACH,wBAAgB,qBAAqB,CAAC,GAAG,EAAE,WAAW,EAAE,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CAapH;AAED;;;;;GAKG;AACH,wBAAgB,aAAa,CAAC,GAAG,EAAE,QAAQ,EAAE,CAAC,EAAE,QAAQ,CAAC,QAAQ,CAAC,EAAE,CAAC,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,IAAI,CAmB/F;AAED;;;GAGG;AACH,wBAAgB,sBAAsB,CAAC,CAAC,EAAE,QAAQ,CAAC,QAAQ,CAAC,EAAE,CAAC,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,OAAO,CAmB5F;AAED;;GAEG;AACH,wBAAgB,OAAO,CACrB,GAAG,EAAE,QAAQ,EACb,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,GACX,IAAI,CAON;AAED;;;GAGG;AACH,wBAAgB,iBAAiB,CAAC,GAAG,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,CAAC,SAAS,QAAQ,CAAC,WAAW,CAAC,EAAE,CAAC,GAAG,IAAI,CAwBzG;AAED;;;;;;GAMG;AACH,wBAAgB,sBAAsB,CAAC,GAAG,EAAE,QAAQ,EAAE,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,EAAE,CAAC,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CAgC9G;AAED;;;;GAIG;AACH,wBAAgB,SAAS,CAAC,GAAG,EAAE,QAAQ,EAAE,CAAC,EAAE,QAAQ,CAAC,QAAQ,CAAC,EAAE,CAAC,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,IAAI,CAoB3F"}
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package/dist/aabb.js
CHANGED
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@@ -146,8 +146,17 @@ export function intersectAabb(out, a, b) {
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}
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/**
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* Returns whether two axis-aligned bounding boxes overlap (share any interior or surface point).
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* An empty box (min > max on any axis) does not intersect anything.
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*/
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export function isAabbIntersectingAabb(a, b) {
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if (a.min.x > a.max.x ||
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a.min.z > a.max.z ||
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a.min.y > a.max.y ||
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b.min.x > b.max.x ||
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b.min.y > b.max.y ||
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b.min.z > b.max.z) {
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return false;
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}
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return (a.min.x <= b.max.x &&
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a.max.x >= b.min.x &&
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a.min.y <= b.max.y &&
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package/dist/aabb.js.map
CHANGED
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@@ -1 +1 @@
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|
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1
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|
package/dist/capsule.d.ts
CHANGED
|
@@ -18,7 +18,8 @@ export declare function getClosestPointOnCapsule(out: Vector3Like, capsule: Read
|
|
|
18
18
|
* the capsule axis segment) with hemispherical cap tests at start and end.
|
|
19
19
|
*
|
|
20
20
|
* Returns the entry parameter `t` (>= 0) on hit, or `-1` on miss. A ray starting inside the
|
|
21
|
-
* capsule returns `t = 0`.
|
|
21
|
+
* capsule returns `t = 0`. Direction need not be normalized. An empty capsule (negative radius)
|
|
22
|
+
* always returns `-1`.
|
|
22
23
|
*/
|
|
23
24
|
export declare function intersectRay3DCapsule(ray: Readonly<Ray3DLike>, capsule: Readonly<CapsuleLike>): number;
|
|
24
25
|
/**
|
package/dist/capsule.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"capsule.d.ts","sourceRoot":"","sources":["../src/capsule.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,kBAAkB,EAAE,OAAO,EAAE,WAAW,EAAE,SAAS,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAEjH;;;GAGG;AACH,wBAAgB,aAAa,CAC3B,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,MAAM,EACd,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,MAAM,EAAE,MAAM,GACb,OAAO,CAET;AAED;;;;;;;GAOG;AACH,wBAAgB,wBAAwB,CACtC,GAAG,EAAE,WAAW,EAChB,OAAO,EAAE,QAAQ,CAAC,WAAW,CAAC,EAC9B,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,GAC3B,IAAI,CAgDN;AAED
|
|
1
|
+
{"version":3,"file":"capsule.d.ts","sourceRoot":"","sources":["../src/capsule.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,kBAAkB,EAAE,OAAO,EAAE,WAAW,EAAE,SAAS,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAEjH;;;GAGG;AACH,wBAAgB,aAAa,CAC3B,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,MAAM,EACd,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,MAAM,EAAE,MAAM,GACb,OAAO,CAET;AAED;;;;;;;GAOG;AACH,wBAAgB,wBAAwB,CACtC,GAAG,EAAE,WAAW,EAChB,OAAO,EAAE,QAAQ,CAAC,WAAW,CAAC,EAC9B,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,GAC3B,IAAI,CAgDN;AAED;;;;;;;GAOG;AACH,wBAAgB,qBAAqB,CAAC,GAAG,EAAE,QAAQ,CAAC,SAAS,CAAC,EAAE,OAAO,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,MAAM,CAuFtG;AAED;;;GAGG;AACH,wBAAgB,4BAA4B,CAAC,CAAC,EAAE,QAAQ,CAAC,WAAW,CAAC,EAAE,CAAC,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,OAAO,CAkBxG;AAED;;;GAGG;AACH,wBAAgB,2BAA2B,CACzC,OAAO,EAAE,QAAQ,CAAC,WAAW,CAAC,EAC9B,MAAM,EAAE,QAAQ,CAAC,kBAAkB,CAAC,GACnC,OAAO,CAeT;AAED;;GAEG;AACH,wBAAgB,UAAU,CACxB,GAAG,EAAE,WAAW,EAChB,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,MAAM,EACd,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,IAAI,EAAE,MAAM,EACZ,MAAM,EAAE,MAAM,GACb,IAAI,CAQN"}
|
package/dist/capsule.js
CHANGED
|
@@ -56,7 +56,8 @@ export function getClosestPointOnCapsule(out, capsule, point) {
|
|
|
56
56
|
* the capsule axis segment) with hemispherical cap tests at start and end.
|
|
57
57
|
*
|
|
58
58
|
* Returns the entry parameter `t` (>= 0) on hit, or `-1` on miss. A ray starting inside the
|
|
59
|
-
* capsule returns `t = 0`.
|
|
59
|
+
* capsule returns `t = 0`. Direction need not be normalized. An empty capsule (negative radius)
|
|
60
|
+
* always returns `-1`.
|
|
60
61
|
*/
|
|
61
62
|
export function intersectRay3DCapsule(ray, capsule) {
|
|
62
63
|
const ox = ray.origin.x, oy = ray.origin.y, oz = ray.origin.z;
|
|
@@ -64,24 +65,26 @@ export function intersectRay3DCapsule(ray, capsule) {
|
|
|
64
65
|
const ax = capsule.startX, ay = capsule.startY, az = capsule.startZ;
|
|
65
66
|
const bx = capsule.endX, by = capsule.endY, bz = capsule.endZ;
|
|
66
67
|
const r = capsule.radius;
|
|
68
|
+
if (r < 0)
|
|
69
|
+
return -1;
|
|
70
|
+
const directionLengthSq = dx * dx + dy * dy + dz * dz;
|
|
71
|
+
if (directionLengthSq === 0)
|
|
72
|
+
return -1;
|
|
67
73
|
const abx = bx - ax, aby = by - ay, abz = bz - az;
|
|
68
74
|
const abLen2 = abx * abx + aby * aby + abz * abz;
|
|
69
75
|
// Ray-sphere helper (no allocation): returns t on hit or -1 on miss.
|
|
70
76
|
const sphereHit = (cx, cy, cz) => {
|
|
71
77
|
const mx = ox - cx, my = oy - cy, mz = oz - cz;
|
|
72
|
-
const lenD2 = dx * dx + dy * dy + dz * dz;
|
|
73
|
-
if (lenD2 === 0)
|
|
74
|
-
return -1;
|
|
75
78
|
const b = mx * dx + my * dy + mz * dz;
|
|
76
79
|
const c = mx * mx + my * my + mz * mz - r * r;
|
|
77
|
-
const disc = b * b -
|
|
80
|
+
const disc = b * b - directionLengthSq * c;
|
|
78
81
|
if (disc < 0)
|
|
79
82
|
return -1;
|
|
80
83
|
const sqrtD = Math.sqrt(disc);
|
|
81
|
-
const t1 = (-b - sqrtD) /
|
|
84
|
+
const t1 = (-b - sqrtD) / directionLengthSq;
|
|
82
85
|
if (t1 >= 0)
|
|
83
86
|
return t1;
|
|
84
|
-
const t2 = (-b + sqrtD) /
|
|
87
|
+
const t2 = (-b + sqrtD) / directionLengthSq;
|
|
85
88
|
return t2 >= 0 ? 0 : -1;
|
|
86
89
|
};
|
|
87
90
|
if (abLen2 < 1e-20)
|
|
@@ -97,7 +100,7 @@ export function intersectRay3DCapsule(ray, capsule) {
|
|
|
97
100
|
const qa = dpx * dpx + dpy * dpy + dpz * dpz;
|
|
98
101
|
const qb = apx * dpx + apy * dpy + apz * dpz;
|
|
99
102
|
const qc = apx * apx + apy * apy + apz * apz - r * r;
|
|
100
|
-
if (qa > 1e-
|
|
103
|
+
if (Math.sqrt(qa) > 1e-10 * Math.sqrt(directionLengthSq)) {
|
|
101
104
|
const disc = qb * qb - qa * qc;
|
|
102
105
|
if (disc >= 0) {
|
|
103
106
|
const sqrtD = Math.sqrt(disc);
|
package/dist/capsule.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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|
package/dist/frustum.d.ts
CHANGED
|
@@ -27,7 +27,8 @@ export declare function isFrustumContainingPoint(frustum: Readonly<FrustumLike>,
|
|
|
27
27
|
* Returns whether an axis-aligned bounding box intersects (or is contained by) the frustum.
|
|
28
28
|
* Uses the conservative positive-vertex test: the box is rejected only when it lies entirely
|
|
29
29
|
* on the outside (negative) side of any single plane. This may report a false positive for
|
|
30
|
-
* boxes straddling a frustum corner but never a false negative.
|
|
30
|
+
* boxes straddling a frustum corner but never a false negative. An empty box (min > max on any
|
|
31
|
+
* axis) always returns false.
|
|
31
32
|
*/
|
|
32
33
|
export declare function isFrustumIntersectingAabb(frustum: Readonly<FrustumLike>, aabb: Readonly<AabbLike>): boolean;
|
|
33
34
|
/**
|
package/dist/frustum.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"frustum.d.ts","sourceRoot":"","sources":["../src/frustum.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EACV,QAAQ,EACR,kBAAkB,EAClB,OAAO,EACP,WAAW,EACX,WAAW,EAEX,WAAW,EACZ,MAAM,0BAA0B,CAAC;AAIlC;;;GAGG;AACH,wBAAgB,aAAa,IAAI,OAAO,CASvC;AAED;;;;;;;;;;;;GAYG;AACH,wBAAgB,iBAAiB,CAAC,GAAG,EAAE,SAAS,WAAW,EAAE,EAAE,qBAAqB,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CA0BjH;AAED;;;GAGG;AACH,wBAAgB,wBAAwB,CAAC,OAAO,EAAE,QAAQ,CAAC,WAAW,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,OAAO,CAS9G;AAED
|
|
1
|
+
{"version":3,"file":"frustum.d.ts","sourceRoot":"","sources":["../src/frustum.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EACV,QAAQ,EACR,kBAAkB,EAClB,OAAO,EACP,WAAW,EACX,WAAW,EAEX,WAAW,EACZ,MAAM,0BAA0B,CAAC;AAIlC;;;GAGG;AACH,wBAAgB,aAAa,IAAI,OAAO,CASvC;AAED;;;;;;;;;;;;GAYG;AACH,wBAAgB,iBAAiB,CAAC,GAAG,EAAE,SAAS,WAAW,EAAE,EAAE,qBAAqB,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CA0BjH;AAED;;;GAGG;AACH,wBAAgB,wBAAwB,CAAC,OAAO,EAAE,QAAQ,CAAC,WAAW,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,OAAO,CAS9G;AAED;;;;;;GAMG;AACH,wBAAgB,yBAAyB,CAAC,OAAO,EAAE,QAAQ,CAAC,WAAW,CAAC,EAAE,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,OAAO,CAW3G;AAED;;;;;;GAMG;AACH,wBAAgB,2BAA2B,CACzC,OAAO,EAAE,QAAQ,CAAC,WAAW,CAAC,EAC9B,MAAM,EAAE,QAAQ,CAAC,kBAAkB,CAAC,GACnC,OAAO,CAWT;AAED;;;;;;GAMG;AACH,wBAAgB,qBAAqB,CAAC,GAAG,EAAE,WAAW,EAAE,cAAc,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CA0BnG"}
|
package/dist/frustum.js
CHANGED
|
@@ -70,9 +70,12 @@ export function isFrustumContainingPoint(frustum, point) {
|
|
|
70
70
|
* Returns whether an axis-aligned bounding box intersects (or is contained by) the frustum.
|
|
71
71
|
* Uses the conservative positive-vertex test: the box is rejected only when it lies entirely
|
|
72
72
|
* on the outside (negative) side of any single plane. This may report a false positive for
|
|
73
|
-
* boxes straddling a frustum corner but never a false negative.
|
|
73
|
+
* boxes straddling a frustum corner but never a false negative. An empty box (min > max on any
|
|
74
|
+
* axis) always returns false.
|
|
74
75
|
*/
|
|
75
76
|
export function isFrustumIntersectingAabb(frustum, aabb) {
|
|
77
|
+
if (aabb.min.x > aabb.max.x || aabb.min.y > aabb.max.y || aabb.min.z > aabb.max.z)
|
|
78
|
+
return false;
|
|
76
79
|
return (__planeIntersectsAabb(frustum.left, aabb) &&
|
|
77
80
|
__planeIntersectsAabb(frustum.right, aabb) &&
|
|
78
81
|
__planeIntersectsAabb(frustum.bottom, aabb) &&
|
package/dist/frustum.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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|
|
1
|
+
{"version":3,"file":"frustum.js","sourceRoot":"","sources":["../src/frustum.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,YAAY,EAAE,MAAM,2BAA2B,CAAC;AAWzD,OAAO,EAAE,WAAW,EAAE,MAAM,SAAS,CAAC;AAEtC;;;GAGG;AACH,MAAM,UAAU,aAAa;IAC3B,OAAO,YAAY,CAAC;QAClB,MAAM,EAAE,WAAW,EAAE;QACrB,GAAG,EAAE,WAAW,EAAE;QAClB,IAAI,EAAE,WAAW,EAAE;QACnB,IAAI,EAAE,WAAW,EAAE;QACnB,KAAK,EAAE,WAAW,EAAE;QACpB,GAAG,EAAE,WAAW,EAAE;KACnB,CAAC,CAAC;AACL,CAAC;AAED;;;;;;;;;;;;GAYG;AACH,MAAM,UAAU,iBAAiB,CAAC,GAA2B,EAAE,qBAA4C;IACzG,MAAM,CAAC,GAAG,qBAAqB,CAAC,CAAC,CAAC;IAClC,MAAM,UAAU,GAAwC;QACtD,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QACZ,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QACX,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QACV,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QACX,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC;QACX,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC;QACV,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;QACT,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;KACX,CAAC;IACF,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,MAAM,EAAE,UAAU,CAAC,MAAM,CAAC,CAAC;IACpD,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE,EAAE,CAAC;QAC7B,MAAM,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;QACnC,kDAAkD;QAClD,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;QACpD,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;QACpD,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;QACrD,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;QACrD,MAAM,IAAI,GAAG,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;QACjC,MAAM,MAAM,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC;QACtB,MAAM,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC;QACpB,MAAM,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC;QACpB,MAAM,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC;IACtB,CAAC;AACH,CAAC;AAED;;;GAGG;AACH,MAAM,UAAU,wBAAwB,CAAC,OAA8B,EAAE,KAA4B;IACnG,OAAO,CACL,qBAAqB,CAAC,OAAO,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,CAAC;QAC/C,qBAAqB,CAAC,OAAO,CAAC,KAAK,EAAE,KAAK,CAAC,IAAI,CAAC;QAChD,qBAAqB,CAAC,OAAO,CAAC,MAAM,EAAE,KAAK,CAAC,IAAI,CAAC;QACjD,qBAAqB,CAAC,OAAO,CAAC,GAAG,EAAE,KAAK,CAAC,IAAI,CAAC;QAC9C,qBAAqB,CAAC,OAAO,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,CAAC;QAC/C,qBAAqB,CAAC,OAAO,CAAC,GAAG,EAAE,KAAK,CAAC,IAAI,CAAC,CAC/C,CAAC;AACJ,CAAC;AAED;;;;;;GAMG;AACH,MAAM,UAAU,yBAAyB,CAAC,OAA8B,EAAE,IAAwB;IAChG,IAAI,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC;QAAE,OAAO,KAAK,CAAC;IAEhG,OAAO,CACL,qBAAqB,CAAC,OAAO,CAAC,IAAI,EAAE,IAAI,CAAC;QACzC,qBAAqB,CAAC,OAAO,CAAC,KAAK,EAAE,IAAI,CAAC;QAC1C,qBAAqB,CAAC,OAAO,CAAC,MAAM,EAAE,IAAI,CAAC;QAC3C,qBAAqB,CAAC,OAAO,CAAC,GAAG,EAAE,IAAI,CAAC;QACxC,qBAAqB,CAAC,OAAO,CAAC,IAAI,EAAE,IAAI,CAAC;QACzC,qBAAqB,CAAC,OAAO,CAAC,GAAG,EAAE,IAAI,CAAC,CACzC,CAAC;AACJ,CAAC;AAED;;;;;;GAMG;AACH,MAAM,UAAU,2BAA2B,CACzC,OAA8B,EAC9B,MAAoC;IAEpC,IAAI,MAAM,CAAC,MAAM,GAAG,CAAC;QAAE,OAAO,KAAK,CAAC;IACpC,MAAM,CAAC,GAAG,MAAM,CAAC,MAAM,CAAC;IACxB,OAAO,CACL,qBAAqB,CAAC,OAAO,CAAC,IAAI,EAAE,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACxD,qBAAqB,CAAC,OAAO,CAAC,KAAK,EAAE,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACzD,qBAAqB,CAAC,OAAO,CAAC,MAAM,EAAE,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QAC1D,qBAAqB,CAAC,OAAO,CAAC,GAAG,EAAE,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACvD,qBAAqB,CAAC,OAAO,CAAC,IAAI,EAAE,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACxD,qBAAqB,CAAC,OAAO,CAAC,GAAG,EAAE,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC,CACxD,CAAC;AACJ,CAAC;AAED;;;;;;GAMG;AACH,MAAM,UAAU,qBAAqB,CAAC,GAAgB,EAAE,cAAqC;IAC3F,MAAM,CAAC,GAAG,cAAc,CAAC,CAAC,CAAC;IAC3B,0DAA0D;IAC1D,MAAM,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,EACd,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,EACV,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,EACV,GAAG,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;IACd,MAAM,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,EACd,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,EACV,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,EACV,GAAG,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;IACd,MAAM,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,EACd,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,EACV,GAAG,GAAG,CAAC,CAAC,EAAE,CAAC,EACX,GAAG,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;IACd,MAAM,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,EACd,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,EACV,GAAG,GAAG,CAAC,CAAC,EAAE,CAAC,EACX,GAAG,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;IAEd,UAAU,CAAC,GAAG,CAAC,IAAI,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,CAAC,CAAC;IACjE,UAAU,CAAC,GAAG,CAAC,KAAK,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,CAAC,CAAC;IAClE,UAAU,CAAC,GAAG,CAAC,MAAM,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,CAAC,CAAC;IACnE,UAAU,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,CAAC,CAAC;IAChE,UAAU,CAAC,GAAG,CAAC,IAAI,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,G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|
package/dist/matrix3.d.ts
CHANGED
|
@@ -50,7 +50,7 @@ export declare function scaleMatrix3(out: Matrix3Like, source: Readonly<Matrix3L
|
|
|
50
50
|
export declare function setMatrix3(out: Matrix3Like, m00: number, m01: number, m02: number, m10: number, m11: number, m12: number, m20: number, m21: number, m22: number): void;
|
|
51
51
|
export declare function setMatrix3Element(out: Matrix3Like, row: number, column: number, value: number): void;
|
|
52
52
|
/**
|
|
53
|
-
* Reads a Matrix3 from a Float32Array at
|
|
53
|
+
* Reads a Matrix3 from a Float32Array at an element offset (column-major, 9 floats).
|
|
54
54
|
*/
|
|
55
55
|
export declare function setMatrix3FromFloat32Array(out: Matrix3Like, offset: number, source: Readonly<Float32Array>): void;
|
|
56
56
|
export declare function setMatrix3FromMatrix(out: Matrix3Like, source: Readonly<MatrixLike>): void;
|
|
@@ -78,7 +78,7 @@ export declare function translateMatrix3(out: Matrix3Like, source: Readonly<Matr
|
|
|
78
78
|
*/
|
|
79
79
|
export declare function transposeMatrix3(out: Matrix3Like, source: Readonly<Matrix3Like>): void;
|
|
80
80
|
/**
|
|
81
|
-
* Writes a Matrix3 into a Float32Array at
|
|
81
|
+
* Writes a Matrix3 into a Float32Array at an element offset (column-major, 9 floats).
|
|
82
82
|
*/
|
|
83
83
|
export declare function writeMatrix3ToFloat32Array(out: Float32Array, offset: number, source: Readonly<Matrix3Like>): void;
|
|
84
84
|
//# sourceMappingURL=matrix3.d.ts.map
|
package/dist/matrix3.js
CHANGED
|
@@ -309,7 +309,7 @@ export function setMatrix3Element(out, row, column, value) {
|
|
|
309
309
|
out.m[column * 3 + row] = value;
|
|
310
310
|
}
|
|
311
311
|
/**
|
|
312
|
-
* Reads a Matrix3 from a Float32Array at
|
|
312
|
+
* Reads a Matrix3 from a Float32Array at an element offset (column-major, 9 floats).
|
|
313
313
|
*/
|
|
314
314
|
export function setMatrix3FromFloat32Array(out, offset, source) {
|
|
315
315
|
const m = out.m;
|
|
@@ -403,7 +403,7 @@ export function transposeMatrix3(out, source) {
|
|
|
403
403
|
o[8] = s[8];
|
|
404
404
|
}
|
|
405
405
|
/**
|
|
406
|
-
* Writes a Matrix3 into a Float32Array at
|
|
406
|
+
* Writes a Matrix3 into a Float32Array at an element offset (column-major, 9 floats).
|
|
407
407
|
*/
|
|
408
408
|
export function writeMatrix3ToFloat32Array(out, offset, source) {
|
|
409
409
|
const m = source.m;
|
package/dist/matrix4.js
CHANGED
|
@@ -26,8 +26,8 @@ export function appendRotationMatrix4(out, source, radians, axis, pivotPoint) {
|
|
|
26
26
|
const t2 = acquireIdentityMatrix4();
|
|
27
27
|
appendTranslationMatrix4(t1, t1, -p.x, -p.y, -p.z);
|
|
28
28
|
appendTranslationMatrix4(t2, t2, p.x, p.y, p.z);
|
|
29
|
-
multiplyMatrix4(m,
|
|
30
|
-
multiplyMatrix4(m,
|
|
29
|
+
multiplyMatrix4(m, m, t1); // R · T(-p)
|
|
30
|
+
multiplyMatrix4(m, t2, m); // T(p) · (R · T(-p))
|
|
31
31
|
releaseMatrix4(t1);
|
|
32
32
|
releaseMatrix4(t2);
|
|
33
33
|
}
|
package/dist/matrix4.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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1
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|
package/dist/obb.d.ts
CHANGED
|
@@ -16,12 +16,14 @@ export declare function getClosestPointOnObb(out: Vector3Like, obb: Readonly<Obb
|
|
|
16
16
|
* space, then applies the slab method against the axis-aligned half-extent box.
|
|
17
17
|
*
|
|
18
18
|
* Returns the entry parameter `t` (>= 0) on hit, or `-1` on miss. A ray starting inside the
|
|
19
|
-
* OBB returns `t = 0`. A direction of zero length is not a
|
|
19
|
+
* OBB returns `t = 0`. Direction need not be normalized. A direction of zero length is not a
|
|
20
|
+
* ray and always returns `-1`.
|
|
20
21
|
*/
|
|
21
22
|
export declare function intersectRay3DObb(ray: Readonly<Ray3DLike>, obb: Readonly<ObbLike>): number;
|
|
22
23
|
/**
|
|
23
24
|
* Returns whether an oriented bounding box overlaps an axis-aligned bounding box using the
|
|
24
|
-
* Separating Axis Theorem with 15 candidate axes.
|
|
25
|
+
* Separating Axis Theorem with 15 candidate axes. An empty AABB (min > max on any axis) does
|
|
26
|
+
* not intersect the OBB.
|
|
25
27
|
*/
|
|
26
28
|
export declare function isObbIntersectingAabb(obb: Readonly<ObbLike>, aabb: Readonly<AabbLike>): boolean;
|
|
27
29
|
/**
|
package/dist/obb.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"obb.d.ts","sourceRoot":"","sources":["../src/obb.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,QAAQ,EAAE,WAAW,EAAE,GAAG,EAAE,OAAO,EAAE,SAAS,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAE5G;;;GAGG;AACH,wBAAgB,SAAS,CACvB,OAAO,EAAE,MAAM,EACf,OAAO,EAAE,MAAM,EACf,OAAO,EAAE,MAAM,EACf,WAAW,EAAE,MAAM,EACnB,WAAW,EAAE,MAAM,EACnB,WAAW,EAAE,MAAM,EACnB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,GACnB,GAAG,CAaL;AAED;;;;;GAKG;AACH,wBAAgB,oBAAoB,CAAC,GAAG,EAAE,WAAW,EAAE,GAAG,EAAE,QAAQ,CAAC,OAAO,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CAwBjH;AAED
|
|
1
|
+
{"version":3,"file":"obb.d.ts","sourceRoot":"","sources":["../src/obb.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,QAAQ,EAAE,WAAW,EAAE,GAAG,EAAE,OAAO,EAAE,SAAS,EAAE,WAAW,EAAE,MAAM,0BAA0B,CAAC;AAE5G;;;GAGG;AACH,wBAAgB,SAAS,CACvB,OAAO,EAAE,MAAM,EACf,OAAO,EAAE,MAAM,EACf,OAAO,EAAE,MAAM,EACf,WAAW,EAAE,MAAM,EACnB,WAAW,EAAE,MAAM,EACnB,WAAW,EAAE,MAAM,EACnB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,GACnB,GAAG,CAaL;AAED;;;;;GAKG;AACH,wBAAgB,oBAAoB,CAAC,GAAG,EAAE,WAAW,EAAE,GAAG,EAAE,QAAQ,CAAC,OAAO,CAAC,EAAE,KAAK,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CAwBjH;AAED;;;;;;;GAOG;AACH,wBAAgB,iBAAiB,CAAC,GAAG,EAAE,QAAQ,CAAC,SAAS,CAAC,EAAE,GAAG,EAAE,QAAQ,CAAC,OAAO,CAAC,GAAG,MAAM,CA6C1F;AAED;;;;GAIG;AACH,wBAAgB,qBAAqB,CAAC,GAAG,EAAE,QAAQ,CAAC,OAAO,CAAC,EAAE,IAAI,EAAE,QAAQ,CAAC,QAAQ,CAAC,GAAG,OAAO,CA6C/F;AAED;;;GAGG;AACH,wBAAgB,oBAAoB,CAAC,CAAC,EAAE,QAAQ,CAAC,OAAO,CAAC,EAAE,CAAC,EAAE,QAAQ,CAAC,OAAO,CAAC,GAAG,OAAO,CAqCxF;AAED;;GAEG;AACH,wBAAgB,MAAM,CACpB,GAAG,EAAE,OAAO,EACZ,OAAO,EAAE,MAAM,EACf,OAAO,EAAE,MAAM,EACf,OAAO,EAAE,MAAM,EACf,WAAW,EAAE,MAAM,EACnB,WAAW,EAAE,MAAM,EACnB,WAAW,EAAE,MAAM,EACnB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,EACpB,YAAY,EAAE,MAAM,GACnB,IAAI,CAWN;AAED;;;;;;GAMG;AACH,wBAAgB,qBAAqB,CAAC,GAAG,EAAE,OAAO,EAAE,GAAG,EAAE,QAAQ,CAAC,OAAO,CAAC,EAAE,CAAC,EAAE,QAAQ,CAAC,WAAW,CAAC,GAAG,IAAI,CA0E1G"}
|
package/dist/obb.js
CHANGED
|
@@ -41,7 +41,8 @@ export function getClosestPointOnObb(out, obb, point) {
|
|
|
41
41
|
* space, then applies the slab method against the axis-aligned half-extent box.
|
|
42
42
|
*
|
|
43
43
|
* Returns the entry parameter `t` (>= 0) on hit, or `-1` on miss. A ray starting inside the
|
|
44
|
-
* OBB returns `t = 0`. A direction of zero length is not a
|
|
44
|
+
* OBB returns `t = 0`. Direction need not be normalized. A direction of zero length is not a
|
|
45
|
+
* ray and always returns `-1`.
|
|
45
46
|
*/
|
|
46
47
|
export function intersectRay3DObb(ray, obb) {
|
|
47
48
|
const ox = ray.origin.x - obb.centerX, oy = ray.origin.y - obb.centerY, oz = ray.origin.z - obb.centerZ;
|
|
@@ -59,7 +60,7 @@ export function intersectRay3DObb(ray, obb) {
|
|
|
59
60
|
const o = origins[i];
|
|
60
61
|
const d = dirs[i];
|
|
61
62
|
const h = halfExts[i];
|
|
62
|
-
if (
|
|
63
|
+
if (d !== 0) {
|
|
63
64
|
const invD = 1 / d;
|
|
64
65
|
let t1 = (-h - o) * invD;
|
|
65
66
|
let t2 = (h - o) * invD;
|
|
@@ -81,9 +82,12 @@ export function intersectRay3DObb(ray, obb) {
|
|
|
81
82
|
}
|
|
82
83
|
/**
|
|
83
84
|
* Returns whether an oriented bounding box overlaps an axis-aligned bounding box using the
|
|
84
|
-
* Separating Axis Theorem with 15 candidate axes.
|
|
85
|
+
* Separating Axis Theorem with 15 candidate axes. An empty AABB (min > max on any axis) does
|
|
86
|
+
* not intersect the OBB.
|
|
85
87
|
*/
|
|
86
88
|
export function isObbIntersectingAabb(obb, aabb) {
|
|
89
|
+
if (aabb.min.x > aabb.max.x || aabb.min.y > aabb.max.y || aabb.min.z > aabb.max.z)
|
|
90
|
+
return false;
|
|
87
91
|
const acx = (aabb.min.x + aabb.max.x) * 0.5, acy = (aabb.min.y + aabb.max.y) * 0.5, acz = (aabb.min.z + aabb.max.z) * 0.5;
|
|
88
92
|
const ahx = (aabb.max.x - aabb.min.x) * 0.5, ahy = (aabb.max.y - aabb.min.y) * 0.5, ahz = (aabb.max.z - aabb.min.z) * 0.5;
|
|
89
93
|
const [ax0, ay0, az0, ax1, ay1, az1, ax2, ay2, az2] = obbLocalAxes(obb);
|
package/dist/obb.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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1
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|
package/dist/ray3d.d.ts
CHANGED
|
@@ -32,7 +32,8 @@ export declare function getRay3DPointAt(out: Vector3Like, ray: Readonly<Ray3DLik
|
|
|
32
32
|
* Returns the entry parameter `t` (>= 0) on hit, or `-1` on miss. A ray that starts inside the
|
|
33
33
|
* box returns `t = 0`. Direction components need not be normalized. A single zero direction
|
|
34
34
|
* component is fine — the ray is parallel to that slab, and misses only if it starts outside it —
|
|
35
|
-
* but a direction of zero length is not a ray at all and always returns `-1`.
|
|
35
|
+
* but a direction of zero length is not a ray at all and always returns `-1`. An empty box
|
|
36
|
+
* (min > max on any axis) also always returns `-1`.
|
|
36
37
|
*/
|
|
37
38
|
export declare function intersectRay3DAabb(ray: Readonly<Ray3DLike>, aabb: Readonly<AabbLike>): number;
|
|
38
39
|
/**
|
|
@@ -62,7 +63,7 @@ export declare function intersectRay3DSphere(ray: Readonly<Ray3DLike>, sphere: R
|
|
|
62
63
|
* `-1` on miss (back-face culling is off — both sides are tested). The direction need not be
|
|
63
64
|
* normalized; `t` is in direction units.
|
|
64
65
|
*
|
|
65
|
-
* Also returns `-1` for degenerate triangles (area
|
|
66
|
+
* Also returns `-1` for degenerate triangles (zero area).
|
|
66
67
|
*/
|
|
67
68
|
export declare function intersectRay3DTriangle(ray: Readonly<Ray3DLike>, a: Readonly<Vector3Like>, b: Readonly<Vector3Like>, c: Readonly<Vector3Like>): number;
|
|
68
69
|
export declare function setRay3D(out: Ray3DLike, origin: Readonly<Vector3Like>, direction: Readonly<Vector3Like>): void;
|
package/dist/ray3d.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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|
|
1
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+
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|
package/dist/ray3d.js
CHANGED
|
@@ -96,9 +96,12 @@ export function getRay3DPointAt(out, ray, t) {
|
|
|
96
96
|
* Returns the entry parameter `t` (>= 0) on hit, or `-1` on miss. A ray that starts inside the
|
|
97
97
|
* box returns `t = 0`. Direction components need not be normalized. A single zero direction
|
|
98
98
|
* component is fine — the ray is parallel to that slab, and misses only if it starts outside it —
|
|
99
|
-
* but a direction of zero length is not a ray at all and always returns `-1`.
|
|
99
|
+
* but a direction of zero length is not a ray at all and always returns `-1`. An empty box
|
|
100
|
+
* (min > max on any axis) also always returns `-1`.
|
|
100
101
|
*/
|
|
101
102
|
export function intersectRay3DAabb(ray, aabb) {
|
|
103
|
+
if (aabb.min.x > aabb.max.x || aabb.min.y > aabb.max.y || aabb.min.z > aabb.max.z)
|
|
104
|
+
return -1;
|
|
102
105
|
const ox = ray.origin.x, oy = ray.origin.y, oz = ray.origin.z;
|
|
103
106
|
const dx = ray.direction.x, dy = ray.direction.y, dz = ray.direction.z;
|
|
104
107
|
if (dx * dx + dy * dy + dz * dz === 0)
|
|
@@ -171,8 +174,13 @@ export function intersectRay3DAabb(ray, aabb) {
|
|
|
171
174
|
* Direction need not be normalized; `t` is in the same units as `direction`.
|
|
172
175
|
*/
|
|
173
176
|
export function intersectRay3DPlane(ray, plane) {
|
|
174
|
-
const
|
|
175
|
-
|
|
177
|
+
const dx = ray.direction.x, dy = ray.direction.y, dz = ray.direction.z;
|
|
178
|
+
const normalLengthSq = plane.a * plane.a + plane.b * plane.b + plane.c * plane.c;
|
|
179
|
+
const directionLengthSq = dx * dx + dy * dy + dz * dz;
|
|
180
|
+
if (normalLengthSq === 0 || directionLengthSq === 0)
|
|
181
|
+
return -1;
|
|
182
|
+
const denom = plane.a * dx + plane.b * dy + plane.c * dz;
|
|
183
|
+
if (Math.abs(denom) <= 1e-10 * Math.sqrt(normalLengthSq) * Math.sqrt(directionLengthSq))
|
|
176
184
|
return -1; // parallel
|
|
177
185
|
const t = -(plane.a * ray.origin.x + plane.b * ray.origin.y + plane.c * ray.origin.z + plane.d) / denom;
|
|
178
186
|
return t >= 0 ? t : -1;
|
|
@@ -217,20 +225,25 @@ export function intersectRay3DSphere(ray, sphere) {
|
|
|
217
225
|
* `-1` on miss (back-face culling is off — both sides are tested). The direction need not be
|
|
218
226
|
* normalized; `t` is in direction units.
|
|
219
227
|
*
|
|
220
|
-
* Also returns `-1` for degenerate triangles (area
|
|
228
|
+
* Also returns `-1` for degenerate triangles (zero area).
|
|
221
229
|
*/
|
|
222
230
|
export function intersectRay3DTriangle(ray, a, b, c) {
|
|
223
231
|
// Edge vectors
|
|
224
232
|
const e1x = b.x - a.x, e1y = b.y - a.y, e1z = b.z - a.z;
|
|
225
233
|
const e2x = c.x - a.x, e2y = c.y - a.y, e2z = c.z - a.z;
|
|
226
234
|
const dx = ray.direction.x, dy = ray.direction.y, dz = ray.direction.z;
|
|
235
|
+
const nx = e1y * e2z - e1z * e2y, ny = e1z * e2x - e1x * e2z, nz = e1x * e2y - e1y * e2x;
|
|
236
|
+
const normalLengthSq = nx * nx + ny * ny + nz * nz;
|
|
237
|
+
const directionLengthSq = dx * dx + dy * dy + dz * dz;
|
|
238
|
+
if (normalLengthSq === 0 || directionLengthSq === 0)
|
|
239
|
+
return -1;
|
|
227
240
|
// h = direction × e2
|
|
228
241
|
const hx = dy * e2z - dz * e2y;
|
|
229
242
|
const hy = dz * e2x - dx * e2z;
|
|
230
243
|
const hz = dx * e2y - dy * e2x;
|
|
231
244
|
const det = e1x * hx + e1y * hy + e1z * hz;
|
|
232
|
-
if (Math.abs(det)
|
|
233
|
-
return -1; // parallel
|
|
245
|
+
if (Math.abs(det) <= 1e-10 * Math.sqrt(normalLengthSq) * Math.sqrt(directionLengthSq))
|
|
246
|
+
return -1; // parallel
|
|
234
247
|
const invDet = 1 / det;
|
|
235
248
|
// s = origin - a
|
|
236
249
|
const sx = ray.origin.x - a.x, sy = ray.origin.y - a.y, sz = ray.origin.z - a.z;
|
package/dist/ray3d.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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AG,GAAG,GAAG,GAAG,EAC9B,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,EAC1B,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IAC7B,MAAM,cAAc,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IACnD,MAAM,iBAAiB,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IACtD,IAAI,cAAc,KAAK,CAAC,IAAI,iBAAiB,KAAK,CAAC;QAAE,OAAO,CAAC,CAAC,CAAC;IAE/D,qBAAqB;IACrB,MAAM,EAAE,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAC/B,MAAM,EAAE,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAC/B,MAAM,EAAE,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAE/B,MAAM,GAAG,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,CAAC;IAC3C,IAAI,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,IAAI,KAAK,GAAG,IAAI,CAAC,IAAI,CAAC,cAAc,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,iBAAiB,CAAC;QAAE,OAAO,CAAC,CAAC,CAAC,CAAC,WAAW;IAE7G,MAAM,MAAM,GAAG,CAAC,GAAG,GAAG,CAAC;IAEvB,iBAAiB;IACjB,MAAM,EAAE,GAAG,GAAG,CAAC,MAAM,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,EAC3B,EAAE,GAAG,GAAG,CAAC,MAAM,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,EACvB,EAAE,GAAG,GAAG,CAAC,MAAM,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IAE1B,uBAAuB;IACvB,MAAM,CAAC,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,GAAG,MAAM,CAAC;IACjD,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC;QAAE,OAAO,CAAC,CAAC,CAAC;IAE9B,aAAa;IACb,MAAM,EAAE,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAC/B,MAAM,EAAE,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAC/B,MAAM,EAAE,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;IAE/B,+BAA+B;IAC/B,MAAM,CAAC,GAAG,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,GAAG,MAAM,CAAC;IACjD,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC;QAAE,OAAO,CAAC,CAAC,CAAC;IAElC,wBAAwB;IACxB,MAAM,CAAC,GAAG,CAAC,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,CAAC,GAAG,MAAM,CAAC;IACpD,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AACzB,CAAC;AAED,+DAA+D;AAC/D,EAAE;AACF,gFAAgF;AAChF,MAAM,UAAU,QAAQ,CAAC,GAAc,EAAE,MAA6B,EAAE,SAAgC;IACtG,MAAM,EAAE,GAAG,MAAM,CAAC,CAAC,EACjB,EAAE,GAAG,MAAM,CAAC,CAAC,EACb,EAAE,GAAG,MAAM,CAAC,CAAC,CAAC;IAChB,MAAM,EAAE,GAAG,SAAS,CAAC,CAAC,EACpB,EAAE,GAAG,SAAS,CAAC,CAAC,EAChB,EAAE,GAAG,SAAS,CAAC,CAAC,CAAC;IACnB,GAAG,CAAC,MAAM,CAAC,CAAC,GAAG,EAAE,CAAC;IAClB,GAAG,CAAC,MAAM,CAAC,CAAC,GAAG,EAAE,CAAC;IAClB,GAAG,CAAC,MAAM,CAAC,CAAC,GAAG,EAAE,CAAC;IAClB,GAAG,CAAC,SAAS,CAAC,CAAC,GAAG,EAAE,CAAC;IACrB,GAAG,CAAC,SAAS,CAAC,CAAC,GAAG,EAAE,CAAC;IACrB,GAAG,CAAC,SAAS,CAAC,CAAC,GAAG,EAAE,CAAC;AACvB,CAAC"}
|
package/dist/vector3.d.ts
CHANGED
|
@@ -180,7 +180,7 @@ export declare function scaleVector3(out: Vector3Like, source: Readonly<Vector3L
|
|
|
180
180
|
**/
|
|
181
181
|
export declare function setVector3(out: Vector3Like, x: number, y: number, z: number): void;
|
|
182
182
|
/**
|
|
183
|
-
* Reads a Vector3Like from a Float32Array at
|
|
183
|
+
* Reads a Vector3Like from a Float32Array at an element offset.
|
|
184
184
|
*/
|
|
185
185
|
export declare function setVector3FromFloat32Array(out: Vector3Like, offset: number, source: Readonly<Float32Array>): void;
|
|
186
186
|
/**
|
|
@@ -211,7 +211,7 @@ export declare function transformVector3ByMatrix3(out: Vector3Like, source: Read
|
|
|
211
211
|
m: Readonly<Float32Array>;
|
|
212
212
|
}>): void;
|
|
213
213
|
/**
|
|
214
|
-
* Writes a Vector3Like into a Float32Array at
|
|
214
|
+
* Writes a Vector3Like into a Float32Array at an element offset.
|
|
215
215
|
*/
|
|
216
216
|
export declare function writeVector3ToFloat32Array(out: Float32Array, offset: number, source: Readonly<Vector3Like>): void;
|
|
217
217
|
export declare const VECTOR3_X_AXIS: Readonly<Vector3>;
|
package/dist/vector3.js
CHANGED
|
@@ -330,7 +330,7 @@ export function setVector3(out, x, y, z) {
|
|
|
330
330
|
out.z = z;
|
|
331
331
|
}
|
|
332
332
|
/**
|
|
333
|
-
* Reads a Vector3Like from a Float32Array at
|
|
333
|
+
* Reads a Vector3Like from a Float32Array at an element offset.
|
|
334
334
|
*/
|
|
335
335
|
export function setVector3FromFloat32Array(out, offset, source) {
|
|
336
336
|
out.x = source[offset];
|
|
@@ -385,7 +385,7 @@ export function transformVector3ByMatrix3(out, source, matrix) {
|
|
|
385
385
|
out.z = m[2] * x + m[5] * y + m[8] * z;
|
|
386
386
|
}
|
|
387
387
|
/**
|
|
388
|
-
* Writes a Vector3Like into a Float32Array at
|
|
388
|
+
* Writes a Vector3Like into a Float32Array at an element offset.
|
|
389
389
|
*/
|
|
390
390
|
export function writeVector3ToFloat32Array(out, offset, source) {
|
|
391
391
|
out[offset] = source.x;
|
package/dist/vector4.d.ts
CHANGED
|
@@ -154,7 +154,7 @@ export declare function scaleVector4(out: Vector4Like, source: Readonly<Vector4L
|
|
|
154
154
|
**/
|
|
155
155
|
export declare function setVector4(out: Vector4Like, x: number, y: number, z: number, w: number): void;
|
|
156
156
|
/**
|
|
157
|
-
* Reads a Vector4Like from a Float32Array at
|
|
157
|
+
* Reads a Vector4Like from a Float32Array at an element offset.
|
|
158
158
|
*/
|
|
159
159
|
export declare function setVector4FromFloat32Array(out: Vector4Like, offset: number, source: Readonly<Float32Array>): void;
|
|
160
160
|
/**
|
|
@@ -170,7 +170,7 @@ export declare function setVector4FromVector3(out: Vector4Like, source: Readonly
|
|
|
170
170
|
**/
|
|
171
171
|
export declare function subtractVector4(out: Vector4Like, source: Readonly<Vector4Like>, other: Readonly<Vector4Like>): void;
|
|
172
172
|
/**
|
|
173
|
-
* Writes a Vector4Like into a Float32Array at
|
|
173
|
+
* Writes a Vector4Like into a Float32Array at an element offset.
|
|
174
174
|
*/
|
|
175
175
|
export declare function writeVector4ToFloat32Array(out: Float32Array, offset: number, source: Readonly<Vector4Like>): void;
|
|
176
176
|
export declare const VECTOR4_W_UNIT: Readonly<Vector4>;
|
package/dist/vector4.js
CHANGED
|
@@ -302,7 +302,7 @@ export function setVector4(out, x, y, z, w) {
|
|
|
302
302
|
out.w = w;
|
|
303
303
|
}
|
|
304
304
|
/**
|
|
305
|
-
* Reads a Vector4Like from a Float32Array at
|
|
305
|
+
* Reads a Vector4Like from a Float32Array at an element offset.
|
|
306
306
|
*/
|
|
307
307
|
export function setVector4FromFloat32Array(out, offset, source) {
|
|
308
308
|
out.x = source[offset];
|
|
@@ -336,7 +336,7 @@ export function subtractVector4(out, source, other) {
|
|
|
336
336
|
out.w = sw - ow;
|
|
337
337
|
}
|
|
338
338
|
/**
|
|
339
|
-
* Writes a Vector4Like into a Float32Array at
|
|
339
|
+
* Writes a Vector4Like into a Float32Array at an element offset.
|
|
340
340
|
*/
|
|
341
341
|
export function writeVector4ToFloat32Array(out, offset, source) {
|
|
342
342
|
out[offset] = source.x;
|
package/package.json
CHANGED
|
@@ -1,6 +1,6 @@
|
|
|
1
1
|
{
|
|
2
2
|
"name": "@flighthq/geometry",
|
|
3
|
-
"version": "0.3.1-next.
|
|
3
|
+
"version": "0.3.1-next.733.f1845ac",
|
|
4
4
|
"author": "Joshua Granick and other contributors",
|
|
5
5
|
"license": "MIT",
|
|
6
6
|
"repository": {
|
|
@@ -38,8 +38,8 @@
|
|
|
38
38
|
"clean:dist": "tsx ../../scripts/clean-package-dist.ts"
|
|
39
39
|
},
|
|
40
40
|
"dependencies": {
|
|
41
|
-
"@flighthq/entity": "0.3.1-next.
|
|
42
|
-
"@flighthq/types": "0.3.1-next.
|
|
41
|
+
"@flighthq/entity": "0.3.1-next.733.f1845ac",
|
|
42
|
+
"@flighthq/types": "0.3.1-next.733.f1845ac"
|
|
43
43
|
},
|
|
44
44
|
"devDependencies": {
|
|
45
45
|
"typescript": "^5.3.0"
|
package/src/aabb.test.ts
CHANGED
|
@@ -253,6 +253,16 @@ describe('isAabbIntersectingAabb', () => {
|
|
|
253
253
|
const b = createAabb(5, 5, 5, 6, 6, 6);
|
|
254
254
|
expect(isAabbIntersectingAabb(a, b)).toBe(false);
|
|
255
255
|
});
|
|
256
|
+
|
|
257
|
+
it.each([
|
|
258
|
+
['x', createAabb(1, 0, 0, 0, 1, 1)],
|
|
259
|
+
['y', createAabb(0, 1, 0, 1, 0, 1)],
|
|
260
|
+
['z', createAabb(0, 0, 1, 1, 1, 0)],
|
|
261
|
+
])('returns false when either box is empty on %s', (_axis, empty) => {
|
|
262
|
+
const full = createAabb(-10, -10, -10, 10, 10, 10);
|
|
263
|
+
expect(isAabbIntersectingAabb(empty, full)).toBe(false);
|
|
264
|
+
expect(isAabbIntersectingAabb(full, empty)).toBe(false);
|
|
265
|
+
});
|
|
256
266
|
});
|
|
257
267
|
|
|
258
268
|
describe('setAabb', () => {
|
package/src/capsule.test.ts
CHANGED
|
@@ -145,6 +145,11 @@ describe('intersectRay3DCapsule', () => {
|
|
|
145
145
|
expect(intersectRay3DCapsule(createRay3D(9, 9, 9, 0, 0, 0), c)).toBe(-1);
|
|
146
146
|
});
|
|
147
147
|
|
|
148
|
+
it('returns -1 for an empty capsule with a negative radius', () => {
|
|
149
|
+
const empty = createCapsule(0, -1, 0, 0, 1, 0, -1);
|
|
150
|
+
expect(intersectRay3DCapsule(createRay3D(5, 0, 0, -1, 0, 0), empty)).toBe(-1);
|
|
151
|
+
});
|
|
152
|
+
|
|
148
153
|
it('returns -1 for a ray that passes wide of the capsule', () => {
|
|
149
154
|
// Parallel to nothing and outside the cylinder radius, so neither the body nor either cap has
|
|
150
155
|
// a real intersection at all — a different miss from a ray aimed away from a capsule in reach.
|
package/src/frustum.test.ts
CHANGED
|
@@ -132,6 +132,16 @@ describe('isFrustumIntersectingAabb', () => {
|
|
|
132
132
|
setFrustumFromMatrix4(f, createTestViewProjection());
|
|
133
133
|
expect(isFrustumIntersectingAabb(f, createAabb(50, 50, -1, 60, 60, 1))).toBe(false);
|
|
134
134
|
});
|
|
135
|
+
|
|
136
|
+
it.each([
|
|
137
|
+
['x', createAabb(0.5, -0.5, -0.5, -0.5, 0.5, 0.5)],
|
|
138
|
+
['y', createAabb(-0.5, 0.5, -0.5, 0.5, -0.5, 0.5)],
|
|
139
|
+
['z', createAabb(-0.5, -0.5, 0.5, 0.5, 0.5, -0.5)],
|
|
140
|
+
])('rejects an AABB empty on %s', (_axis, empty) => {
|
|
141
|
+
const f = createFrustum();
|
|
142
|
+
setFrustumFromMatrix4(f, createMatrix4());
|
|
143
|
+
expect(isFrustumIntersectingAabb(f, empty)).toBe(false);
|
|
144
|
+
});
|
|
135
145
|
});
|
|
136
146
|
|
|
137
147
|
describe('isFrustumIntersectingSphere', () => {
|
package/src/matrix4.test.ts
CHANGED
|
@@ -152,6 +152,31 @@ describe('appendRotationMatrix4', () => {
|
|
|
152
152
|
for (let i = 0; i < 16; i++) expect(out.m[i]).toBeCloseTo(expected.m[i], 5);
|
|
153
153
|
});
|
|
154
154
|
|
|
155
|
+
// The pivot is the point the rotation holds still. Asserting that property rather than a captured
|
|
156
|
+
// translation is what distinguishes a correct composite from the transposed T(-p)·R·T(p) this
|
|
157
|
+
// function used to build — the old test asserted the inverted numbers and so could never fail.
|
|
158
|
+
it('holds the pivot point fixed', () => {
|
|
159
|
+
const source = createMatrix4();
|
|
160
|
+
translateMatrix4(source, source, 10, 0, 0);
|
|
161
|
+
const pivot = { x: 5, y: 0, z: 0, w: 1 };
|
|
162
|
+
|
|
163
|
+
const out = createMatrix4();
|
|
164
|
+
appendRotationMatrix4(out, source, Math.PI / 2, Z_AXIS, pivot);
|
|
165
|
+
|
|
166
|
+
// A world-frame rotation about `pivot` fixes the world point `pivot`, so the source point that
|
|
167
|
+
// already lands there must still land there.
|
|
168
|
+
const landsOnPivot = createVector3(-5, 0, 0);
|
|
169
|
+
const before = createVector3();
|
|
170
|
+
matrix4TransformPoint(before, source, landsOnPivot);
|
|
171
|
+
expect(before.x).toBeCloseTo(pivot.x, 6);
|
|
172
|
+
|
|
173
|
+
const after = createVector3();
|
|
174
|
+
matrix4TransformPoint(after, out, landsOnPivot);
|
|
175
|
+
expect(after.x).toBeCloseTo(pivot.x, 6);
|
|
176
|
+
expect(after.y).toBeCloseTo(pivot.y, 6);
|
|
177
|
+
expect(after.z).toBeCloseTo(pivot.z, 6);
|
|
178
|
+
});
|
|
179
|
+
|
|
155
180
|
it('differs from the local prependRotationMatrix4 on a translated matrix', () => {
|
|
156
181
|
const source = discriminatingMatrix4();
|
|
157
182
|
const world = createMatrix4();
|
|
@@ -1402,6 +1427,23 @@ describe('rotateMatrix4', () => {
|
|
|
1402
1427
|
expect(equalsMatrix4(a, b)).toBe(true);
|
|
1403
1428
|
});
|
|
1404
1429
|
|
|
1430
|
+
it('matches the quaternion rotation path for an asymmetric unit axis', () => {
|
|
1431
|
+
const inverseLength = 1 / Math.sqrt(14);
|
|
1432
|
+
const axis = createVector3(2 * inverseLength, inverseLength, 3 * inverseLength);
|
|
1433
|
+
const radians = Math.PI / 3;
|
|
1434
|
+
const quaternion = createQuaternion();
|
|
1435
|
+
setQuaternionFromAxisAngle(quaternion, axis, radians);
|
|
1436
|
+
const expected = createMatrix4();
|
|
1437
|
+
setMatrix4FromQuaternion(expected, quaternion);
|
|
1438
|
+
|
|
1439
|
+
const actual = createMatrix4();
|
|
1440
|
+
rotateMatrix4(actual, actual, axis, radians);
|
|
1441
|
+
|
|
1442
|
+
for (let i = 0; i < 16; i++) {
|
|
1443
|
+
expect(actual.m[i]).toBeCloseTo(expected.m[i], 6);
|
|
1444
|
+
}
|
|
1445
|
+
});
|
|
1446
|
+
|
|
1405
1447
|
it('preserves translation when rotating locally', () => {
|
|
1406
1448
|
const m = createMatrix4();
|
|
1407
1449
|
translateMatrix4(m, m, 5, 0, 0);
|
package/src/obb.test.ts
CHANGED
|
@@ -131,6 +131,15 @@ describe('isObbIntersectingAabb', () => {
|
|
|
131
131
|
const a = createAabb(-1, -1, -1, 1, 1, 1);
|
|
132
132
|
expect(isObbIntersectingAabb(o, a)).toBe(false);
|
|
133
133
|
});
|
|
134
|
+
|
|
135
|
+
it.each([
|
|
136
|
+
['x', createAabb(1, 0, 0, 0, 1, 1)],
|
|
137
|
+
['y', createAabb(0, 1, 0, 1, 0, 1)],
|
|
138
|
+
['z', createAabb(0, 0, 1, 1, 1, 0)],
|
|
139
|
+
])('returns false for an AABB empty on %s', (_axis, empty) => {
|
|
140
|
+
const o = createObb(0, 0, 0, 10, 10, 10, 0, 0, 0, 1);
|
|
141
|
+
expect(isObbIntersectingAabb(o, empty)).toBe(false);
|
|
142
|
+
});
|
|
134
143
|
});
|
|
135
144
|
|
|
136
145
|
describe('isObbIntersectingObb', () => {
|
package/src/ray3d.test.ts
CHANGED
|
@@ -1,5 +1,7 @@
|
|
|
1
1
|
import { createAabb } from './aabb';
|
|
2
2
|
import { createBoundingSphere } from './boundingSphere';
|
|
3
|
+
import { createCapsule, intersectRay3DCapsule } from './capsule';
|
|
4
|
+
import { createObb, intersectRay3DObb } from './obb';
|
|
3
5
|
import { createPlane } from './plane';
|
|
4
6
|
import {
|
|
5
7
|
createRay3D,
|
|
@@ -233,6 +235,14 @@ describe('intersectRay3DAabb', () => {
|
|
|
233
235
|
expect(t).toBeCloseTo(4);
|
|
234
236
|
});
|
|
235
237
|
|
|
238
|
+
it.each([
|
|
239
|
+
['x', createRay3D(5, 1.5, 1.5, -1, 0, 0), createAabb(2, 1, 1, 1, 2, 2)],
|
|
240
|
+
['y', createRay3D(1.5, 5, 1.5, 0, -1, 0), createAabb(1, 2, 1, 2, 1, 2)],
|
|
241
|
+
['z', createRay3D(1.5, 1.5, 5, 0, 0, -1), createAabb(1, 1, 2, 2, 2, 1)],
|
|
242
|
+
])('returns -1 for an AABB empty on %s', (_axis, ray, empty) => {
|
|
243
|
+
expect(intersectRay3DAabb(ray, empty)).toBe(-1);
|
|
244
|
+
});
|
|
245
|
+
|
|
236
246
|
it('returns -1 for a ray with no direction, inside the box or out', () => {
|
|
237
247
|
// A zero-length direction is not a ray, so it never hits anything — the same answer the
|
|
238
248
|
// sphere, capsule, plane and triangle tests give, and not a containment test in disguise.
|
|
@@ -291,6 +301,17 @@ describe('intersectRay3DPlane', () => {
|
|
|
291
301
|
const ray = createRay3D(0, 0, 3, 0, 0, 1); // pointing away from z=0
|
|
292
302
|
expect(intersectRay3DPlane(ray, plane)).toBe(-1);
|
|
293
303
|
});
|
|
304
|
+
|
|
305
|
+
it.each([1, 1e-6, 1e-12])('is invariant when the plane equation is scaled by %s', (scale) => {
|
|
306
|
+
const plane = createPlane(0, 0, scale, 3 * scale);
|
|
307
|
+
const ray = createRay3D(0, 0, -6, 0, 0, 2);
|
|
308
|
+
expect(intersectRay3DPlane(ray, plane)).toBeCloseTo(1.5, 10);
|
|
309
|
+
});
|
|
310
|
+
|
|
311
|
+
it('returns -1 for a zero normal or zero direction', () => {
|
|
312
|
+
expect(intersectRay3DPlane(createRay3D(0, 0, -3, 0, 0, 1), createPlane())).toBe(-1);
|
|
313
|
+
expect(intersectRay3DPlane(createRay3D(0, 0, -3, 0, 0, 0), createPlane(0, 0, 1, 0))).toBe(-1);
|
|
314
|
+
});
|
|
294
315
|
});
|
|
295
316
|
|
|
296
317
|
describe('intersectRay3DSphere', () => {
|
|
@@ -366,6 +387,28 @@ describe('intersectRay3DTriangle', () => {
|
|
|
366
387
|
expect(intersectRay3DTriangle(ray, p, p, p)).toBe(-1);
|
|
367
388
|
});
|
|
368
389
|
|
|
390
|
+
it.each([1, 1e-6, 1e-12])('accepts a non-normalized direction scaled by %s', (scale) => {
|
|
391
|
+
const ray = createRay3D(0, 0.3, -3, 0, 0, scale);
|
|
392
|
+
expect(intersectRay3DTriangle(ray, a, b, c) * scale).toBeCloseTo(3, 10);
|
|
393
|
+
});
|
|
394
|
+
|
|
395
|
+
it.each([1, 1e-3, 1e-6])('does not treat a triangle scaled by %s as degenerate', (scale) => {
|
|
396
|
+
const scaledA = { x: -scale, y: 0, z: 0 };
|
|
397
|
+
const scaledB = { x: scale, y: 0, z: 0 };
|
|
398
|
+
const scaledC = { x: 0, y: scale, z: 0 };
|
|
399
|
+
const ray = createRay3D(0, 0.3 * scale, -3, 0, 0, 1);
|
|
400
|
+
expect(intersectRay3DTriangle(ray, scaledA, scaledB, scaledC)).toBeCloseTo(3, 10);
|
|
401
|
+
});
|
|
402
|
+
|
|
403
|
+
it('returns -1 for a zero direction', () => {
|
|
404
|
+
expect(intersectRay3DTriangle(createRay3D(0, 0.3, -3, 0, 0, 0), a, b, c)).toBe(-1);
|
|
405
|
+
});
|
|
406
|
+
|
|
407
|
+
it('returns -1 for a nonzero direction nearly parallel to the triangle', () => {
|
|
408
|
+
const nearlyParallel = createRay3D(-1, 0.3, -1e-12, 1, 0, 1e-12);
|
|
409
|
+
expect(intersectRay3DTriangle(nearlyParallel, a, b, c)).toBe(-1);
|
|
410
|
+
});
|
|
411
|
+
|
|
369
412
|
it('returns -1 for points inside the triangle’s span but past its far edge', () => {
|
|
370
413
|
// The triangle covers x in [-1, 1] along the base and rises to (0, 1). A ray through
|
|
371
414
|
// (0.9, 0.9) lands in the corner the hypotenuse cuts off: within the reach of both edges
|
|
@@ -389,6 +432,22 @@ describe('intersectRay3DTriangle', () => {
|
|
|
389
432
|
});
|
|
390
433
|
});
|
|
391
434
|
|
|
435
|
+
describe('ray-shape direction scale parity', () => {
|
|
436
|
+
it.each([1, 1e-6, 1e-12])('preserves the hit point across all six shapes at scale %s', (scale) => {
|
|
437
|
+
const ray = createRay3D(5, 0, 0, -scale, 0, 0);
|
|
438
|
+
const hits = [
|
|
439
|
+
intersectRay3DAabb(ray, createAabb(-1, -1, -1, 1, 1, 1)),
|
|
440
|
+
intersectRay3DSphere(ray, createBoundingSphere(0, 0, 0, 1)),
|
|
441
|
+
intersectRay3DCapsule(ray, createCapsule(0, -1, 0, 0, 1, 0, 1)),
|
|
442
|
+
intersectRay3DObb(ray, createObb(0, 0, 0, 1, 1, 1, 0, 0, 0, 1)),
|
|
443
|
+
intersectRay3DPlane(ray, createPlane(1, 0, 0, -1)),
|
|
444
|
+
intersectRay3DTriangle(ray, { x: 1, y: -1, z: -1 }, { x: 1, y: 1, z: -1 }, { x: 1, y: 0, z: 1 }),
|
|
445
|
+
];
|
|
446
|
+
|
|
447
|
+
for (const t of hits) expect(t * scale).toBeCloseTo(4, 10);
|
|
448
|
+
});
|
|
449
|
+
});
|
|
450
|
+
|
|
392
451
|
describe('setRay3D', () => {
|
|
393
452
|
it('writes origin and direction into an existing ray', () => {
|
|
394
453
|
const ray = createRay3D();
|