@geoblocks/cesium-bvh 0.2.0 → 0.3.0

package/dist/cesium-bvh.d.ts

@@ -0,0 +1,100 @@
+/**
+ * The tree over some triangles.
+ * @param {Float64Array} tris A triangle each, nine numbers: its first corner, then its two edges from it.
+ * @param {Int32Array | number[]} [ids] The triangles to take; all by default.
+ * @param {{leaf?: number}} [options] `leaf`: the most triangles a leaf holds.
+ * @return {{bounds: Float64Array, meta: Int32Array, data: Float64Array, ids: Int32Array, nodes: number}} A node's box (six numbers) and
+ *   `meta` (three: a leaf's first triangle and its count, else its right child, 0, its split axis); `data` the triangles in leaf order
+ *   (the tris' layout), `ids` their numbers in `tris`.
+ */
+export declare function buildBvh(tris: Float64Array, ids?: Int32Array | number[], { leaf }?: {
+    leaf?: number;
+}): {
+    bounds: Float64Array;
+    meta: Int32Array;
+    data: Float64Array;
+    ids: Int32Array;
+    nodes: number;
+};
+/**
+ * The triangles of groups of vertices and indices, as `buildBvh` takes them: nine numbers each, a corner and its two edges from it, the
+ * groups' triangles one after the other, so a triangle's number is its place in the groups' order.
+ * @param {{vertices: ArrayLike<number>, triangles: ArrayLike<number>}[]} groups x, y, z a vertex; three indices a triangle.
+ * @param {Float64Array} [result] Of the right size: filled instead of a new array, for triangles that moved (`refitBvh`).
+ * @return {Float64Array}
+ */
+export declare function trianglesOf(groups: {
+    vertices: ArrayLike<number>;
+    triangles: ArrayLike<number>;
+}[], result?: Float64Array): Float64Array;
+/**
+ * The tree kept for triangles that have moved: their new corners and edges taken, and every box made again from the leaves up, the
+ * tree's shape as it was. A few milliseconds for 45,000 triangles, where a build takes 130; the tree answers right at once, and
+ * the more the triangles have gone from where it was built for them the slower it answers (boxes grown to cover both places): build it
+ * again when many have moved far.
+ * @param {ReturnType<typeof buildBvh>} bvh A tree made by `buildBvh`, changed in place: the queries made of it follow.
+ * @param {Float64Array} tris The triangles the tree was built from, moved: the same layout and numbers.
+ * @return {ReturnType<typeof buildBvh>} The same tree.
+ */
+export declare function refitBvh(bvh: ReturnType<typeof buildBvh>, tris: Float64Array): ReturnType<typeof buildBvh>;
+/**
+ * The tree over some line segments, for `segmentQueries`.
+ * @param {Float64Array} segments A segment each, six numbers: its two ends.
+ * @param {Int32Array | number[]} [ids] The segments to take; all by default.
+ * @param {{leaf?: number}} [options] `leaf`: the most segments a leaf holds.
+ * @return {{bounds: Float64Array, meta: Int32Array, data: Float64Array, ids: Int32Array, nodes: number}} As `buildBvh`'s, `data` six numbers a segment.
+ */
+export declare function buildSegmentBvh(segments: Float64Array, ids?: Int32Array | number[], { leaf }?: {
+    leaf?: number;
+}): {
+    bounds: Float64Array;
+    meta: Int32Array;
+    data: Float64Array;
+    ids: Int32Array;
+    nodes: number;
+};
+/**
+ * The queries of a tree built by `buildBvh`: a ray from (px, py, pz) along the unit (dx, dy, dz), the triangles hit within `reach` meters,
+ * both sides of a face (a hit nearer than `min` is not one); the triangle nearest a point.
+ * @param {ReturnType<typeof buildBvh>} bvh
+ * @param {{min?: number}} [options] `min`: the least distance a hit is from the ray's start, 0.1 mm by default: a ray starting on a surface is
+ *   not to hit it. A negative one (`-Infinity`) lets a hit at the start count: a mover standing on a floor.
+ */
+export declare function bvhQueries({ bounds, meta, data, ids, nodes }: ReturnType<typeof buildBvh>, { min }?: {
+    min?: number;
+}): {
+    /** The distance to the nearest hit within `reach`, or Infinity. */
+    nearest(/** @type {number} */ px: number, /** @type {number} */ py: number, /** @type {number} */ pz: number, /** @type {number} */ dx: number, /** @type {number} */ dy: number, /** @type {number} */ dz: number, /** @type {number} */ reach: number): number;
+    /** The nearest hit within `reach`: its triangle's number (in the `tris` the tree was built from) and its distance; none: undefined. */
+    nearestHit(/** @type {number} */ px: number, /** @type {number} */ py: number, /** @type {number} */ pz: number, /** @type {number} */ dx: number, /** @type {number} */ dy: number, /** @type {number} */ dz: number, /** @type {number} */ reach: number): {
+        triangle: number;
+        distance: number;
+    } | undefined;
+    /**
+     * A triangle hit within `reach`, its number, or -1 if none is. `hint`, a triangle that blocked a ray before, is tried first: the rays of
+     * one point toward a sun five minutes on are near the last, and the same triangle most often stops them.
+     */
+    any(/** @type {number} */ px: number, /** @type {number} */ py: number, /** @type {number} */ pz: number, /** @type {number} */ dx: number, /** @type {number} */ dy: number, /** @type {number} */ dz: number, /** @type {number} */ reach: number, /** @type {number} */ hint?: number): number;
+    /** How many triangles are hit within `reach`, to `cap`. */
+    count(/** @type {number} */ px: number, /** @type {number} */ py: number, /** @type {number} */ pz: number, /** @type {number} */ dx: number, /** @type {number} */ dy: number, /** @type {number} */ dz: number, /** @type {number} */ reach: number, /** @type {number} */ cap?: number): number;
+    /** The distances of every hit within `reach`, nearest first. */
+    hits(/** @type {number} */ px: number, /** @type {number} */ py: number, /** @type {number} */ pz: number, /** @type {number} */ dx: number, /** @type {number} */ dy: number, /** @type {number} */ dz: number, /** @type {number} */ reach: number): number[];
+    /** The triangle nearest a point within `radius` meters, its number (in the `tris` the tree was built from), its distance and the nearest point of it; none: undefined. */
+    closest(/** @type {number} */ px: number, /** @type {number} */ py: number, /** @type {number} */ pz: number, /** @type {number} */ radius: number): {
+        triangle: number;
+        distance: number;
+        point: number[];
+    } | undefined;
+};
+/**
+ * The queries of a tree built by `buildSegmentBvh`: the segments within a distance of a point, and those whose boxes meet a box. Each gives the
+ * segments' numbers in the array the tree was built from, in no order.
+ * @param {ReturnType<typeof buildSegmentBvh>} bvh
+ */
+export declare function segmentQueries({ bounds, meta, data, ids, nodes }: ReturnType<typeof buildSegmentBvh>): {
+    /** The segments within `radius` meters of a point. */
+    near(/** @type {number} */ px: number, /** @type {number} */ py: number, /** @type {number} */ pz: number, /** @type {number} */ radius: number): number[];
+    /** The segments whose boxes (an end to the other) meet the box from (x0, y0, z0) to (x1, y1, z1). */
+    overlapping(/** @type {number} */ x0: number, /** @type {number} */ y0: number, /** @type {number} */ z0: number, /** @type {number} */ x1: number, /** @type {number} */ y1: number, /** @type {number} */ z1: number): number[];
+};
+//# sourceMappingURL=cesium-bvh.d.ts.map

package/dist/cesium-bvh.d.ts.map

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package/dist/cesium-bvh.js

@@ -0,0 +1,635 @@
+// A bounding volume hierarchy over triangles, for rays and for the nearest triangle to a point: the nearest hit along a ray, whether any lies
+// within a distance, how many, every one; the closest triangle within a radius. Flat typed arrays (a worker takes them as they are), no dependency,
+// no Cesium, no DOM: any scene, in Node and in the browser.
+//
+// The ideas are the established ones (three-mesh-bvh, flatbush, Aila and Laine): nodes packed depth first in typed arrays, the left child
+// right after its parent; a split chosen over binned surface areas (SAH); a ray walks the near child first, by its sign on the split axis,
+// and a query that wants any hit stops at the first.
+const BINS = 16;
+// a node's bins: a quarter of its triangles, from MIN_BINS to BINS
+const MIN_BINS = 4;
+// the cost of a box test against a triangle's, in the split's estimate
+const TRAVERSAL = 0.5;
+const STACK = 128;
+const stackNode = new Int32Array(STACK);
+const stackNear = new Float64Array(STACK);
+/**
+ * The tree over primitives' boxes: the nodes, and the primitives' order, in leaves.
+ * @param {Float64Array} lo Each primitive's lowest corner, three numbers a primitive.
+ * @param {Float64Array} hi Its highest.
+ * @param {number} leaf The most primitives a leaf holds.
+ */
+function buildTree(lo, hi, leaf) {
+    const n = lo.length / 3;
+    const mid = Float64Array.from(lo, (v, i) => (v + hi[i]) / 2);
+    // the triangles are permuted with their boxes: `at` says where each is
+    const at = Int32Array.from({ length: n }, (_, i) => i);
+    const bounds = new Float64Array(Math.max(1, 2 * n) * 6);
+    const meta = new Int32Array(Math.max(1, 2 * n) * 3);
+    let nodes = 0;
+    const binCount = new Int32Array(BINS), binLo = new Float64Array(BINS * 3), binHi = new Float64Array(BINS * 3);
+    const rightArea = new Float64Array(BINS);
+    /**
+     * @param {number} x0
+     * @param {number} y0
+     * @param {number} z0
+     * @param {number} x1
+     * @param {number} y1
+     * @param {number} z1
+     */
+    const area = (x0, y0, z0, x1, y1, z1) => {
+        const [dx, dy, dz] = [x1 - x0, y1 - y0, z1 - z0];
+        return dx < 0 ? 0 : 2 * (dx * dy + dy * dz + dz * dx);
+    };
+    // the node over the triangles [from, to) of `at`; its index
+    /**
+     * @param {number} from
+     * @param {number} to
+     */
+    const build = (from, to) => {
+        const node = nodes++;
+        let [x0, y0, z0, x1, y1, z1] = [Infinity, Infinity, Infinity, -Infinity, -Infinity, -Infinity];
+        let [cx0, cy0, cz0, cx1, cy1, cz1] = [Infinity, Infinity, Infinity, -Infinity, -Infinity, -Infinity];
+        for (let k = from; k < to; k++) {
+            const t = at[k] * 3;
+            x0 = Math.min(x0, lo[t]);
+            y0 = Math.min(y0, lo[t + 1]);
+            z0 = Math.min(z0, lo[t + 2]);
+            x1 = Math.max(x1, hi[t]);
+            y1 = Math.max(y1, hi[t + 1]);
+            z1 = Math.max(z1, hi[t + 2]);
+            cx0 = Math.min(cx0, mid[t]);
+            cy0 = Math.min(cy0, mid[t + 1]);
+            cz0 = Math.min(cz0, mid[t + 2]);
+            cx1 = Math.max(cx1, mid[t]);
+            cy1 = Math.max(cy1, mid[t + 1]);
+            cz1 = Math.max(cz1, mid[t + 2]);
+        }
+        bounds.set([x0, y0, z0, x1, y1, z1], node * 6);
+        const count = to - from;
+        const makeLeaf = () => {
+            meta[node * 3] = from;
+            meta[node * 3 + 1] = count;
+            return node;
+        };
+        if (count <= leaf) {
+            return makeLeaf();
+        }
+        // the best split over the three axes: the surface areas of the two sides, by their triangles, over BINS bins of the centers
+        const [cmin, cmax] = [[cx0, cy0, cz0], [cx1, cy1, cz1]];
+        const whole = area(x0, y0, z0, x1, y1, z1);
+        // few triangles need few bins: the search over 16 is most of the build's time, in the many small nodes near the leaves
+        const bins = Math.max(MIN_BINS, Math.min(BINS, count >> 2));
+        let best = { cost: Infinity, axis: -1, bin: 0, bins };
+        for (let a = 0; a < 3; a++) {
+            const extent = cmax[a] - cmin[a];
+            if (!(extent > 1e-12)) {
+                continue;
+            }
+            binCount.fill(0, 0, bins);
+            binLo.fill(Infinity, 0, bins * 3);
+            binHi.fill(-Infinity, 0, bins * 3);
+            const scale = bins / extent;
+            for (let k = from; k < to; k++) {
+                const t = at[k] * 3;
+                const b = Math.min(bins - 1, Math.floor((mid[t + a] - cmin[a]) * scale));
+                binCount[b]++;
+                for (let c = 0; c < 3; c++) {
+                    binLo[b * 3 + c] = Math.min(binLo[b * 3 + c], lo[t + c]);
+                    binHi[b * 3 + c] = Math.max(binHi[b * 3 + c], hi[t + c]);
+                }
+            }
+            // from the right: each split's right area
+            let [rx0, ry0, rz0, rx1, ry1, rz1] = [Infinity, Infinity, Infinity, -Infinity, -Infinity, -Infinity];
+            for (let b = bins - 1; b > 0; b--) {
+                rx0 = Math.min(rx0, binLo[b * 3]);
+                ry0 = Math.min(ry0, binLo[b * 3 + 1]);
+                rz0 = Math.min(rz0, binLo[b * 3 + 2]);
+                rx1 = Math.max(rx1, binHi[b * 3]);
+                ry1 = Math.max(ry1, binHi[b * 3 + 1]);
+                rz1 = Math.max(rz1, binHi[b * 3 + 2]);
+                rightArea[b] = area(rx0, ry0, rz0, rx1, ry1, rz1);
+            }
+            let [lx0, ly0, lz0, lx1, ly1, lz1] = [Infinity, Infinity, Infinity, -Infinity, -Infinity, -Infinity];
+            let left = 0;
+            for (let b = 0; b < bins - 1; b++) {
+                lx0 = Math.min(lx0, binLo[b * 3]);
+                ly0 = Math.min(ly0, binLo[b * 3 + 1]);
+                lz0 = Math.min(lz0, binLo[b * 3 + 2]);
+                lx1 = Math.max(lx1, binHi[b * 3]);
+                ly1 = Math.max(ly1, binHi[b * 3 + 1]);
+                lz1 = Math.max(lz1, binHi[b * 3 + 2]);
+                left += binCount[b];
+                if (left === 0 || left === count) {
+                    continue;
+                }
+                const cost = TRAVERSAL + (area(lx0, ly0, lz0, lx1, ly1, lz1) * left + rightArea[b + 1] * (count - left)) / (whole || 1);
+                if (cost < best.cost) {
+                    best = { cost, axis: a, bin: b, bins };
+                }
+            }
+        }
+        if (best.axis < 0) {
+            // no split pays (or all the centers are one point): a leaf, however many, unless it is far over the size
+            if (count <= leaf * 4) {
+                return makeLeaf();
+            }
+            const half = from + (count >> 1);
+            meta[node * 3 + 2] = 0;
+            build(from, half);
+            meta[node * 3] = build(half, to);
+            return node;
+        }
+        // partition by the chosen bin
+        const scale = best.bins / (cmax[best.axis] - cmin[best.axis]);
+        let [i, j] = [from, to - 1];
+        while (i <= j) {
+            const b = Math.min(best.bins - 1, Math.floor((mid[at[i] * 3 + best.axis] - cmin[best.axis]) * scale));
+            if (b <= best.bin) {
+                i++;
+            }
+            else {
+                [at[i], at[j]] = [at[j], at[i]];
+                j--;
+            }
+        }
+        // a split that left one side empty (rounding): the middle
+        const cut = i === from || i === to ? from + (count >> 1) : i;
+        meta[node * 3 + 2] = best.axis;
+        build(from, cut);
+        meta[node * 3] = build(cut, to);
+        return node;
+    };
+    build(0, n);
+    return { bounds: bounds.slice(0, nodes * 6), meta: meta.slice(0, nodes * 3), at, nodes };
+}
+const EMPTY = { bounds: new Float64Array(0), meta: new Int32Array(0), data: new Float64Array(0), ids: new Int32Array(0), nodes: 0 };
+/**
+ * The tree over some triangles.
+ * @param {Float64Array} tris A triangle each, nine numbers: its first corner, then its two edges from it.
+ * @param {Int32Array | number[]} [ids] The triangles to take; all by default.
+ * @param {{leaf?: number}} [options] `leaf`: the most triangles a leaf holds.
+ * @return {{bounds: Float64Array, meta: Int32Array, data: Float64Array, ids: Int32Array, nodes: number}} A node's box (six numbers) and
+ *   `meta` (three: a leaf's first triangle and its count, else its right child, 0, its split axis); `data` the triangles in leaf order
+ *   (the tris' layout), `ids` their numbers in `tris`.
+ */
+export function buildBvh(tris, ids = Int32Array.from({ length: tris.length / 9 }, (_, i) => i), { leaf = 4 } = {}) {
+    const n = ids.length;
+    if (n === 0) {
+        return EMPTY;
+    }
+    const order = Int32Array.from(ids);
+    const lo = new Float64Array(n * 3), hi = new Float64Array(n * 3);
+    for (let k = 0; k < n; k++) {
+        const o = order[k] * 9;
+        for (let a = 0; a < 3; a++) {
+            const p = tris[o + a], q = p + tris[o + 3 + a], r = p + tris[o + 6 + a];
+            lo[k * 3 + a] = Math.min(p, q, r);
+            hi[k * 3 + a] = Math.max(p, q, r);
+        }
+    }
+    const { bounds, meta, at, nodes } = buildTree(lo, hi, leaf);
+    const data = new Float64Array(n * 9);
+    const sorted = new Int32Array(n);
+    for (let k = 0; k < n; k++) {
+        sorted[k] = order[at[k]];
+        data.set(tris.subarray(sorted[k] * 9, sorted[k] * 9 + 9), k * 9);
+    }
+    return { bounds, meta, data, ids: sorted, nodes };
+}
+/**
+ * The triangles of groups of vertices and indices, as `buildBvh` takes them: nine numbers each, a corner and its two edges from it, the
+ * groups' triangles one after the other, so a triangle's number is its place in the groups' order.
+ * @param {{vertices: ArrayLike<number>, triangles: ArrayLike<number>}[]} groups x, y, z a vertex; three indices a triangle.
+ * @param {Float64Array} [result] Of the right size: filled instead of a new array, for triangles that moved (`refitBvh`).
+ * @return {Float64Array}
+ */
+export function trianglesOf(groups, result) {
+    const tris = result ?? new Float64Array(9 * groups.reduce((sum, { triangles }) => sum + triangles.length / 3, 0));
+    let n = 0;
+    for (const { vertices: v, triangles: t } of groups) {
+        for (let k = 0; k < t.length; k += 3, n++) {
+            const [a, b, c] = [t[k] * 3, t[k + 1] * 3, t[k + 2] * 3];
+            tris[n * 9] = v[a];
+            tris[n * 9 + 1] = v[a + 1];
+            tris[n * 9 + 2] = v[a + 2];
+            tris[n * 9 + 3] = v[b] - v[a];
+            tris[n * 9 + 4] = v[b + 1] - v[a + 1];
+            tris[n * 9 + 5] = v[b + 2] - v[a + 2];
+            tris[n * 9 + 6] = v[c] - v[a];
+            tris[n * 9 + 7] = v[c + 1] - v[a + 1];
+            tris[n * 9 + 8] = v[c + 2] - v[a + 2];
+        }
+    }
+    return tris;
+}
+/**
+ * The tree kept for triangles that have moved: their new corners and edges taken, and every box made again from the leaves up, the
+ * tree's shape as it was. A few milliseconds for 45,000 triangles, where a build takes 130; the tree answers right at once, and
+ * the more the triangles have gone from where it was built for them the slower it answers (boxes grown to cover both places): build it
+ * again when many have moved far.
+ * @param {ReturnType<typeof buildBvh>} bvh A tree made by `buildBvh`, changed in place: the queries made of it follow.
+ * @param {Float64Array} tris The triangles the tree was built from, moved: the same layout and numbers.
+ * @return {ReturnType<typeof buildBvh>} The same tree.
+ */
+export function refitBvh(bvh, tris) {
+    const { bounds, meta, data, ids, nodes } = bvh;
+    if (data.length !== ids.length * 9) {
+        throw new Error('refitBvh: not a tree of triangles (nine numbers an element)');
+    }
+    for (let k = 0; k < ids.length; k++) {
+        data.set(tris.subarray(ids[k] * 9, ids[k] * 9 + 9), k * 9);
+    }
+    // a node comes before its children: from the last, each node's children are done
+    for (let node = nodes - 1; node >= 0; node--) {
+        const b = node * 6;
+        const count = meta[node * 3 + 1];
+        if (count > 0) {
+            const first = meta[node * 3];
+            for (let a = 0; a < 3; a++) {
+                let [low, high] = [Infinity, -Infinity];
+                for (let k = first; k < first + count; k++) {
+                    const p = data[k * 9 + a], q = p + data[k * 9 + 3 + a], r = p + data[k * 9 + 6 + a];
+                    low = Math.min(low, p, q, r);
+                    high = Math.max(high, p, q, r);
+                }
+                bounds[b + a] = low;
+                bounds[b + 3 + a] = high;
+            }
+        }
+        else {
+            const [left, right] = [(node + 1) * 6, meta[node * 3] * 6];
+            for (let a = 0; a < 3; a++) {
+                bounds[b + a] = Math.min(bounds[left + a], bounds[right + a]);
+                bounds[b + 3 + a] = Math.max(bounds[left + 3 + a], bounds[right + 3 + a]);
+            }
+        }
+    }
+    return bvh;
+}
+/**
+ * The tree over some line segments, for `segmentQueries`.
+ * @param {Float64Array} segments A segment each, six numbers: its two ends.
+ * @param {Int32Array | number[]} [ids] The segments to take; all by default.
+ * @param {{leaf?: number}} [options] `leaf`: the most segments a leaf holds.
+ * @return {{bounds: Float64Array, meta: Int32Array, data: Float64Array, ids: Int32Array, nodes: number}} As `buildBvh`'s, `data` six numbers a segment.
+ */
+export function buildSegmentBvh(segments, ids = Int32Array.from({ length: segments.length / 6 }, (_, i) => i), { leaf = 4 } = {}) {
+    const n = ids.length;
+    if (n === 0) {
+        return EMPTY;
+    }
+    const order = Int32Array.from(ids);
+    const lo = new Float64Array(n * 3), hi = new Float64Array(n * 3);
+    for (let k = 0; k < n; k++) {
+        for (let a = 0; a < 3; a++) {
+            const [p, q] = [segments[order[k] * 6 + a], segments[order[k] * 6 + 3 + a]];
+            lo[k * 3 + a] = Math.min(p, q);
+            hi[k * 3 + a] = Math.max(p, q);
+        }
+    }
+    const { bounds, meta, at, nodes } = buildTree(lo, hi, leaf);
+    const data = new Float64Array(n * 6);
+    const sorted = new Int32Array(n);
+    for (let k = 0; k < n; k++) {
+        sorted[k] = order[at[k]];
+        data.set(segments.subarray(sorted[k] * 6, sorted[k] * 6 + 6), k * 6);
+    }
+    return { bounds, meta, data, ids: sorted, nodes };
+}
+/**
+ * The queries of a tree built by `buildBvh`: a ray from (px, py, pz) along the unit (dx, dy, dz), the triangles hit within `reach` meters,
+ * both sides of a face (a hit nearer than `min` is not one); the triangle nearest a point.
+ * @param {ReturnType<typeof buildBvh>} bvh
+ * @param {{min?: number}} [options] `min`: the least distance a hit is from the ray's start, 0.1 mm by default: a ray starting on a surface is
+ *   not to hit it. A negative one (`-Infinity`) lets a hit at the start count: a mover standing on a floor.
+ */
+export function bvhQueries({ bounds, meta, data, ids, nodes }, { min = 1e-4 } = {}) {
+    /**
+     * @param {number} k
+     * @param {number} px
+     * @param {number} py
+     * @param {number} pz
+     * @param {number} dx
+     * @param {number} dy
+     * @param {number} dz
+     */
+    const hit = (k, px, py, pz, dx, dy, dz) => {
+        const o = k * 9;
+        const e1x = data[o + 3], e1y = data[o + 4], e1z = data[o + 5], e2x = data[o + 6], e2y = data[o + 7], e2z = data[o + 8];
+        const hx = dy * e2z - dz * e2y, hy = dz * e2x - dx * e2z, hz = dx * e2y - dy * e2x;
+        const a = e1x * hx + e1y * hy + e1z * hz;
+        if (a > -1e-12 && a < 1e-12) {
+            return -1;
+        }
+        const f = 1 / a, sx = px - data[o], sy = py - data[o + 1], sz = pz - data[o + 2];
+        const u = f * (sx * hx + sy * hy + sz * hz);
+        if (u < 0 || u > 1) {
+            return -1;
+        }
+        const qx = sy * e1z - sz * e1y, qy = sz * e1x - sx * e1z, qz = sx * e1y - sy * e1x;
+        const v = f * (dx * qx + dy * qy + dz * qz);
+        if (v < 0 || u + v > 1) {
+            return -1;
+        }
+        const t = f * (e2x * qx + e2y * qy + e2z * qz);
+        return t > min ? t : -1;
+    };
+    // where a ray enters a node's box, or Infinity: the slab test, over the ray's inverse direction
+    /**
+     * @param {number} node
+     * @param {number} px
+     * @param {number} py
+     * @param {number} pz
+     * @param {number} ix
+     * @param {number} iy
+     * @param {number} iz
+     * @param {number} tmax
+     */
+    const enter = (node, px, py, pz, ix, iy, iz, tmax) => {
+        const b = node * 6;
+        let t0 = 0, t1 = tmax;
+        let a = (bounds[b] - px) * ix, c = (bounds[b + 3] - px) * ix;
+        t0 = Math.max(t0, a < c ? a : c);
+        t1 = Math.min(t1, a < c ? c : a);
+        a = (bounds[b + 1] - py) * iy;
+        c = (bounds[b + 4] - py) * iy;
+        t0 = Math.max(t0, a < c ? a : c);
+        t1 = Math.min(t1, a < c ? c : a);
+        a = (bounds[b + 2] - pz) * iz;
+        c = (bounds[b + 5] - pz) * iz;
+        t0 = Math.max(t0, a < c ? a : c);
+        t1 = Math.min(t1, a < c ? c : a);
+        return t0 <= t1 ? t0 : Infinity;
+    };
+    // a ray's way down the tree. A node's box is tested when the node is reached, with the reach the ray has by then; the child the ray
+    // meets first (by its sign on the split axis) is walked, the other left on the stack: a query that stops early never tests it.
+    /**
+     * @param {number} px
+     * @param {number} py
+     * @param {number} pz
+     * @param {number} dx
+     * @param {number} dy
+     * @param {number} dz
+     * @param {number} reach
+     * @param {(k: number, t: number, reach: number) => number} found
+     */
+    const unit = (px, py, pz, dx, dy, dz, reach, found) => {
+        // `found(k, t, reach)` per triangle hit: the reach to go on with, or a negative number to stop; called for each triangle in a leaf reached
+        if (nodes === 0) {
+            return;
+        }
+        const [ix, iy, iz] = [1 / dx, 1 / dy, 1 / dz];
+        let tmax = reach;
+        let top = 0;
+        let node = 0;
+        for (;;) {
+            if (enter(node, px, py, pz, ix, iy, iz, tmax) !== Infinity) {
+                const count = meta[node * 3 + 1];
+                if (count > 0) {
+                    const first = meta[node * 3];
+                    for (let k = first; k < first + count; k++) {
+                        const t = hit(k, px, py, pz, dx, dy, dz);
+                        if (t >= 0 && t <= tmax) {
+                            tmax = found(k, t, tmax);
+                            if (tmax < 0) {
+                                return;
+                            }
+                        }
+                    }
+                }
+                else {
+                    const axis = meta[node * 3 + 2];
+                    const negative = axis === 0 ? dx < 0 : axis === 1 ? dy < 0 : dz < 0;
+                    const right = meta[node * 3];
+                    stackNode[top++] = negative ? node + 1 : right;
+                    node = negative ? right : node + 1;
+                    continue;
+                }
+            }
+            if (top === 0) {
+                return;
+            }
+            node = stackNode[--top];
+        }
+    };
+    // the squared distance from a point to a node's box
+    /**
+     * @param {number} node
+     * @param {number} px
+     * @param {number} py
+     * @param {number} pz
+     */
+    const boxDistance2 = (node, px, py, pz) => {
+        const b = node * 6;
+        const dx = Math.max(bounds[b] - px, 0, px - bounds[b + 3]);
+        const dy = Math.max(bounds[b + 1] - py, 0, py - bounds[b + 4]);
+        const dz = Math.max(bounds[b + 2] - pz, 0, pz - bounds[b + 5]);
+        return dx * dx + dy * dy + dz * dz;
+    };
+    // the offset from a triangle's corner to the nearest point of it, as triangleDistance2 last found it
+    const offset = new Float64Array(3);
+    // the squared distance from a point to a triangle: to the nearest point of it, by the region the point falls in (Ericson's)
+    /**
+     * @param {number} k
+     * @param {number} px
+     * @param {number} py
+     * @param {number} pz
+     */
+    const triangleDistance2 = (k, px, py, pz) => {
+        const o = k * 9;
+        const [abx, aby, abz, acx, acy, acz] = [data[o + 3], data[o + 4], data[o + 5], data[o + 6], data[o + 7], data[o + 8]];
+        const [apx, apy, apz] = [px - data[o], py - data[o + 1], pz - data[o + 2]];
+        const to = (/** @type {number} */ x, /** @type {number} */ y, /** @type {number} */ z) => {
+            offset[0] = x;
+            offset[1] = y;
+            offset[2] = z;
+            return (apx - x) ** 2 + (apy - y) ** 2 + (apz - z) ** 2;
+        };
+        const d1 = abx * apx + aby * apy + abz * apz, d2 = acx * apx + acy * apy + acz * apz;
+        if (d1 <= 0 && d2 <= 0) {
+            return to(0, 0, 0);
+        }
+        const [bpx, bpy, bpz] = [apx - abx, apy - aby, apz - abz];
+        const d3 = abx * bpx + aby * bpy + abz * bpz, d4 = acx * bpx + acy * bpy + acz * bpz;
+        if (d3 >= 0 && d4 <= d3) {
+            return to(abx, aby, abz);
+        }
+        const vc = d1 * d4 - d3 * d2;
+        if (vc <= 0 && d1 >= 0 && d3 <= 0) {
+            const v = d1 / (d1 - d3);
+            return to(abx * v, aby * v, abz * v);
+        }
+        const [cpx, cpy, cpz] = [apx - acx, apy - acy, apz - acz];
+        const d5 = abx * cpx + aby * cpy + abz * cpz, d6 = acx * cpx + acy * cpy + acz * cpz;
+        if (d6 >= 0 && d5 <= d6) {
+            return to(acx, acy, acz);
+        }
+        const vb = d5 * d2 - d1 * d6;
+        if (vb <= 0 && d2 >= 0 && d6 <= 0) {
+            const w = d2 / (d2 - d6);
+            return to(acx * w, acy * w, acz * w);
+        }
+        const va = d3 * d6 - d5 * d4;
+        if (va <= 0 && d4 - d3 >= 0 && d5 - d6 >= 0) {
+            const w = (d4 - d3) / (d4 - d3 + d5 - d6);
+            return to(abx + (acx - abx) * w, aby + (acy - aby) * w, abz + (acz - abz) * w);
+        }
+        const denominator = 1 / (va + vb + vc);
+        const [v, w] = [vb * denominator, vc * denominator];
+        return to(abx * v + acx * w, aby * v + acy * w, abz * v + acz * w);
+    };
+    return {
+        /** The distance to the nearest hit within `reach`, or Infinity. */
+        nearest(/** @type {number} */ px, /** @type {number} */ py, /** @type {number} */ pz, /** @type {number} */ dx, /** @type {number} */ dy, /** @type {number} */ dz, /** @type {number} */ reach) {
+            let best = Infinity;
+            unit(px, py, pz, dx, dy, dz, reach, (_k, t) => ((best = t), t));
+            return best;
+        },
+        /** The nearest hit within `reach`: its triangle's number (in the `tris` the tree was built from) and its distance; none: undefined. */
+        nearestHit(/** @type {number} */ px, /** @type {number} */ py, /** @type {number} */ pz, /** @type {number} */ dx, /** @type {number} */ dy, /** @type {number} */ dz, /** @type {number} */ reach) {
+            let [best, found] = [Infinity, -1];
+            unit(px, py, pz, dx, dy, dz, reach, (k, t) => ((best = t), (found = k), t));
+            return found < 0 ? undefined : { triangle: ids[found], distance: best };
+        },
+        /**
+         * A triangle hit within `reach`, its number, or -1 if none is. `hint`, a triangle that blocked a ray before, is tried first: the rays of
+         * one point toward a sun five minutes on are near the last, and the same triangle most often stops them.
+         */
+        any(/** @type {number} */ px, /** @type {number} */ py, /** @type {number} */ pz, /** @type {number} */ dx, /** @type {number} */ dy, /** @type {number} */ dz, /** @type {number} */ reach, /** @type {number} */ hint = -1) {
+            if (hint >= 0) {
+                const t = hit(hint, px, py, pz, dx, dy, dz);
+                if (t >= 0 && t <= reach) {
+                    return hint;
+                }
+            }
+            let found = -1;
+            unit(px, py, pz, dx, dy, dz, reach, k => ((found = k), -1));
+            return found;
+        },
+        /** How many triangles are hit within `reach`, to `cap`. */
+        count(/** @type {number} */ px, /** @type {number} */ py, /** @type {number} */ pz, /** @type {number} */ dx, /** @type {number} */ dy, /** @type {number} */ dz, /** @type {number} */ reach, /** @type {number} */ cap = Infinity) {
+            let n = 0;
+            unit(px, py, pz, dx, dy, dz, reach, (_k, _t, tmax) => (++n >= cap ? -1 : tmax));
+            return n;
+        },
+        /** The distances of every hit within `reach`, nearest first. */
+        hits(/** @type {number} */ px, /** @type {number} */ py, /** @type {number} */ pz, /** @type {number} */ dx, /** @type {number} */ dy, /** @type {number} */ dz, /** @type {number} */ reach) {
+            /** @type {number[]} */
+            const found = [];
+            unit(px, py, pz, dx, dy, dz, reach, (_k, t, tmax) => (found.push(t), tmax));
+            return found.sort((a, b) => a - b);
+        },
+        /** The triangle nearest a point within `radius` meters, its number (in the `tris` the tree was built from), its distance and the nearest point of it; none: undefined. */
+        closest(/** @type {number} */ px, /** @type {number} */ py, /** @type {number} */ pz, /** @type {number} */ radius) {
+            if (nodes === 0) {
+                return undefined;
+            }
+            let [best, found, top, node, near] = [radius * radius, -1, 0, 0, boxDistance2(0, px, py, pz)];
+            for (;;) {
+                if (near <= best) {
+                    const count = meta[node * 3 + 1];
+                    if (count > 0) {
+                        const first = meta[node * 3];
+                        for (let k = first; k < first + count; k++) {
+                            const d = triangleDistance2(k, px, py, pz);
+                            if (d <= best) {
+                                [best, found] = [d, k];
+                            }
+                        }
+                    }
+                    else {
+                        const [left, right] = [node + 1, meta[node * 3]];
+                        const [dl, dr] = [boxDistance2(left, px, py, pz), boxDistance2(right, px, py, pz)];
+                        const [first, second, df, ds] = dl <= dr ? [left, right, dl, dr] : [right, left, dr, dl];
+                        if (ds <= best) {
+                            stackNode[top] = second;
+                            stackNear[top++] = ds;
+                        }
+                        [node, near] = [first, df];
+                        continue;
+                    }
+                }
+                do {
+                    if (top === 0) {
+                        if (found < 0) {
+                            return undefined;
+                        }
+                        triangleDistance2(found, px, py, pz);
+                        const o = found * 9;
+                        const point = [0, 1, 2].map(a => data[o + a] + offset[a]);
+                        return { triangle: ids[found], distance: Math.sqrt(best), point };
+                    }
+                    top--;
+                    [node, near] = [stackNode[top], stackNear[top]];
+                } while (near > best);
+            }
+        },
+    };
+}
+/**
+ * The queries of a tree built by `buildSegmentBvh`: the segments within a distance of a point, and those whose boxes meet a box. Each gives the
+ * segments' numbers in the array the tree was built from, in no order.
+ * @param {ReturnType<typeof buildSegmentBvh>} bvh
+ */
+export function segmentQueries({ bounds, meta, data, ids, nodes }) {
+    // walks the nodes whose boxes `reaches` says, and gives the leaves' segments `takes` says
+    /**
+     * @param {(node: number) => boolean} reaches A node's offset in `bounds`.
+     * @param {(segment: number) => boolean} takes A segment's offset in `data`.
+     */
+    const walk = (reaches, takes) => {
+        /** @type {number[]} */
+        const found = [];
+        if (nodes === 0) {
+            return found;
+        }
+        let [top, node] = [0, 0];
+        for (;;) {
+            if (reaches(node * 6)) {
+                const count = meta[node * 3 + 1];
+                if (count > 0) {
+                    for (let k = meta[node * 3]; k < meta[node * 3] + count; k++) {
+                        if (takes(k * 6)) {
+                            found.push(ids[k]);
+                        }
+                    }
+                }
+                else {
+                    stackNode[top++] = meta[node * 3];
+                    node += 1;
+                    continue;
+                }
+            }
+            if (top === 0) {
+                return found;
+            }
+            node = stackNode[--top];
+        }
+    };
+    return {
+        /** The segments within `radius` meters of a point. */
+        near(/** @type {number} */ px, /** @type {number} */ py, /** @type {number} */ pz, /** @type {number} */ radius) {
+            const r2 = radius * radius;
+            return walk(b => {
+                const dx = Math.max(bounds[b] - px, 0, px - bounds[b + 3]);
+                const dy = Math.max(bounds[b + 1] - py, 0, py - bounds[b + 4]);
+                const dz = Math.max(bounds[b + 2] - pz, 0, pz - bounds[b + 5]);
+                return dx * dx + dy * dy + dz * dz <= r2;
+            }, o => {
+                const [ax, ay, az] = [data[o], data[o + 1], data[o + 2]];
+                const [rx, ry, rz] = [data[o + 3] - ax, data[o + 4] - ay, data[o + 5] - az];
+                const length = rx * rx + ry * ry + rz * rz;
+                const t = length > 0 ? Math.min(1, Math.max(0, ((px - ax) * rx + (py - ay) * ry + (pz - az) * rz) / length)) : 0;
+                const [dx, dy, dz] = [px - ax - t * rx, py - ay - t * ry, pz - az - t * rz];
+                return dx * dx + dy * dy + dz * dz <= r2;
+            });
+        },
+        /** The segments whose boxes (an end to the other) meet the box from (x0, y0, z0) to (x1, y1, z1). */
+        overlapping(/** @type {number} */ x0, /** @type {number} */ y0, /** @type {number} */ z0, /** @type {number} */ x1, /** @type {number} */ y1, /** @type {number} */ z1) {
+            return walk(b => bounds[b] <= x1 && bounds[b + 3] >= x0 && bounds[b + 1] <= y1 && bounds[b + 4] >= y0 && bounds[b + 2] <= z1 && bounds[b + 5] >= z0, o => Math.min(data[o], data[o + 3]) <= x1 && Math.max(data[o], data[o + 3]) >= x0 && Math.min(data[o + 1], data[o + 4]) <= y1
+                && Math.max(data[o + 1], data[o + 4]) >= y0 && Math.min(data[o + 2], data[o + 5]) <= z1 && Math.max(data[o + 2], data[o + 5]) >= z0);
+        },
+    };
+}
+//# sourceMappingURL=cesium-bvh.js.map

package/dist/cesium-bvh.js.map

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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@geoblocks/cesium-bvh",
-  "version": "0.2.0",
+  "version": "0.3.0",
   "license": "BSD-3-Clause",
   "type": "module",
   "repository": {
@@ -8,17 +8,28 @@
     "url": "https://github.com/geoblocks/cesium-helpers/",
     "directory": "packages/cesium-bvh"
   },
-  "main": "cesium-bvh.js",
-  "module": "cesium-bvh.js",
-  "sideEffects": false,
+  "main": "dist/cesium-bvh.js",
+  "module": "dist/cesium-bvh.js",
+  "types": "dist/cesium-bvh.d.ts",
   "exports": {
-    ".": "./cesium-bvh.js"
+    ".": {
+      "source": "./src/cesium-bvh.js",
+      "types": "./dist/cesium-bvh.d.ts",
+      "default": "./dist/cesium-bvh.js"
+    }
   },
+  "sideEffects": false,
   "files": [
-    "cesium-bvh.js"
+    "dist",
+    "src",
+    "!src/**/*.test.js"
   ],
+  "scripts": {
+    "build": "tsc -p .",
+    "prepack": "npm run build"
+  },
   "publishConfig": {
     "access": "public"
   },
-  "gitHead": "c1e407611f437b0da1057ef0373c74ace28ad58a"
+  "gitHead": "a6d8fdfe6b9ad266fd8a4593c38efd24e9a5546b"
 }