@flighthq/picking 0.1.0

package/dist/index.d.ts

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+export * from './pickScene';
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,cAAc,aAAa,CAAC"}

package/dist/index.js

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+export * from './pickScene';
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,cAAc,aAAa,CAAC"}

package/dist/pickScene.d.ts

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+import type { Scene } from '@flighthq/scene';
+import type { Camera, SceneHit } from '@flighthq/types';
+export declare function pickScene(scene: Readonly<Scene>, camera: Readonly<Camera>, screenX: number, screenY: number, out: SceneHit): SceneHit | null;
+//# sourceMappingURL=pickScene.d.ts.map

package/dist/pickScene.d.ts.map

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package/dist/pickScene.js

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+import { getCameraScreenToWorldRay } from '@flighthq/camera';
+import { createAabb, createMatrix4, createRay3D, createVector3, getRay3DPointAt, intersectRay3DAabb, intersectRay3DTriangle, inverseMatrix4, } from '@flighthq/geometry';
+import { getMeshGeometryTriangleCount, getMeshGeometryVertexPosition } from '@flighthq/mesh';
+import { ensureNodeWorldTransformMatrix4, forEachNodeDescendant, getNodeWorldTransformMatrix4 } from '@flighthq/node';
+import { getSceneNodeWorldBounds, isMesh } from '@flighthq/scene';
+// Resolves the nearest Mesh hit by a camera pick ray through a scene, filling `out` and returning it,
+// or `null` on a miss (sentinel, not a throw). `screenX`/`screenY` are normalized device coordinates
+// in [-1, 1] (the viewport→NDC mapping is the caller's responsibility, mirroring the camera unproject).
+//
+// Bronze precision: per-node broad-phase against the world AABB, then a brute-force ray↔triangle test
+// over the candidate `MeshGeometry` (a per-`MeshGeometry` BVH is a later additive optimization). The
+// ray is transformed into each mesh's local space (one inverse matrix per mesh) rather than every
+// vertex into world space; the local direction is intentionally left un-normalized so the parametric
+// `t` stays in world-ray units and is comparable across meshes.
+//
+// Alias-safe: `out` is only written when a nearer hit is found; on a miss `out` is untouched.
+export function pickScene(scene, camera, screenX, screenY, out) {
+    const aspect = camera.projection.kind === 'perspective' ? camera.projection.aspect : 1;
+    if (!getCameraScreenToWorldRay(_worldRay, camera, screenX, screenY, aspect))
+        return null;
+    let found = false;
+    let bestT = Infinity;
+    forEachNodeDescendant(scene, (node) => {
+        const mesh = node;
+        if (!isMesh(mesh))
+            return;
+        // Broad-phase: skip meshes whose world bounds the ray cannot reach.
+        getSceneNodeWorldBounds(_worldBounds, mesh);
+        if (intersectRay3DAabb(_worldRay, _worldBounds) < 0)
+            return;
+        // Narrow-phase: test in mesh-local space. Requires the world matrix to be invertible.
+        ensureNodeWorldTransformMatrix4(mesh);
+        if (!inverseMatrix4(_inverseWorld, getNodeWorldTransformMatrix4(mesh)))
+            return;
+        transformPointByMatrix4(_localRay.origin, _worldRay.origin, _inverseWorld.m);
+        transformDirectionByMatrix4(_localRay.direction, _worldRay.direction, _inverseWorld.m);
+        const geometry = mesh.geometry;
+        const indices = geometry.indices;
+        const triangleCount = getMeshGeometryTriangleCount(geometry);
+        for (let triangle = 0; triangle < triangleCount; triangle++) {
+            const base = triangle * 3;
+            const i0 = indices ? indices[base] : base;
+            const i1 = indices ? indices[base + 1] : base + 1;
+            const i2 = indices ? indices[base + 2] : base + 2;
+            getMeshGeometryVertexPosition(_a, geometry, i0);
+            getMeshGeometryVertexPosition(_b, geometry, i1);
+            getMeshGeometryVertexPosition(_c, geometry, i2);
+            const t = intersectRay3DTriangle(_localRay, _a, _b, _c);
+            if (t < 0 || t >= bestT)
+                continue;
+            bestT = t;
+            found = true;
+            out.node = mesh;
+            out.distance = t;
+            getRay3DPointAt(_worldPoint, _worldRay, t);
+            out.pointX = _worldPoint.x;
+            out.pointY = _worldPoint.y;
+            out.pointZ = _worldPoint.z;
+            getRay3DPointAt(_localPoint, _localRay, t);
+            writeBarycentric(out, _localPoint, _a, _b, _c);
+        }
+    });
+    return found ? out : null;
+}
+// Fills `out.u/v/w` with the barycentric weights of `p` within triangle `a,b,c` (weights of a, b, c
+// respectively; `p = u*a + v*b + w*c`). Degenerate triangles collapse to `(1, 0, 0)`.
+function writeBarycentric(out, p, a, b, c) {
+    const v0x = b.x - a.x, v0y = b.y - a.y, v0z = b.z - a.z;
+    const v1x = c.x - a.x, v1y = c.y - a.y, v1z = c.z - a.z;
+    const v2x = p.x - a.x, v2y = p.y - a.y, v2z = p.z - a.z;
+    const d00 = v0x * v0x + v0y * v0y + v0z * v0z;
+    const d01 = v0x * v1x + v0y * v1y + v0z * v1z;
+    const d11 = v1x * v1x + v1y * v1y + v1z * v1z;
+    const d20 = v2x * v0x + v2y * v0y + v2z * v0z;
+    const d21 = v2x * v1x + v2y * v1y + v2z * v1z;
+    const denom = d00 * d11 - d01 * d01;
+    if (denom === 0) {
+        out.u = 1;
+        out.v = 0;
+        out.w = 0;
+        return;
+    }
+    const inv = 1 / denom;
+    const v = (d11 * d20 - d01 * d21) * inv;
+    const w = (d00 * d21 - d01 * d20) * inv;
+    out.u = 1 - v - w;
+    out.v = v;
+    out.w = w;
+}
+// Transforms a point (w = 1) by a column-major 4x4 matrix array into `out`.
+function transformPointByMatrix4(out, p, m) {
+    const x = p.x, y = p.y, z = p.z;
+    out.x = m[0] * x + m[4] * y + m[8] * z + m[12];
+    out.y = m[1] * x + m[5] * y + m[9] * z + m[13];
+    out.z = m[2] * x + m[6] * y + m[10] * z + m[14];
+}
+// Transforms a direction (w = 0, translation ignored) by a column-major 4x4 matrix array into `out`.
+// The result is intentionally not normalized so a ray's parametric `t` is preserved across the
+// world↔local transform.
+function transformDirectionByMatrix4(out, d, m) {
+    const x = d.x, y = d.y, z = d.z;
+    out.x = m[0] * x + m[4] * y + m[8] * z;
+    out.y = m[1] * x + m[5] * y + m[9] * z;
+    out.z = m[2] * x + m[6] * y + m[10] * z;
+}
+const _worldRay = createRay3D();
+const _localRay = createRay3D();
+const _inverseWorld = createMatrix4();
+const _worldBounds = createAabb();
+const _a = createVector3();
+const _b = createVector3();
+const _c = createVector3();
+const _localPoint = createVector3();
+const _worldPoint = createVector3();
+//# sourceMappingURL=pickScene.js.map

package/dist/pickScene.js.map

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package/package.json

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+{
+  "name": "@flighthq/picking",
+  "version": "0.1.0",
+  "type": "module",
+  "main": "dist/index.js",
+  "types": "dist/index.d.ts",
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "default": "./dist/index.js"
+    }
+  },
+  "files": [
+    "dist",
+    "src/**/*.test.ts",
+    "!dist/**/*.test.js",
+    "!dist/**/*.test.d.ts",
+    "!dist/**/*.test.js.map",
+    "!dist/**/*.test.d.ts.map"
+  ],
+  "scripts": {
+    "build": "tsc -b",
+    "clean": "tsc -b --clean",
+    "test": "vitest run --config vitest.config.ts",
+    "test:watch": "vitest --watch --config vitest.config.ts",
+    "prepack": "npm run clean && npm run clean:dist && npm run build",
+    "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
+  },
+  "dependencies": {
+    "@flighthq/camera": "0.1.0",
+    "@flighthq/geometry": "0.1.0",
+    "@flighthq/mesh": "0.1.0",
+    "@flighthq/node": "0.1.0",
+    "@flighthq/scene": "0.1.0",
+    "@flighthq/types": "0.1.0"
+  },
+  "devDependencies": {
+    "typescript": "^5.3.0"
+  },
+  "description": "3D picking: camera-ray scene selection (ray vs bounds + brute-force ray vs triangle)",
+  "sideEffects": false
+}

package/src/pickScene.test.ts

@@ -0,0 +1,114 @@
+import { createCamera, createPerspectiveProjection, setCameraViewMatrix4FromLookAt } from '@flighthq/camera';
+import { createVector3 } from '@flighthq/geometry';
+import { createBoxMeshGeometry } from '@flighthq/mesh';
+import { addNodeChild } from '@flighthq/node';
+import type { Scene } from '@flighthq/scene';
+import { createMesh, createScene, createSceneNode, setSceneNodePosition } from '@flighthq/scene';
+import type { Camera, Mesh, SceneHit } from '@flighthq/types';
+
+import { pickScene } from './pickScene';
+
+function makeCamera(): Camera {
+  const camera = createCamera({
+    far: 100,
+    near: 0.1,
+    projection: createPerspectiveProjection({ aspect: 1, fovY: Math.PI / 2 }),
+  });
+  // Look down -Z at the origin from z = 5.
+  setCameraViewMatrix4FromLookAt(camera, createVector3(0, 0, 5), createVector3(0, 0, 0), createVector3(0, 1, 0));
+  return camera;
+}
+
+function makeHit(): SceneHit {
+  return { distance: 0, node: null as unknown as Mesh, pointX: 0, pointY: 0, pointZ: 0, u: 0, v: 0, w: 0 };
+}
+
+function sceneWithCenteredBox(): { scene: Scene; mesh: Mesh } {
+  const scene = createScene();
+  const mesh = createMesh(createBoxMeshGeometry(2, 2, 2), []);
+  addNodeChild(scene, mesh);
+  return { scene, mesh };
+}
+
+describe('pickScene', () => {
+  it('fills barycentric weights that sum to one', () => {
+    const camera = makeCamera();
+    const { scene } = sceneWithCenteredBox();
+    const out = makeHit();
+
+    const hit = pickScene(scene, camera, 0, 0, out);
+
+    expect(hit).not.toBeNull();
+    expect((hit?.u ?? 0) + (hit?.v ?? 0) + (hit?.w ?? 0)).toBeCloseTo(1, 5);
+  });
+
+  it('returns null for a scene containing only non-mesh nodes', () => {
+    const camera = makeCamera();
+    const scene = createScene();
+    // A plain SceneNode is not a Mesh; isMesh() returns false for it.
+    const node = createSceneNode();
+    addNodeChild(scene, node);
+    const out = makeHit();
+
+    expect(pickScene(scene, camera, 0, 0, out)).toBeNull();
+  });
+
+  it('returns null when the ray misses every mesh', () => {
+    const camera = makeCamera();
+    const { scene } = sceneWithCenteredBox();
+    const out = makeHit();
+
+    // Far corner of the viewport points away from the small centred box.
+    expect(pickScene(scene, camera, 0.99, 0.99, out)).toBeNull();
+  });
+
+  it('returns null when the scene has no meshes', () => {
+    const camera = makeCamera();
+    const scene = createScene();
+    const out = makeHit();
+
+    expect(pickScene(scene, camera, 0, 0, out)).toBeNull();
+  });
+
+  it('returns the mesh hit by the center ray', () => {
+    const camera = makeCamera();
+    const { scene, mesh } = sceneWithCenteredBox();
+    const out = makeHit();
+
+    const hit = pickScene(scene, camera, 0, 0, out);
+
+    expect(hit).toBe(out);
+    expect(hit?.node).toBe(mesh);
+    // Front face of a 2x2x2 box centred at the origin is at z = 1; the ray travels -Z from z ~= 5.
+    expect(hit?.pointZ).toBeCloseTo(1, 3);
+    expect(hit?.pointX).toBeCloseTo(0, 3);
+    expect(hit?.pointY).toBeCloseTo(0, 3);
+    expect(hit?.distance).toBeGreaterThan(0);
+  });
+
+  it('returns the nearer of two overlapping meshes', () => {
+    // Camera is at z = 5 looking toward the origin in the -Z direction.
+    const camera = makeCamera();
+    const scene = createScene();
+
+    // meshFar is centred at the origin: front face at z = 1, back face at z = -1.
+    const meshFar = createMesh(createBoxMeshGeometry(2, 2, 2), []);
+    addNodeChild(scene, meshFar);
+
+    // meshNear is shifted to z = 2: front face at z = 3, back face at z = 1.
+    // The camera ray hits its front face first (distance ≈ 2 vs ≈ 4 for meshFar).
+    const meshNear = createMesh(createBoxMeshGeometry(2, 2, 2), []);
+    setSceneNodePosition(meshNear, 0, 0, 2);
+    addNodeChild(scene, meshNear);
+
+    const out = makeHit();
+    const hit = pickScene(scene, camera, 0, 0, out);
+
+    expect(hit).toBe(out);
+    expect(hit?.node).toBe(meshNear);
+    // Front face of meshNear is at z = 3.
+    expect(hit?.pointZ).toBeCloseTo(3, 3);
+    expect(hit?.distance).toBeGreaterThan(0);
+    expect(hit?.distance).toBeLessThan(3); // meshFar's front face would be at distance ≈ 4
+  });
+});