@flighthq/picking 0.1.0 → 0.2.0

package/dist/pickScene.d.ts

@@ -1,4 +1,13 @@
 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;
+import type { Camera, Mesh, Ray3D, SceneHit } from '@flighthq/types';
+export interface ScenePickOptions {
+    cullBackfaces?: boolean;
+    maxDistance?: number;
+    predicate?: (mesh: Readonly<Mesh>) => boolean;
+}
+export declare function createSceneHit(): SceneHit;
+export declare function pickScene(scene: Readonly<Scene>, camera: Readonly<Camera>, screenX: number, screenY: number, out: SceneHit, options?: Readonly<ScenePickOptions>): SceneHit | null;
+export declare function pickSceneAll(scene: Readonly<Scene>, camera: Readonly<Camera>, screenX: number, screenY: number, outArray: SceneHit[], options?: Readonly<ScenePickOptions>): SceneHit[];
+export declare function pickSceneAllWithRay3D(scene: Readonly<Scene>, ray: Readonly<Ray3D>, outArray: SceneHit[], options?: Readonly<ScenePickOptions>): SceneHit[];
+export declare function pickSceneWithRay3D(scene: Readonly<Scene>, ray: Readonly<Ray3D>, out: SceneHit, options?: Readonly<ScenePickOptions>): SceneHit | null;
 //# sourceMappingURL=pickScene.d.ts.map

package/dist/pickScene.d.ts.map

@@ -1 +1 @@
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package/dist/pickScene.js

@@ -1,11 +1,70 @@
 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 { ensureNodeWorldTransformMatrix4, getNodeRuntime, getNodeWorldTransformMatrix4 } from '@flighthq/node';
 import { getSceneNodeWorldBounds, isMesh } from '@flighthq/scene';
+// Allocates a zeroed SceneHit. Handy for the `out` of `pickScene`/`pickSceneWithRay3D` and for
+// growing the `outArray` of the multi-hit queries. `node` is null until a pick fills it.
+export function createSceneHit() {
+    return {
+        distance: 0,
+        node: null,
+        normalX: 0,
+        normalY: 0,
+        normalZ: 0,
+        pointX: 0,
+        pointY: 0,
+        pointZ: 0,
+        triangleIndex: -1,
+        u: 0,
+        v: 0,
+        w: 0,
+    };
+}
 // 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).
+// A thin wrapper: it unprojects the camera ray, then delegates to `pickSceneWithRay3D`.
+//
+// Alias-safe: `out` is only written when a hit is found; on a miss `out` is untouched.
+export function pickScene(scene, camera, screenX, screenY, out, options) {
+    if (!buildCameraPickRay(_cameraRay, camera, screenX, screenY))
+        return null;
+    return pickSceneWithRay3D(scene, _cameraRay, out, options);
+}
+// Collects every Mesh hit by a camera pick ray into `outArray`, sorted by ascending distance, and
+// returns `outArray`. A thin wrapper over `pickSceneAllWithRay3D` that first unprojects the camera
+// ray; on an unprojectable camera the array is emptied and returned.
+export function pickSceneAll(scene, camera, screenX, screenY, outArray, options) {
+    if (!buildCameraPickRay(_cameraRay, camera, screenX, screenY)) {
+        outArray.length = 0;
+        return outArray;
+    }
+    return pickSceneAllWithRay3D(scene, _cameraRay, outArray, options);
+}
+// Collects every Mesh hit by a world-space `ray` into `outArray`, sorted by ascending distance, and
+// returns `outArray` (its `length` is set to the hit count; empty on a miss). Existing slots are
+// reused and new ones allocated as needed, so the array can be kept and refilled across picks. The
+// general primitive behind `pickSceneAll`; the ray need not be unit-length (see `ScenePickOptions`).
+export function pickSceneAllWithRay3D(scene, ray, outArray, options) {
+    let count = 0;
+    forEachSceneRayHit(scene, ray, options, (hit) => {
+        let slot = outArray[count];
+        if (slot === undefined) {
+            slot = createSceneHit();
+            outArray[count] = slot;
+        }
+        copySceneHit(slot, hit);
+        count++;
+    });
+    outArray.length = count;
+    outArray.sort(compareSceneHitByDistance);
+    return outArray;
+}
+// Resolves the nearest Mesh hit by a world-space `ray` through a scene, filling `out` and returning
+// it, or `null` on a miss. The general primitive behind `pickScene`: `pickScene` builds the ray from
+// a camera and delegates here. The ray direction need not be unit-length; `t` (and `out.distance`)
+// is in direction-length units.
 //
 // 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
@@ -14,54 +73,148 @@ import { getSceneNodeWorldBounds, isMesh } from '@flighthq/scene';
 // `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;
+export function pickSceneWithRay3D(scene, ray, out, options) {
     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)
+    forEachSceneRayHit(scene, ray, options, (hit) => {
+        if (hit.distance >= bestT)
             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);
-        }
+        bestT = hit.distance;
+        found = true;
+        copySceneHit(out, hit);
     });
     return found ? out : null;
 }
+// Unprojects a camera pick ray into `out`. Orthographic projections ignore `aspect` (their extents
+// are the half-width/half-height on the descriptor), so the passed value only matters for
+// perspective, where it must be the projection's own aspect to avoid a horizontal ray skew.
+function buildCameraPickRay(out, camera, screenX, screenY) {
+    const aspect = camera.projection.kind === 'perspective' ? camera.projection.aspect : 1;
+    return getCameraScreenToWorldRay(out, camera, screenX, screenY, aspect);
+}
+// Field-copies `src` into `out`. SceneHit is a plain result struct (no runtime identity), so a shallow
+// field copy is a full copy.
+function copySceneHit(out, src) {
+    out.node = src.node;
+    out.distance = src.distance;
+    out.triangleIndex = src.triangleIndex;
+    out.u = src.u;
+    out.v = src.v;
+    out.w = src.w;
+    out.pointX = src.pointX;
+    out.pointY = src.pointY;
+    out.pointZ = src.pointZ;
+    out.normalX = src.normalX;
+    out.normalY = src.normalY;
+    out.normalZ = src.normalZ;
+}
+// Ascending-distance comparator for `Array.sort` over SceneHit results.
+function compareSceneHitByDistance(a, b) {
+    return a.distance - b.distance;
+}
+// Walks every enabled Mesh in the scene, tests `ray` against its triangles under `options`, and calls
+// `onHit` once per passing triangle with the fully-populated shared `_hit` scratch. Disabled nodes
+// (`enabled === false`) prune their whole subtree, mirroring scene culling; the `predicate` option
+// excludes an individual mesh without pruning its descendants. `onHit` must consume `_hit` before it
+// returns — the scratch is overwritten on the next triangle.
+//
+// Non-reentrant (C/C++ port note): this pass and its narrow-phase run on module-level scratch
+// (`_hit`, `_localRay`, the vertex/point/normal temporaries, and the shared `_cameraRay` filled by the
+// camera wrappers). It must not be called re-entrantly, and `onHit` must not itself start another
+// pick. A native port replaces this shared scratch with per-call stack storage.
+function forEachSceneRayHit(scene, ray, options, onHit) {
+    const predicate = options?.predicate;
+    const maxDistance = options?.maxDistance ?? Infinity;
+    const cullBackfaces = options?.cullBackfaces ?? false;
+    pickNode(scene, ray, predicate, maxDistance, cullBackfaces, onHit);
+}
+// Depth-first pruning walk: a disabled node contributes nothing and skips its subtree; an enabled
+// Mesh is narrow-phase tested; every enabled node's children are descended.
+function pickNode(node, ray, predicate, maxDistance, cullBackfaces, onHit) {
+    if (!node.enabled)
+        return;
+    if (isMesh(node) && (predicate === undefined || predicate(node))) {
+        intersectMeshTriangles(node, ray, maxDistance, cullBackfaces, onHit);
+    }
+    const children = getNodeRuntime(node).children;
+    if (children !== null) {
+        for (let i = 0; i < children.length; i++) {
+            pickNode(children[i], ray, predicate, maxDistance, cullBackfaces, onHit);
+        }
+    }
+}
+// Broad-phase (world AABB) then brute-force ray↔triangle narrow-phase for one mesh, reporting each
+// passing triangle through `onHit`.
+function intersectMeshTriangles(mesh, ray, maxDistance, cullBackfaces, onHit) {
+    getSceneNodeWorldBounds(_worldBounds, mesh);
+    if (intersectRay3DAabb(ray, _worldBounds) < 0)
+        return;
+    ensureNodeWorldTransformMatrix4(mesh);
+    const worldMatrix = getNodeWorldTransformMatrix4(mesh);
+    if (!inverseMatrix4(_inverseWorld, worldMatrix))
+        return;
+    transformPointByMatrix4(_localRay.origin, ray.origin, _inverseWorld.m);
+    transformDirectionByMatrix4(_localRay.direction, ray.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 > maxDistance)
+            continue;
+        // World-space geometric face normal (normalized cross of two world edges). Transforming the
+        // three verts by the world matrix — rather than the local normal by the inverse-transpose —
+        // keeps the sign correct under mirroring/negative scale and yields the world normal directly.
+        transformPointByMatrix4(_wa, _a, worldMatrix.m);
+        transformPointByMatrix4(_wb, _b, worldMatrix.m);
+        transformPointByMatrix4(_wc, _c, worldMatrix.m);
+        if (!writeFaceNormal(_worldNormal, _wa, _wb, _wc))
+            continue;
+        // Back-facing when the ray runs along the same side as the normal (dot > 0). Only the sign
+        // matters, so the un-normalized ray direction is fine here.
+        if (cullBackfaces &&
+            ray.direction.x * _worldNormal.x + ray.direction.y * _worldNormal.y + ray.direction.z * _worldNormal.z > 0) {
+            continue;
+        }
+        _hit.node = mesh;
+        _hit.distance = t;
+        _hit.triangleIndex = triangle;
+        _hit.normalX = _worldNormal.x;
+        _hit.normalY = _worldNormal.y;
+        _hit.normalZ = _worldNormal.z;
+        getRay3DPointAt(_worldPoint, ray, t);
+        _hit.pointX = _worldPoint.x;
+        _hit.pointY = _worldPoint.y;
+        _hit.pointZ = _worldPoint.z;
+        getRay3DPointAt(_localPoint, _localRay, t);
+        writeBarycentric(_hit, _localPoint, _a, _b, _c);
+        onHit(_hit);
+    }
+}
+// Writes the unit geometric face normal of triangle `a,b,c` (normalized `(b-a) × (c-a)`) into `out`,
+// returning `false` for a degenerate (zero-area) triangle, in which case `out` is left untouched.
+function writeFaceNormal(out, a, b, c) {
+    const e1x = b.x - a.x, e1y = b.y - a.y, e1z = b.z - a.z;
+    const e2x = c.x - a.x, e2y = c.y - a.y, e2z = c.z - a.z;
+    const nx = e1y * e2z - e1z * e2y;
+    const ny = e1z * e2x - e1x * e2z;
+    const nz = e1x * e2y - e1y * e2x;
+    const lengthSquared = nx * nx + ny * ny + nz * nz;
+    if (lengthSquared === 0)
+        return false;
+    const inv = 1 / Math.sqrt(lengthSquared);
+    out.x = nx * inv;
+    out.y = ny * inv;
+    out.z = nz * inv;
+    return true;
+}
 // 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) {
@@ -103,13 +256,20 @@ function transformDirectionByMatrix4(out, d, m) {
     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();
+// Module-level scratch. This makes the pick pass non-reentrant (see forEachSceneRayHit) — a C/C++
+// port moves these to per-call stack storage.
+const _cameraRay = createRay3D();
 const _localRay = createRay3D();
 const _inverseWorld = createMatrix4();
 const _worldBounds = createAabb();
 const _a = createVector3();
 const _b = createVector3();
 const _c = createVector3();
+const _wa = createVector3();
+const _wb = createVector3();
+const _wc = createVector3();
+const _worldNormal = createVector3();
 const _localPoint = createVector3();
 const _worldPoint = createVector3();
+const _hit = createSceneHit();
 //# sourceMappingURL=pickScene.js.map

package/dist/pickScene.js.map

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,11 @@
 {
   "name": "@flighthq/picking",
-  "version": "0.1.0",
+  "version": "0.2.0",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/flighthq/flight.git",
+    "directory": "packages/picking"
+  },
   "type": "module",
   "main": "dist/index.js",
   "types": "dist/index.d.ts",
@@ -27,12 +32,12 @@
     "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"
+    "@flighthq/camera": "0.2.0",
+    "@flighthq/geometry": "0.2.0",
+    "@flighthq/mesh": "0.2.0",
+    "@flighthq/node": "0.2.0",
+    "@flighthq/scene": "0.2.0",
+    "@flighthq/types": "0.2.0"
   },
   "devDependencies": {
     "typescript": "^5.3.0"

package/src/pickScene.test.ts

@@ -1,12 +1,24 @@
-import { createCamera, createPerspectiveProjection, setCameraViewMatrix4FromLookAt } from '@flighthq/camera';
-import { createVector3 } from '@flighthq/geometry';
-import { createBoxMeshGeometry } from '@flighthq/mesh';
+import {
+  createCamera,
+  createOrthographicProjection,
+  createPerspectiveProjection,
+  setCameraViewMatrix4FromLookAt,
+} from '@flighthq/camera';
+import { createQuaternion, createRay3D, createVector3, setQuaternionFromAxisAngle, setRay3D } from '@flighthq/geometry';
+import { createBoxMeshGeometry, createMeshGeometryFromAttributes } 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 {
+  createMesh,
+  createScene,
+  createSceneNode,
+  setSceneNodePosition,
+  setSceneNodeRotationQuaternion,
+  setSceneNodeScale,
+} from '@flighthq/scene';
+import type { Camera, Mesh, Ray3D, SceneHit } from '@flighthq/types';
 
-import { pickScene } from './pickScene';
+import { createSceneHit, pickScene, pickSceneAll, pickSceneAllWithRay3D, pickSceneWithRay3D } from './pickScene';
 
 function makeCamera(): Camera {
   const camera = createCamera({
@@ -19,8 +31,33 @@ function makeCamera(): Camera {
   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 };
+// Orthographic camera with a deliberately non-square view volume (halfWidth != halfHeight) to guard
+// against a horizontal/vertical mismap. Looks down -Z from z = 5.
+function makeOrthoCamera(halfWidth: number, halfHeight: number): Camera {
+  const camera = createCamera({
+    far: 100,
+    near: 0.1,
+    projection: createOrthographicProjection({ halfHeight, halfWidth }),
+  });
+  setCameraViewMatrix4FromLookAt(camera, createVector3(0, 0, 5), createVector3(0, 0, 0), createVector3(0, 1, 0));
+  return camera;
+}
+
+// A world-space ray from z = 5 pointing toward the origin along -Z (mirrors makeCamera's center ray).
+function makeCenterRay(): Ray3D {
+  const ray = createRay3D();
+  setRay3D(ray, createVector3(0, 0, 5), createVector3(0, 0, -1));
+  return ray;
+}
+
+// A single triangle in the z = 0 plane. `frontFacing` winds it so its geometric normal points toward
+// +Z (toward a camera at +Z); otherwise it faces -Z (away).
+function triangleMesh(frontFacing: boolean): Mesh {
+  const a = [-1, -1, 0];
+  const b = frontFacing ? [1, -1, 0] : [0, 1, 0];
+  const c = frontFacing ? [0, 1, 0] : [1, -1, 0];
+  const geometry = createMeshGeometryFromAttributes({ positions: [...a, ...b, ...c] });
+  return createMesh(geometry, []);
 }
 
 function sceneWithCenteredBox(): { scene: Scene; mesh: Mesh } {
@@ -30,11 +67,23 @@ function sceneWithCenteredBox(): { scene: Scene; mesh: Mesh } {
   return { scene, mesh };
 }
 
+describe('createSceneHit', () => {
+  it('allocates a zeroed hit with a sentinel triangle index', () => {
+    const hit = createSceneHit();
+
+    expect(hit.triangleIndex).toBe(-1);
+    expect(hit.distance).toBe(0);
+    expect(hit.normalX).toBe(0);
+    expect(hit.normalY).toBe(0);
+    expect(hit.normalZ).toBe(0);
+  });
+});
+
 describe('pickScene', () => {
   it('fills barycentric weights that sum to one', () => {
     const camera = makeCamera();
     const { scene } = sceneWithCenteredBox();
-    const out = makeHit();
+    const out = createSceneHit();
 
     const hit = pickScene(scene, camera, 0, 0, out);
 
@@ -42,13 +91,27 @@ describe('pickScene', () => {
     expect((hit?.u ?? 0) + (hit?.v ?? 0) + (hit?.w ?? 0)).toBeCloseTo(1, 5);
   });
 
+  it('fills the world face normal and triangle index of the hit', () => {
+    const camera = makeCamera();
+    const { scene } = sceneWithCenteredBox();
+    const out = createSceneHit();
+
+    const hit = pickScene(scene, camera, 0, 0, out);
+
+    // Front face of the box points at +Z (toward the camera at z = 5).
+    expect(hit?.normalZ).toBeCloseTo(1, 5);
+    expect(hit?.normalX).toBeCloseTo(0, 5);
+    expect(hit?.normalY).toBeCloseTo(0, 5);
+    expect(hit?.triangleIndex).toBeGreaterThanOrEqual(0);
+  });
+
   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();
+    const out = createSceneHit();
 
     expect(pickScene(scene, camera, 0, 0, out)).toBeNull();
   });
@@ -56,7 +119,7 @@ describe('pickScene', () => {
   it('returns null when the ray misses every mesh', () => {
     const camera = makeCamera();
     const { scene } = sceneWithCenteredBox();
-    const out = makeHit();
+    const out = createSceneHit();
 
     // Far corner of the viewport points away from the small centred box.
     expect(pickScene(scene, camera, 0.99, 0.99, out)).toBeNull();
@@ -65,7 +128,7 @@ describe('pickScene', () => {
   it('returns null when the scene has no meshes', () => {
     const camera = makeCamera();
     const scene = createScene();
-    const out = makeHit();
+    const out = createSceneHit();
 
     expect(pickScene(scene, camera, 0, 0, out)).toBeNull();
   });
@@ -73,7 +136,7 @@ describe('pickScene', () => {
   it('returns the mesh hit by the center ray', () => {
     const camera = makeCamera();
     const { scene, mesh } = sceneWithCenteredBox();
-    const out = makeHit();
+    const out = createSceneHit();
 
     const hit = pickScene(scene, camera, 0, 0, out);
 
@@ -101,7 +164,7 @@ describe('pickScene', () => {
     setSceneNodePosition(meshNear, 0, 0, 2);
     addNodeChild(scene, meshNear);
 
-    const out = makeHit();
+    const out = createSceneHit();
     const hit = pickScene(scene, camera, 0, 0, out);
 
     expect(hit).toBe(out);
@@ -111,4 +174,191 @@ describe('pickScene', () => {
     expect(hit?.distance).toBeGreaterThan(0);
     expect(hit?.distance).toBeLessThan(3); // meshFar's front face would be at distance ≈ 4
   });
+
+  it('skips a disabled mesh so it is not pickable', () => {
+    const camera = makeCamera();
+    const { scene, mesh } = sceneWithCenteredBox();
+    mesh.enabled = false;
+    const out = createSceneHit();
+
+    expect(pickScene(scene, camera, 0, 0, out)).toBeNull();
+  });
+
+  it('prunes the subtree of a disabled group node', () => {
+    const camera = makeCamera();
+    const scene = createScene();
+    const group = createSceneNode();
+    group.enabled = false;
+    const mesh = createMesh(createBoxMeshGeometry(2, 2, 2), []);
+    addNodeChild(group, mesh);
+    addNodeChild(scene, group);
+    const out = createSceneHit();
+
+    expect(pickScene(scene, camera, 0, 0, out)).toBeNull();
+  });
+
+  it('excludes a mesh rejected by the predicate option', () => {
+    const camera = makeCamera();
+    const scene = createScene();
+    const meshFar = createMesh(createBoxMeshGeometry(2, 2, 2), []);
+    addNodeChild(scene, meshFar);
+    const meshNear = createMesh(createBoxMeshGeometry(2, 2, 2), []);
+    setSceneNodePosition(meshNear, 0, 0, 2);
+    addNodeChild(scene, meshNear);
+    const out = createSceneHit();
+
+    const hit = pickScene(scene, camera, 0, 0, out, { predicate: (m) => m === meshFar });
+
+    expect(hit?.node).toBe(meshFar);
+  });
+
+  it('rejects hits beyond maxDistance', () => {
+    const camera = makeCamera();
+    const { scene } = sceneWithCenteredBox();
+    const out = createSceneHit();
+
+    // Front face is ~4 world units from the camera at z = 5.
+    expect(pickScene(scene, camera, 0, 0, out, { maxDistance: 3 })).toBeNull();
+    expect(pickScene(scene, camera, 0, 0, out, { maxDistance: 4.5 })).not.toBeNull();
+  });
+
+  it('maps a non-square orthographic viewport without an aspect mismap', () => {
+    // View volume is 8 wide (halfWidth 4) but only 2 tall (halfHeight 1).
+    const camera = makeOrthoCamera(4, 1);
+    const scene = createScene();
+    // A 2x2x2 box centred at x = 3 spans x in [2, 4], within the horizontal extent but well outside
+    // the vertical one — so a square (aspect = 1) mismap of screenX would miss it.
+    const mesh = createMesh(createBoxMeshGeometry(2, 2, 2), []);
+    setSceneNodePosition(mesh, 3, 0, 0);
+    addNodeChild(scene, mesh);
+    const out = createSceneHit();
+
+    // screenX = 0.75 → world x = 0.75 * halfWidth(4) = 3.
+    const hit = pickScene(scene, camera, 0.75, 0, out);
+
+    expect(hit?.node).toBe(mesh);
+    expect(hit?.pointX).toBeCloseTo(3, 3);
+    expect(hit?.pointZ).toBeCloseTo(1, 3);
+    // A pick past the horizontal extent misses.
+    expect(pickScene(scene, camera, 1.1, 0, out)).toBeNull();
+  });
+
+  it('hits a rotated and scaled mesh through the local-space path', () => {
+    const camera = makeCamera();
+    const scene = createScene();
+    const mesh = createMesh(createBoxMeshGeometry(2, 2, 2), []);
+    // Non-uniform scale (z doubled) plus a rotation about the Z axis. The +Z face stays on-axis, so
+    // its world position is z = 1 * 2 = 2 while the surrounding geometry is rotated — exercising the
+    // inverse-transform narrow phase.
+    setSceneNodeScale(mesh, 1.5, 1.5, 2);
+    const q = createQuaternion();
+    setQuaternionFromAxisAngle(q, createVector3(0, 0, 1), Math.PI / 4);
+    setSceneNodeRotationQuaternion(mesh, q);
+    addNodeChild(scene, mesh);
+    const out = createSceneHit();
+
+    const hit = pickScene(scene, camera, 0, 0, out);
+
+    expect(hit?.node).toBe(mesh);
+    expect(hit?.pointZ).toBeCloseTo(2, 3);
+    expect(hit?.pointX).toBeCloseTo(0, 3);
+    expect(hit?.pointY).toBeCloseTo(0, 3);
+    expect(hit?.normalZ).toBeCloseTo(1, 3);
+  });
+});
+
+describe('pickSceneAll', () => {
+  it('collects both overlapping meshes sorted by ascending distance', () => {
+    const camera = makeCamera();
+    const scene = createScene();
+    const meshFar = createMesh(createBoxMeshGeometry(2, 2, 2), []);
+    addNodeChild(scene, meshFar);
+    const meshNear = createMesh(createBoxMeshGeometry(2, 2, 2), []);
+    setSceneNodePosition(meshNear, 0, 0, 2);
+    addNodeChild(scene, meshNear);
+    const outArray: SceneHit[] = [];
+
+    const hits = pickSceneAll(scene, camera, 0, 0, outArray);
+
+    expect(hits).toBe(outArray);
+    // Each box contributes a front-face hit (a 2x2x2 box's front quad is two triangles, but the
+    // center ray crosses one triangle per box). Nearest first.
+    expect(hits.length).toBeGreaterThanOrEqual(2);
+    for (let i = 1; i < hits.length; i++) {
+      expect(hits[i].distance).toBeGreaterThanOrEqual(hits[i - 1].distance);
+    }
+    expect(hits[0].node).toBe(meshNear);
+  });
+
+  it('empties the array on a miss', () => {
+    const camera = makeCamera();
+    const { scene } = sceneWithCenteredBox();
+    const outArray: SceneHit[] = [createSceneHit(), createSceneHit()];
+
+    const hits = pickSceneAll(scene, camera, 0.99, 0.99, outArray);
+
+    expect(hits).toBe(outArray);
+    expect(hits.length).toBe(0);
+  });
+});
+
+describe('pickSceneAllWithRay3D', () => {
+  it('collects every triangle a world ray crosses, front and back faces', () => {
+    const { scene } = sceneWithCenteredBox();
+    const ray = makeCenterRay();
+    const outArray: SceneHit[] = [];
+
+    const hits = pickSceneAllWithRay3D(scene, ray, outArray);
+
+    // The center ray runs along the shared diagonal of each quad, so it grazes both triangles of the
+    // front face (z = 1) and both of the back face (z = -1): four hits, sorted near-to-far.
+    expect(hits.length).toBe(4);
+    for (let i = 1; i < hits.length; i++) {
+      expect(hits[i].distance).toBeGreaterThanOrEqual(hits[i - 1].distance);
+    }
+    expect(hits[0].pointZ).toBeCloseTo(1, 3);
+    expect(hits[hits.length - 1].pointZ).toBeCloseTo(-1, 3);
+  });
+
+  it('keeps only front faces when cullBackfaces is set', () => {
+    const { scene } = sceneWithCenteredBox();
+    const ray = makeCenterRay();
+    const outArray: SceneHit[] = [];
+
+    const hits = pickSceneAllWithRay3D(scene, ray, outArray, { cullBackfaces: true });
+
+    // Only the two front-face triangles survive; both point at +Z (toward the ray origin).
+    expect(hits.length).toBe(2);
+    for (const hit of hits) {
+      expect(hit.pointZ).toBeCloseTo(1, 3);
+      expect(hit.normalZ).toBeCloseTo(1, 3);
+    }
+  });
+});
+
+describe('pickSceneWithRay3D', () => {
+  it('resolves the nearest hit for a world-space ray', () => {
+    const { scene, mesh } = sceneWithCenteredBox();
+    const ray = makeCenterRay();
+    const out = createSceneHit();
+
+    const hit = pickSceneWithRay3D(scene, ray, out, {});
+
+    expect(hit).toBe(out);
+    expect(hit?.node).toBe(mesh);
+    expect(hit?.pointZ).toBeCloseTo(1, 3);
+  });
+
+  it('culls a back-facing triangle but keeps a front-facing one', () => {
+    const front = createScene();
+    addNodeChild(front, triangleMesh(true));
+    const back = createScene();
+    addNodeChild(back, triangleMesh(false));
+    const out = createSceneHit();
+
+    expect(pickSceneWithRay3D(front, makeCenterRay(), out, { cullBackfaces: true })).not.toBeNull();
+    expect(pickSceneWithRay3D(back, makeCenterRay(), out, { cullBackfaces: true })).toBeNull();
+    // Double-sided (default) hits either winding.
+    expect(pickSceneWithRay3D(back, makeCenterRay(), out)).not.toBeNull();
+  });
 });