@flighthq/spatial 0.3.1-next.996.06087b5 → 0.4.0-edge.1908.751021c

package/dist/bvh3D.d.ts

@@ -0,0 +1,3 @@
+import type { SpatialIndexBackend3D } from '@flighthq/types/contract';
+export declare function createBvhSpatialBackend3D(margin?: number): SpatialIndexBackend3D;
+//# sourceMappingURL=bvh3D.d.ts.map

package/dist/bvh3D.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"bvh3D.d.ts","sourceRoot":"","sources":["../src/bvh3D.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAEV,qBAAqB,EAOtB,MAAM,0BAA0B,CAAC;AA4BlC,wBAAgB,yBAAyB,CAAC,MAAM,SAAwB,GAAG,qBAAqB,CAsB/F"}

package/dist/bvh3D.js

@@ -0,0 +1,575 @@
+import { reportSpatialIndexing } from './spatialIndexingGuard';
+// A dynamic bounding-volume hierarchy: the second 3D backend, beside the uniform grid.
+//
+// The grid is the right structure when objects are roughly one size and the world has a scale; a tree
+// is the right one when neither holds. A grid cell is a fixed world length, so an object much larger
+// than a cell occupies many of them and an object much smaller wastes one — and an unbounded world has
+// no cell size that is right anywhere. A tree adapts: it subdivides where objects are and nowhere else,
+// costs O(log n) per query regardless of extent, and has no tuning constant that can be wrong.
+//
+// It is DYNAMIC in the specific sense that leaves carry FAT bounds — the object's box grown by a
+// margin — so a body that moves a little stays inside the bounds already in the tree and needs no
+// reinsertion at all. That is what makes it usable for a physics broadphase, where nearly every object
+// moves nearly every step: without the margin, every step would be a full remove-and-reinsert.
+//
+// The margin buys cheap updates at the cost of looser traversal, which is why queries test a leaf's
+// EXACT bounds before publishing it. Traversal uses the fat box; the answer uses the real one. Skipping
+// that second test would make this backend report overlaps the grid does not, and the two are supposed
+// to be interchangeable.
+// Creates a BVH backend. `margin` is how far each leaf's stored box is grown beyond its object; a
+// larger margin means fewer reinsertions and looser internal nodes.
+//
+// The default suits a world whose objects are order-of-magnitude single-digit units and move a few
+// units per step. It is a world-space LENGTH, like the grid's cell size, so the two tune against the
+// same intuition.
+export function createBvhSpatialBackend3D(margin = DEFAULT_BVH_MARGIN_3D) {
+    const tree = createBvh3D(margin);
+    return {
+        clearSpatialIndex: () => clearBvh3D(tree),
+        explainSpatialIndexing: (id) => explainBvh3D(tree, id),
+        insertSpatialObject: (id, bounds) => insertBvh3D(tree, id, bounds, 'insert'),
+        querySpatialPairs: (out) => queryBvh3DPairs(tree, out),
+        querySpatialPoint: (x, y, z, out) => queryBvh3DPoint(tree, x, y, z, out),
+        querySpatialRay: (x, y, z, dx, dy, dz, out) => queryBvh3DRay(tree, x, y, z, dx, dy, dz, out),
+        querySpatialRegion: (region, out) => queryBvh3DRegion(tree, region, out),
+        removeSpatialObject: (id) => {
+            const wasMissing = !tree.leafByObject.has(id) && !tree.declined.has(id);
+            removeBvh3D(tree, id);
+            if (wasMissing)
+                reportBvh3DIndexing(tree, id, 'absent', 'remove', 'missing-id');
+        },
+        updateSpatialObject: (id, bounds) => {
+            const wasMissing = !tree.leafByObject.has(id) && !tree.declined.has(id);
+            const inserted = insertBvh3D(tree, id, bounds, 'update');
+            if (wasMissing)
+                reportBvh3DIndexing(tree, id, explainBvh3D(tree, id).mode, 'update', 'missing-id');
+            return inserted;
+        },
+    };
+}
+function createBvh3D(margin) {
+    return {
+        bounds: new Map(),
+        child1: [],
+        child2: [],
+        count: 0,
+        declined: new Map(),
+        freeList: [],
+        height: [],
+        leafByObject: new Map(),
+        margin: Number.isFinite(margin) && margin >= 0 ? margin : 0,
+        maxX: [],
+        maxY: [],
+        maxZ: [],
+        minX: [],
+        minY: [],
+        minZ: [],
+        object: [],
+        parent: [],
+        root: NIL,
+        stack: [],
+    };
+}
+function clearBvh3D(tree) {
+    tree.root = NIL;
+    tree.count = 0;
+    tree.freeList.length = 0;
+    tree.minX.length = 0;
+    tree.minY.length = 0;
+    tree.minZ.length = 0;
+    tree.maxX.length = 0;
+    tree.maxY.length = 0;
+    tree.maxZ.length = 0;
+    tree.parent.length = 0;
+    tree.child1.length = 0;
+    tree.child2.length = 0;
+    tree.height.length = 0;
+    tree.object.length = 0;
+    tree.leafByObject.clear();
+    tree.bounds.clear();
+    tree.declined.clear();
+}
+// A tree reports `cells` for an indexed object and a bucket count of zero.
+//
+// The mode vocabulary is shared with the grid and is grid-SHAPED — `cells` names a structure this one
+// does not have. It is used anyway because it is the only member meaning "indexed normally", and
+// `SpatialIndexingExplanation` already anticipates a bucketless structure by defining `bucketCount` as
+// zero for one. Renaming the mode would change a vocabulary every backend and both dimensions share.
+function explainBvh3D(tree, id) {
+    const reason = tree.declined.get(id);
+    if (reason !== undefined)
+        return { bucketCount: 0, id, mode: 'declined', reason };
+    if (!tree.leafByObject.has(id))
+        return { bucketCount: 0, id, mode: 'absent', reason: null };
+    return { bucketCount: 0, id, mode: 'cells', reason: null };
+}
+function insertBvh3D(tree, id, bounds, operation) {
+    if (!Number.isFinite(bounds.minX) ||
+        !Number.isFinite(bounds.minY) ||
+        !Number.isFinite(bounds.minZ) ||
+        !Number.isFinite(bounds.maxX) ||
+        !Number.isFinite(bounds.maxY) ||
+        !Number.isFinite(bounds.maxZ)) {
+        removeBvh3D(tree, id);
+        tree.declined.set(id, 'non-finite-bounds');
+        reportBvh3DIndexing(tree, id, 'declined', operation, 'non-finite-bounds');
+        return false;
+    }
+    if (bounds.maxX < bounds.minX || bounds.maxY < bounds.minY || bounds.maxZ < bounds.minZ) {
+        removeBvh3D(tree, id);
+        tree.declined.set(id, 'inverted-bounds');
+        reportBvh3DIndexing(tree, id, 'declined', operation, 'inverted-bounds');
+        return false;
+    }
+    tree.declined.delete(id);
+    const existing = tree.leafByObject.get(id);
+    if (existing !== undefined) {
+        // The whole point of the margin: if the object still sits inside the box already in the tree, the
+        // tree does not change at all. Only the exact bounds are refreshed, because queries answer from
+        // those and a stale one would report last step's overlap as this step's.
+        if (bounds.minX >= tree.minX[existing] &&
+            bounds.minY >= tree.minY[existing] &&
+            bounds.minZ >= tree.minZ[existing] &&
+            bounds.maxX <= tree.maxX[existing] &&
+            bounds.maxY <= tree.maxY[existing] &&
+            bounds.maxZ <= tree.maxZ[existing]) {
+            copyBounds3D(bounds, tree.bounds.get(id));
+            return true;
+        }
+        removeBvh3D(tree, id);
+    }
+    const leaf = allocateBvh3DNode(tree);
+    const margin = tree.margin;
+    tree.minX[leaf] = bounds.minX - margin;
+    tree.minY[leaf] = bounds.minY - margin;
+    tree.minZ[leaf] = bounds.minZ - margin;
+    tree.maxX[leaf] = bounds.maxX + margin;
+    tree.maxY[leaf] = bounds.maxY + margin;
+    tree.maxZ[leaf] = bounds.maxZ + margin;
+    tree.object[leaf] = id;
+    tree.height[leaf] = 0;
+    tree.child1[leaf] = NIL;
+    tree.child2[leaf] = NIL;
+    tree.leafByObject.set(id, leaf);
+    tree.bounds.set(id, {
+        maxX: bounds.maxX,
+        maxY: bounds.maxY,
+        maxZ: bounds.maxZ,
+        minX: bounds.minX,
+        minY: bounds.minY,
+        minZ: bounds.minZ,
+    });
+    tree.count += 1;
+    insertBvh3DLeaf(tree, leaf);
+    return true;
+}
+function removeBvh3D(tree, id) {
+    tree.declined.delete(id);
+    const leaf = tree.leafByObject.get(id);
+    if (leaf === undefined)
+        return;
+    tree.leafByObject.delete(id);
+    tree.bounds.delete(id);
+    tree.count -= 1;
+    removeBvh3DLeaf(tree, leaf);
+    freeBvh3DNode(tree, leaf);
+}
+// Descends to the leaf whose enclosing box grows LEAST by taking this one, which is the surface-area
+// heuristic in its simplest form. Descending by centre distance instead builds a tree that looks
+// balanced and traverses badly, because a node's cost is the area a ray or box must test against, not
+// how evenly its children are counted.
+function insertBvh3DLeaf(tree, leaf) {
+    if (tree.root === NIL) {
+        tree.root = leaf;
+        tree.parent[leaf] = NIL;
+        return;
+    }
+    let index = tree.root;
+    while (tree.height[index] > 0) {
+        const child1 = tree.child1[index];
+        const child2 = tree.child2[index];
+        const area = boundsArea(tree, index);
+        const combined = combinedArea(tree, index, leaf);
+        // The cost of putting the leaf here rather than deeper: a new parent covering both, plus the growth
+        // this node's own box would take on the way down.
+        const branchCost = 2 * combined;
+        const inheritanceCost = 2 * (combined - area);
+        const cost1 = descentCost(tree, child1, leaf, inheritanceCost);
+        const cost2 = descentCost(tree, child2, leaf, inheritanceCost);
+        if (branchCost < cost1 && branchCost < cost2)
+            break;
+        index = cost1 < cost2 ? child1 : child2;
+    }
+    const sibling = index;
+    const oldParent = tree.parent[sibling];
+    const newParent = allocateBvh3DNode(tree);
+    tree.parent[newParent] = oldParent;
+    tree.object[newParent] = NIL;
+    tree.child1[newParent] = sibling;
+    tree.child2[newParent] = leaf;
+    tree.height[newParent] = tree.height[sibling] + 1;
+    unionBounds(tree, newParent, sibling, leaf);
+    tree.parent[sibling] = newParent;
+    tree.parent[leaf] = newParent;
+    if (oldParent === NIL)
+        tree.root = newParent;
+    else if (tree.child1[oldParent] === sibling)
+        tree.child1[oldParent] = newParent;
+    else
+        tree.child2[oldParent] = newParent;
+    refitBvh3DAncestors(tree, tree.parent[leaf]);
+}
+function removeBvh3DLeaf(tree, leaf) {
+    if (leaf === tree.root) {
+        tree.root = NIL;
+        return;
+    }
+    const parent = tree.parent[leaf];
+    const grandParent = tree.parent[parent];
+    const sibling = tree.child1[parent] === leaf ? tree.child2[parent] : tree.child1[parent];
+    // The parent existed only to hold two children; with one gone it is pure indirection, so the sibling
+    // takes its place rather than the parent surviving with a single child.
+    if (grandParent === NIL) {
+        tree.root = sibling;
+        tree.parent[sibling] = NIL;
+        freeBvh3DNode(tree, parent);
+        return;
+    }
+    if (tree.child1[grandParent] === parent)
+        tree.child1[grandParent] = sibling;
+    else
+        tree.child2[grandParent] = sibling;
+    tree.parent[sibling] = grandParent;
+    freeBvh3DNode(tree, parent);
+    refitBvh3DAncestors(tree, grandParent);
+}
+// Walks to the root re-deriving each node's box and height, rebalancing as it goes.
+//
+// Both must happen on the way UP and in that order: a node's box is the union of its children's, so a
+// change at a leaf is only visible to a query once every ancestor has been rewritten. Refitting lazily
+// would leave a parent claiming a region its children no longer cover, which loses objects silently
+// rather than loudly.
+function refitBvh3DAncestors(tree, start) {
+    let index = start;
+    while (index !== NIL) {
+        index = balanceBvh3D(tree, index);
+        const child1 = tree.child1[index];
+        const child2 = tree.child2[index];
+        tree.height[index] = 1 + Math.max(tree.height[child1], tree.height[child2]);
+        unionBounds(tree, index, child1, child2);
+        index = tree.parent[index];
+    }
+}
+// One AVL-style rotation when a node's children differ in height by more than one, returning whichever
+// node now occupies the position. Without it a run of sorted insertions degenerates to a list and every
+// query becomes linear.
+function balanceBvh3D(tree, index) {
+    if (tree.height[index] < 2)
+        return index;
+    const child1 = tree.child1[index];
+    const child2 = tree.child2[index];
+    const balance = tree.height[child2] - tree.height[child1];
+    if (balance > 1)
+        return rotateBvh3D(tree, index, child2);
+    if (balance < -1)
+        return rotateBvh3D(tree, index, child1);
+    return index;
+}
+// Promotes `heavy` above `index`, re-parenting whichever of its children is taller to keep the result
+// balanced.
+function rotateBvh3D(tree, index, heavy) {
+    const heavyChild1 = tree.child1[heavy];
+    const heavyChild2 = tree.child2[heavy];
+    tree.child1[heavy] = index;
+    tree.parent[heavy] = tree.parent[index];
+    tree.parent[index] = heavy;
+    const grandParent = tree.parent[heavy];
+    if (grandParent === NIL)
+        tree.root = heavy;
+    else if (tree.child1[grandParent] === index)
+        tree.child1[grandParent] = heavy;
+    else
+        tree.child2[grandParent] = heavy;
+    const promote = tree.height[heavyChild1] > tree.height[heavyChild2] ? heavyChild1 : heavyChild2;
+    const demote = promote === heavyChild1 ? heavyChild2 : heavyChild1;
+    tree.child2[heavy] = promote;
+    if (tree.child1[index] === heavy)
+        tree.child1[index] = demote;
+    else
+        tree.child2[index] = demote;
+    tree.parent[demote] = index;
+    unionBounds(tree, index, tree.child1[index], tree.child2[index]);
+    unionBounds(tree, heavy, tree.child1[heavy], tree.child2[heavy]);
+    tree.height[index] = 1 + Math.max(tree.height[tree.child1[index]], tree.height[tree.child2[index]]);
+    tree.height[heavy] = 1 + Math.max(tree.height[tree.child1[heavy]], tree.height[tree.child2[heavy]]);
+    return heavy;
+}
+function queryBvh3DPairs(tree, out) {
+    let written = 0;
+    if (tree.root === NIL) {
+        out.length = 0;
+        return;
+    }
+    tree.leafByObject.forEach((leaf, id) => {
+        const exact = tree.bounds.get(id);
+        if (exact === undefined)
+            return;
+        const stack = tree.stack;
+        stack.length = 0;
+        stack.push(tree.root);
+        while (stack.length > 0) {
+            const node = stack.pop();
+            if (node === NIL || node === leaf)
+                continue;
+            if (!nodeOverlapsBounds(tree, node, exact))
+                continue;
+            if (tree.height[node] === 0) {
+                const other = tree.object[node];
+                // Each unordered pair once. Comparing ids rather than tracking a seen-set is what keeps this
+                // allocation-free, and it is why a pair is emitted by the lower-id member only.
+                if (other <= id)
+                    continue;
+                const otherExact = tree.bounds.get(other);
+                if (otherExact !== undefined && boundsOverlap3D(exact, otherExact)) {
+                    const pair = out[written];
+                    if (pair === undefined)
+                        out.push({ a: id, b: other });
+                    else {
+                        pair.a = id;
+                        pair.b = other;
+                    }
+                    written += 1;
+                }
+                continue;
+            }
+            stack.push(tree.child1[node]);
+            stack.push(tree.child2[node]);
+        }
+    });
+    out.length = written;
+}
+function queryBvh3DPoint(tree, x, y, z, out) {
+    out.length = 0;
+    if (tree.root === NIL)
+        return;
+    const stack = tree.stack;
+    stack.length = 0;
+    stack.push(tree.root);
+    while (stack.length > 0) {
+        const node = stack.pop();
+        if (node === NIL)
+            continue;
+        if (x < tree.minX[node] ||
+            x > tree.maxX[node] ||
+            y < tree.minY[node] ||
+            y > tree.maxY[node] ||
+            z < tree.minZ[node] ||
+            z > tree.maxZ[node]) {
+            continue;
+        }
+        if (tree.height[node] === 0) {
+            const exact = tree.bounds.get(tree.object[node]);
+            // Half-open [min, max) on every axis, matching the grid: a point exactly on a maximum face is
+            // outside. Sharing the convention is what keeps a point on a shared face from belonging to two
+            // adjacent boxes in one backend and one box in the other.
+            if (exact !== undefined &&
+                x >= exact.minX &&
+                x < exact.maxX &&
+                y >= exact.minY &&
+                y < exact.maxY &&
+                z >= exact.minZ &&
+                z < exact.maxZ) {
+                out.push(tree.object[node]);
+            }
+            continue;
+        }
+        stack.push(tree.child1[node]);
+        stack.push(tree.child2[node]);
+    }
+}
+function queryBvh3DRay(tree, x, y, z, dx, dy, dz, out) {
+    out.length = 0;
+    if (tree.root === NIL)
+        return;
+    const stack = tree.stack;
+    stack.length = 0;
+    stack.push(tree.root);
+    while (stack.length > 0) {
+        const node = stack.pop();
+        if (node === NIL)
+            continue;
+        if (!raySlabsHit(x, y, z, dx, dy, dz, tree.minX[node], tree.minY[node], tree.minZ[node], tree.maxX[node], tree.maxY[node], tree.maxZ[node])) {
+            continue;
+        }
+        if (tree.height[node] === 0) {
+            const exact = tree.bounds.get(tree.object[node]);
+            if (exact !== undefined &&
+                raySlabsHit(x, y, z, dx, dy, dz, exact.minX, exact.minY, exact.minZ, exact.maxX, exact.maxY, exact.maxZ)) {
+                out.push(tree.object[node]);
+            }
+            continue;
+        }
+        stack.push(tree.child1[node]);
+        stack.push(tree.child2[node]);
+    }
+}
+function queryBvh3DRegion(tree, region, out) {
+    out.length = 0;
+    if (tree.root === NIL)
+        return;
+    const stack = tree.stack;
+    stack.length = 0;
+    stack.push(tree.root);
+    while (stack.length > 0) {
+        const node = stack.pop();
+        if (node === NIL || !nodeOverlapsBounds(tree, node, region))
+            continue;
+        if (tree.height[node] === 0) {
+            const exact = tree.bounds.get(tree.object[node]);
+            if (exact !== undefined && boundsOverlap3D(exact, region))
+                out.push(tree.object[node]);
+            continue;
+        }
+        stack.push(tree.child1[node]);
+        stack.push(tree.child2[node]);
+    }
+}
+function allocateBvh3DNode(tree) {
+    const recycled = tree.freeList.pop();
+    if (recycled !== undefined) {
+        tree.parent[recycled] = NIL;
+        tree.child1[recycled] = NIL;
+        tree.child2[recycled] = NIL;
+        tree.height[recycled] = 0;
+        tree.object[recycled] = NIL;
+        return recycled;
+    }
+    const index = tree.minX.length;
+    tree.minX.push(0);
+    tree.minY.push(0);
+    tree.minZ.push(0);
+    tree.maxX.push(0);
+    tree.maxY.push(0);
+    tree.maxZ.push(0);
+    tree.parent.push(NIL);
+    tree.child1.push(NIL);
+    tree.child2.push(NIL);
+    tree.height.push(0);
+    tree.object.push(NIL);
+    return index;
+}
+function freeBvh3DNode(tree, index) {
+    tree.parent[index] = NIL;
+    tree.child1[index] = NIL;
+    tree.child2[index] = NIL;
+    tree.object[index] = NIL;
+    tree.height[index] = -1;
+    tree.freeList.push(index);
+}
+function boundsArea(tree, index) {
+    const dx = tree.maxX[index] - tree.minX[index];
+    const dy = tree.maxY[index] - tree.minY[index];
+    const dz = tree.maxZ[index] - tree.minZ[index];
+    return 2 * (dx * dy + dy * dz + dz * dx);
+}
+// STRICT on every axis, so two boxes that merely touch do not overlap — the convention the uniform grid
+// already uses. The two backends sit behind one seam and a caller may swap them, so a boundary case must
+// not answer differently depending on which is installed. Node traversal above stays INCLUSIVE on
+// purpose: a conservative descent may visit a leaf that then fails this test, but it must never prune one
+// that would have passed it.
+function boundsOverlap3D(a, b) {
+    return a.minX < b.maxX && a.maxX > b.minX && a.minY < b.maxY && a.maxY > b.minY && a.minZ < b.maxZ && a.maxZ > b.minZ;
+}
+function combinedArea(tree, a, b) {
+    const dx = Math.max(tree.maxX[a], tree.maxX[b]) - Math.min(tree.minX[a], tree.minX[b]);
+    const dy = Math.max(tree.maxY[a], tree.maxY[b]) - Math.min(tree.minY[a], tree.minY[b]);
+    const dz = Math.max(tree.maxZ[a], tree.maxZ[b]) - Math.min(tree.minZ[a], tree.minZ[b]);
+    return 2 * (dx * dy + dy * dz + dz * dx);
+}
+function copyBounds3D(source, target) {
+    target.minX = source.minX;
+    target.minY = source.minY;
+    target.minZ = source.minZ;
+    target.maxX = source.maxX;
+    target.maxY = source.maxY;
+    target.maxZ = source.maxZ;
+}
+// What descending into `child` would cost. A leaf costs the box that would enclose it and the newcomer;
+// an internal node costs only the GROWTH, because its existing area is already paid for.
+function descentCost(tree, child, leaf, inheritanceCost) {
+    const combined = combinedArea(tree, child, leaf);
+    if (tree.height[child] === 0)
+        return combined + inheritanceCost;
+    return combined - boundsArea(tree, child) + inheritanceCost;
+}
+function nodeOverlapsBounds(tree, index, region) {
+    return (tree.minX[index] <= region.maxX &&
+        tree.maxX[index] >= region.minX &&
+        tree.minY[index] <= region.maxY &&
+        tree.maxY[index] >= region.minY &&
+        tree.minZ[index] <= region.maxZ &&
+        tree.maxZ[index] >= region.minZ);
+}
+// Slab test for a FORWARD ray, matching the uniform grid's reading: the ray extends from its origin in
+// the direction given and not behind it. A zero component is parallel to that pair of planes, which is
+// a hit exactly when the origin already lies between them.
+function raySlabsHit(x, y, z, dx, dy, dz, minX, minY, minZ, maxX, maxY, maxZ) {
+    let near = 0;
+    let far = Number.POSITIVE_INFINITY;
+    for (let axis = 0; axis < 3; axis += 1) {
+        const origin = axis === 0 ? x : axis === 1 ? y : z;
+        const direction = axis === 0 ? dx : axis === 1 ? dy : dz;
+        const low = axis === 0 ? minX : axis === 1 ? minY : minZ;
+        const high = axis === 0 ? maxX : axis === 1 ? maxY : maxZ;
+        if (direction === 0) {
+            if (origin < low || origin > high)
+                return false;
+            continue;
+        }
+        const inverse = 1 / direction;
+        let t0 = (low - origin) * inverse;
+        let t1 = (high - origin) * inverse;
+        if (t0 > t1) {
+            const swap = t0;
+            t0 = t1;
+            t1 = swap;
+        }
+        if (t0 > near)
+            near = t0;
+        if (t1 < far)
+            far = t1;
+        if (near > far)
+            return false;
+    }
+    return true;
+}
+function reportBvh3DIndexing(tree, id, mode, operation, 
+// Wider than the EXPLANATION's reason, which carries only decline causes. A notice also reports
+// `missing-id`, which is a fault in the operation rather than a property of the stored object, so
+// there is nothing for a later `explainSpatialIndexing` to return. Matches the grids' reporter.
+reason) {
+    // Only ever called for a fault: a declined insert, or an operation naming an id the tree does not
+    // hold. An ordinary successful insert or update reports NOTHING, which is what both grids do and what
+    // the shared formatter is written against — it has no advice for `cells` because no backend is
+    // supposed to raise it. Reporting success instead makes the guard fire once per object per step, so
+    // the one notice that matters arrives buried in thousands that do not.
+    //
+    // `cellSize` is the grid's tuning constant and a tree has none, so the margin is reported in its
+    // place: it is the number a caller would tune for the same reason, and leaving the field at zero
+    // would tell a diagnostic reader the structure was misconfigured.
+    reportSpatialIndexing({ cellSize: tree.margin, id, mode, operation, reason, wouldOccupyBucketCount: 0 });
+}
+function unionBounds(tree, target, a, b) {
+    tree.minX[target] = Math.min(tree.minX[a], tree.minX[b]);
+    tree.minY[target] = Math.min(tree.minY[a], tree.minY[b]);
+    tree.minZ[target] = Math.min(tree.minZ[a], tree.minZ[b]);
+    tree.maxX[target] = Math.max(tree.maxX[a], tree.maxX[b]);
+    tree.maxY[target] = Math.max(tree.maxY[a], tree.maxY[b]);
+    tree.maxZ[target] = Math.max(tree.maxZ[a], tree.maxZ[b]);
+}
+// The sentinel for "no node", matching the -1 an index into a parallel array cannot hold.
+const NIL = -1;
+// A world-space length, chosen against the same intuition as the grid's default cell size: a few units,
+// suiting objects of order single-digit units moving a few units per step.
+const DEFAULT_BVH_MARGIN_3D = 2;
+//# sourceMappingURL=bvh3D.js.map

package/dist/bvh3D.js.map

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

@@ -1,5 +1,10 @@
-export * from './explainSpatialIndexing';
+export * from './explainSpatialIndexing2D';
+export * from './bvh3D';
+export * from './explainSpatialIndexing3D';
 export * from './formatSpatialIndexingNotice';
 export * from './spatialIndex';
+export * from './spatialIndex3D';
+export * from './spatialIndexingGuard';
 export * from './uniformGrid';
+export * from './uniformGrid3D';
 //# sourceMappingURL=contract.d.ts.map

package/dist/contract.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"contract.d.ts","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,0BAA0B,CAAC;AACzC,cAAc,+BAA+B,CAAC;AAC9C,cAAc,gBAAgB,CAAC;AAC/B,cAAc,eAAe,CAAC"}
+{"version":3,"file":"contract.d.ts","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,4BAA4B,CAAC;AAC3C,cAAc,SAAS,CAAC;AACxB,cAAc,4BAA4B,CAAC;AAC3C,cAAc,+BAA+B,CAAC;AAC9C,cAAc,gBAAgB,CAAC;AAC/B,cAAc,kBAAkB,CAAC;AACjC,cAAc,wBAAwB,CAAC;AACvC,cAAc,eAAe,CAAC;AAC9B,cAAc,iBAAiB,CAAC"}

package/dist/contract.js

@@ -1,5 +1,10 @@
-export * from './explainSpatialIndexing';
+export * from './explainSpatialIndexing2D';
+export * from './bvh3D';
+export * from './explainSpatialIndexing3D';
 export * from './formatSpatialIndexingNotice';
 export * from './spatialIndex';
+export * from './spatialIndex3D';
+export * from './spatialIndexingGuard';
 export * from './uniformGrid';
+export * from './uniformGrid3D';
 //# sourceMappingURL=contract.js.map

package/dist/contract.js.map

@@ -1 +1 @@
-{"version":3,"file":"contract.js","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,0BAA0B,CAAC;AACzC,cAAc,+BAA+B,CAAC;AAC9C,cAAc,gBAAgB,CAAC;AAC/B,cAAc,eAAe,CAAC"}
+{"version":3,"file":"contract.js","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAAA,cAAc,4BAA4B,CAAC;AAC3C,cAAc,SAAS,CAAC;AACxB,cAAc,4BAA4B,CAAC;AAC3C,cAAc,+BAA+B,CAAC;AAC9C,cAAc,gBAAgB,CAAC;AAC/B,cAAc,kBAAkB,CAAC;AACjC,cAAc,wBAAwB,CAAC;AACvC,cAAc,eAAe,CAAC;AAC9B,cAAc,iBAAiB,CAAC"}