@gnsx/three 0.184.0

package/examples/jsm/math/Octree.js

@@ -0,0 +1,822 @@
+import {
+	Box3,
+	Line3,
+	Plane,
+	Sphere,
+	Triangle,
+	Vector3,
+	Layers
+} from 'three';
+import { Capsule } from '../math/Capsule.js';
+
+
+const _v1 = new Vector3();
+const _v2 = new Vector3();
+const _point1 = new Vector3();
+const _point2 = new Vector3();
+const _plane = new Plane();
+const _line1 = new Line3();
+const _line2 = new Line3();
+const _box = new Box3();
+const _sphere = new Sphere();
+const _capsule = new Capsule();
+const _center = new Vector3();
+
+const _temp1 = new Vector3();
+const _temp2 = new Vector3();
+const _temp3 = new Vector3();
+const EPS = 1e-10;
+
+function lineToLineClosestPoints( line1, line2, target1 = null, target2 = null ) {
+
+	const r = _temp1.copy( line1.end ).sub( line1.start );
+	const s = _temp2.copy( line2.end ).sub( line2.start );
+	const w = _temp3.copy( line2.start ).sub( line1.start );
+
+	const a = r.dot( s ),
+		b = r.dot( r ),
+		c = s.dot( s ),
+		d = s.dot( w ),
+		e = r.dot( w );
+
+	let t1, t2;
+	const divisor = b * c - a * a;
+
+	if ( Math.abs( divisor ) < EPS ) {
+
+		const d1 = - d / c;
+		const d2 = ( a - d ) / c;
+
+		if ( Math.abs( d1 - 0.5 ) < Math.abs( d2 - 0.5 ) ) {
+
+			t1 = 0;
+			t2 = d1;
+
+		} else {
+
+			t1 = 1;
+			t2 = d2;
+
+		}
+
+	} else {
+
+		t1 = ( d * a + e * c ) / divisor;
+		t2 = ( t1 * a - d ) / c;
+
+	}
+
+	t2 = Math.max( 0, Math.min( 1, t2 ) );
+	t1 = Math.max( 0, Math.min( 1, t1 ) );
+
+	if ( target1 ) {
+
+		target1.copy( r ).multiplyScalar( t1 ).add( line1.start );
+
+	}
+
+	if ( target2 ) {
+
+		target2.copy( s ).multiplyScalar( t2 ).add( line2.start );
+
+	}
+
+}
+
+/**
+ * An octree is a hierarchical tree data structure used to partition a three-dimensional
+ * space by recursively subdividing it into eight octants.
+ *
+ * This particular implementation can have up to sixteen levels and stores up to eight triangles
+ * in leaf nodes.
+ *
+ * `Octree` can be used in games to compute collision between the game world and colliders from
+ * the player or other dynamic 3D objects.
+ *
+ *
+ * ```js
+ * const octree = new Octree().fromGraphNode( scene );
+ * const result = octree.capsuleIntersect( playerCollider ); // collision detection
+ * ```
+ *
+ * @three_import import { Octree } from 'three/addons/math/Octree.js';
+ */
+class Octree {
+
+	/**
+	 * Constructs a new Octree.
+	 *
+	 * @param {Box3} [box] - The base box with enclose the entire Octree.
+	 */
+	constructor( box ) {
+
+		/**
+		 * The base box with enclose the entire Octree.
+		 *
+		 * @type {Box3}
+		 */
+		this.box = box;
+
+		/**
+		 * The bounds of the Octree. Compared to {@link Octree#box}, no
+		 * margin is applied.
+		 *
+		 * @type {Box3}
+		 */
+		this.bounds = new Box3();
+
+		/**
+		 * Can by used for layers configuration for refine testing.
+		 *
+		 * @type {Layers}
+		 */
+		this.layers = new Layers();
+
+		/**
+		 * The number of triangles a leaf can store before it is split.
+		 *
+		 * @type {number}
+		 * @default 8
+		 */
+		this.trianglesPerLeaf = 8;
+
+		/**
+		 * The maximum level of the Octree. It defines the maximum
+		 * hierarchical depth of the data structure.
+		 *
+		 * @type {number}
+		 * @default 16
+		 */
+		this.maxLevel = 16;
+
+		// private
+
+		this.subTrees = [];
+		this.triangles = [];
+
+	}
+
+	/**
+	 * Adds the given triangle to the Octree. The triangle vertices are clamped if they exceed
+	 * the bounds of the Octree.
+	 *
+	 * @param {Triangle} triangle - The triangle to add.
+	 * @return {Octree} A reference to this Octree.
+	 */
+	addTriangle( triangle ) {
+
+		this.bounds.min.x = Math.min( this.bounds.min.x, triangle.a.x, triangle.b.x, triangle.c.x );
+		this.bounds.min.y = Math.min( this.bounds.min.y, triangle.a.y, triangle.b.y, triangle.c.y );
+		this.bounds.min.z = Math.min( this.bounds.min.z, triangle.a.z, triangle.b.z, triangle.c.z );
+		this.bounds.max.x = Math.max( this.bounds.max.x, triangle.a.x, triangle.b.x, triangle.c.x );
+		this.bounds.max.y = Math.max( this.bounds.max.y, triangle.a.y, triangle.b.y, triangle.c.y );
+		this.bounds.max.z = Math.max( this.bounds.max.z, triangle.a.z, triangle.b.z, triangle.c.z );
+
+		this.triangles.push( triangle );
+
+		return this;
+
+	}
+
+	/**
+	 * Prepares {@link Octree#box} for the build.
+	 *
+	 * @return {Octree} A reference to this Octree.
+	 */
+	calcBox() {
+
+		this.box = this.bounds.clone();
+
+		// offset small amount to account for regular grid
+		this.box.min.x -= 0.01;
+		this.box.min.y -= 0.01;
+		this.box.min.z -= 0.01;
+
+		return this;
+
+	}
+
+	/**
+	 * Splits the Octree. This method is used recursively when
+	 * building the Octree.
+	 *
+	 * @param {number} level - The current level.
+	 * @return {Octree} A reference to this Octree.
+	 */
+	split( level ) {
+
+		if ( ! this.box ) return;
+
+		const subTrees = [];
+		const halfsize = _v2.copy( this.box.max ).sub( this.box.min ).multiplyScalar( 0.5 );
+
+		for ( let x = 0; x < 2; x ++ ) {
+
+			for ( let y = 0; y < 2; y ++ ) {
+
+				for ( let z = 0; z < 2; z ++ ) {
+
+					const box = new Box3();
+					const v = _v1.set( x, y, z );
+
+					box.min.copy( this.box.min ).add( v.multiply( halfsize ) );
+					box.max.copy( box.min ).add( halfsize );
+
+					subTrees.push( new Octree( box ) );
+
+				}
+
+			}
+
+		}
+
+		let triangle;
+
+		while ( triangle = this.triangles.pop() ) {
+
+			for ( let i = 0; i < subTrees.length; i ++ ) {
+
+				if ( subTrees[ i ].box.intersectsTriangle( triangle ) ) {
+
+					subTrees[ i ].triangles.push( triangle );
+
+				}
+
+			}
+
+		}
+
+		for ( let i = 0; i < subTrees.length; i ++ ) {
+
+			const len = subTrees[ i ].triangles.length;
+
+			if ( len > this.trianglesPerLeaf && level < this.maxLevel ) {
+
+				subTrees[ i ].split( level + 1 );
+
+			}
+
+			if ( len !== 0 ) {
+
+				this.subTrees.push( subTrees[ i ] );
+
+			}
+
+		}
+
+		return this;
+
+	}
+
+	/**
+	 * Builds the Octree.
+	 *
+	 * @return {Octree} A reference to this Octree.
+	 */
+	build() {
+
+		this.calcBox();
+		this.split( 0 );
+
+		return this;
+
+	}
+
+	/**
+	 * Computes the triangles that potentially intersect with the given ray.
+	 *
+	 * @param {Ray} ray - The ray to test.
+	 * @param {Array<Triangle>} triangles - The target array that holds the triangles.
+	 */
+	getRayTriangles( ray, triangles ) {
+
+		for ( let i = 0; i < this.subTrees.length; i ++ ) {
+
+			const subTree = this.subTrees[ i ];
+			if ( ! ray.intersectsBox( subTree.box ) ) continue;
+
+			if ( subTree.triangles.length > 0 ) {
+
+				for ( let j = 0; j < subTree.triangles.length; j ++ ) {
+
+					if ( triangles.indexOf( subTree.triangles[ j ] ) === - 1 ) triangles.push( subTree.triangles[ j ] );
+
+				}
+
+			} else {
+
+				subTree.getRayTriangles( ray, triangles );
+
+			}
+
+		}
+
+	}
+
+	/**
+	 * Computes the intersection between the given capsule and triangle.
+	 *
+	 * @param {Capsule} capsule - The capsule to test.
+	 * @param {Triangle} triangle - The triangle to test.
+	 * @return {Object|false} The intersection object. If no intersection
+	 * is detected, the method returns `false`.
+	 */
+	triangleCapsuleIntersect( capsule, triangle ) {
+
+		triangle.getPlane( _plane );
+
+		const d1 = _plane.distanceToPoint( capsule.start ) - capsule.radius;
+		const d2 = _plane.distanceToPoint( capsule.end ) - capsule.radius;
+
+		if ( ( d1 > 0 && d2 > 0 ) || ( d1 < - capsule.radius && d2 < - capsule.radius ) ) {
+
+			return false;
+
+		}
+
+		const delta = Math.abs( d1 / ( Math.abs( d1 ) + Math.abs( d2 ) ) );
+		const intersectPoint = _v1.copy( capsule.start ).lerp( capsule.end, delta );
+
+		if ( triangle.containsPoint( intersectPoint ) ) {
+
+			return { normal: _plane.normal.clone(), point: intersectPoint.clone(), depth: Math.abs( Math.min( d1, d2 ) ) };
+
+		}
+
+		const r2 = capsule.radius * capsule.radius;
+
+		const line1 = _line1.set( capsule.start, capsule.end );
+
+		const lines = [
+			[ triangle.a, triangle.b ],
+			[ triangle.b, triangle.c ],
+			[ triangle.c, triangle.a ]
+		];
+
+		for ( let i = 0; i < lines.length; i ++ ) {
+
+			const line2 = _line2.set( lines[ i ][ 0 ], lines[ i ][ 1 ] );
+
+			lineToLineClosestPoints( line1, line2, _point1, _point2 );
+
+			if ( _point1.distanceToSquared( _point2 ) < r2 ) {
+
+				return {
+					normal: _point1.clone().sub( _point2 ).normalize(),
+					point: _point2.clone(),
+					depth: capsule.radius - _point1.distanceTo( _point2 )
+				};
+
+			}
+
+		}
+
+		return false;
+
+	}
+
+	/**
+	 * Computes the intersection between the given bounding box and triangle.
+	 *
+	 * @param {Box3} box - The bounding box to test.
+	 * @param {Triangle} triangle - The triangle to test.
+	 * @return {Object|false} The intersection object. If no intersection
+	 * is detected, the method returns `false`.
+	 */
+	triangleBoxIntersect( box, triangle ) {
+
+		// cheap check
+
+		if ( Math.max( triangle.a.x, triangle.b.x, triangle.c.x ) < box.min.x ||
+				Math.min( triangle.a.x, triangle.b.x, triangle.c.x ) > box.max.x ||
+				Math.max( triangle.a.y, triangle.b.y, triangle.c.y ) < box.min.y ||
+				Math.min( triangle.a.y, triangle.b.y, triangle.c.y ) > box.max.y ||
+				Math.max( triangle.a.z, triangle.b.z, triangle.c.z ) < box.min.z ||
+				Math.min( triangle.a.z, triangle.b.z, triangle.c.z ) > box.max.z ) {
+
+			return false;
+
+		}
+
+		// expensive check
+
+		if ( ! box.intersectsTriangle( triangle ) ) return false;
+
+		// there is an intersection, now compute collision data
+
+		triangle.getPlane( _plane );
+
+		// determine which corner of the box is "deepest" into the plane
+
+		_v1.x = ( _plane.normal.x > 0 ) ? box.min.x : box.max.x;
+		_v1.y = ( _plane.normal.y > 0 ) ? box.min.y : box.max.y;
+		_v1.z = ( _plane.normal.z > 0 ) ? box.min.z : box.max.z;
+
+		// Calculate the distance from the plane to that corner (the distance will be negative
+		// because of the intersection)
+
+		const distance = _plane.distanceToPoint( _v1 );
+
+		const intersection = {
+			depth: - distance, // Flip sign so depth is positive
+			normal: _plane.normal.clone(),
+			point: _v1.clone()
+		};
+
+		// project the point onto the triangle surface
+		intersection.point.addScaledVector( intersection.normal, distance );
+
+		return intersection;
+
+	}
+
+	/**
+	 * Computes the intersection between the given sphere and triangle.
+	 *
+	 * @param {Sphere} sphere - The sphere to test.
+	 * @param {Triangle} triangle - The triangle to test.
+	 * @return {Object|false} The intersection object. If no intersection
+	 * is detected, the method returns `false`.
+	 */
+	triangleSphereIntersect( sphere, triangle ) {
+
+		triangle.getPlane( _plane );
+
+		if ( ! sphere.intersectsPlane( _plane ) ) return false;
+
+		const depth = Math.abs( _plane.distanceToSphere( sphere ) );
+		const r2 = sphere.radius * sphere.radius - depth * depth;
+
+		const plainPoint = _plane.projectPoint( sphere.center, _v1 );
+
+		if ( triangle.containsPoint( sphere.center ) ) {
+
+			return { normal: _plane.normal.clone(), point: plainPoint.clone(), depth: Math.abs( _plane.distanceToSphere( sphere ) ) };
+
+		}
+
+		const lines = [
+			[ triangle.a, triangle.b ],
+			[ triangle.b, triangle.c ],
+			[ triangle.c, triangle.a ]
+		];
+
+		for ( let i = 0; i < lines.length; i ++ ) {
+
+			_line1.set( lines[ i ][ 0 ], lines[ i ][ 1 ] );
+			_line1.closestPointToPoint( plainPoint, true, _v2 );
+
+			const d = _v2.distanceToSquared( sphere.center );
+
+			if ( d < r2 ) {
+
+				return { normal: sphere.center.clone().sub( _v2 ).normalize(), point: _v2.clone(), depth: sphere.radius - Math.sqrt( d ) };
+
+			}
+
+		}
+
+		return false;
+
+	}
+
+	/**
+	 * Computes the triangles that potentially intersect with the given bounding sphere.
+	 *
+	 * @param {Sphere} sphere - The sphere to test.
+	 * @param {Array<Triangle>} triangles - The target array that holds the triangles.
+	 */
+	getSphereTriangles( sphere, triangles ) {
+
+		for ( let i = 0; i < this.subTrees.length; i ++ ) {
+
+			const subTree = this.subTrees[ i ];
+
+			if ( ! sphere.intersectsBox( subTree.box ) ) continue;
+
+			if ( subTree.triangles.length > 0 ) {
+
+				for ( let j = 0; j < subTree.triangles.length; j ++ ) {
+
+					if ( triangles.indexOf( subTree.triangles[ j ] ) === - 1 ) triangles.push( subTree.triangles[ j ] );
+
+				}
+
+			} else {
+
+				subTree.getSphereTriangles( sphere, triangles );
+
+			}
+
+		}
+
+	}
+
+	/**
+	 * Computes the triangles that potentially intersect with the given bounding box.
+	 *
+	 * @param {Box3} box - The bounding box.
+	 * @param {Array<Triangle>} triangles - The target array that holds the triangles.
+	 */
+	getBoxTriangles( box, triangles ) {
+
+		for ( let i = 0; i < this.subTrees.length; i ++ ) {
+
+			const subTree = this.subTrees[ i ];
+
+			if ( ! box.intersectsBox( subTree.box ) ) continue;
+
+			if ( subTree.triangles.length > 0 ) {
+
+				for ( let j = 0; j < subTree.triangles.length; j ++ ) {
+
+					if ( triangles.indexOf( subTree.triangles[ j ] ) === - 1 ) triangles.push( subTree.triangles[ j ] );
+
+				}
+
+			} else {
+
+				subTree.getBoxTriangles( box, triangles );
+
+			}
+
+		}
+
+	}
+
+	/**
+	 * Computes the triangles that potentially intersect with the given capsule.
+	 *
+	 * @param {Capsule} capsule - The capsule to test.
+	 * @param {Array<Triangle>} triangles - The target array that holds the triangles.
+	 */
+	getCapsuleTriangles( capsule, triangles ) {
+
+		for ( let i = 0; i < this.subTrees.length; i ++ ) {
+
+			const subTree = this.subTrees[ i ];
+
+			if ( ! capsule.intersectsBox( subTree.box ) ) continue;
+
+			if ( subTree.triangles.length > 0 ) {
+
+				for ( let j = 0; j < subTree.triangles.length; j ++ ) {
+
+					if ( triangles.indexOf( subTree.triangles[ j ] ) === - 1 ) triangles.push( subTree.triangles[ j ] );
+
+				}
+
+			} else {
+
+				subTree.getCapsuleTriangles( capsule, triangles );
+
+			}
+
+		}
+
+	}
+
+	/**
+	 * Performs a bounding box intersection test with this Octree.
+	 *
+	 * @param {Box3} box - The bounding box to test.
+	 * @return {Object|boolean} The intersection object. If no intersection
+	 * is detected, the method returns `false`.
+	 */
+	boxIntersect( box ) {
+
+		_box.copy( box );
+
+		const triangles = [];
+		let result, hit = false;
+
+		this.getBoxTriangles( box, triangles );
+
+		for ( let i = 0; i < triangles.length; i ++ ) {
+
+			if ( result = this.triangleBoxIntersect( _box, triangles[ i ] ) ) {
+
+				hit = true;
+
+				_box.translate( result.normal.multiplyScalar( result.depth ) );
+
+			}
+
+		}
+
+		if ( hit ) {
+
+			const collisionVector = _box.getCenter( _center ).sub( box.getCenter( _v1 ) );
+			const depth = collisionVector.length();
+
+			return { normal: collisionVector.normalize(), depth: depth };
+
+		}
+
+		return false;
+
+	}
+
+	/**
+	 * Performs a bounding sphere intersection test with this Octree.
+	 *
+	 * @param {Sphere} sphere - The bounding sphere to test.
+	 * @return {Object|boolean} The intersection object. If no intersection
+	 * is detected, the method returns `false`.
+	 */
+	sphereIntersect( sphere ) {
+
+		_sphere.copy( sphere );
+
+		const triangles = [];
+		let result, hit = false;
+
+		this.getSphereTriangles( sphere, triangles );
+
+		for ( let i = 0; i < triangles.length; i ++ ) {
+
+			if ( result = this.triangleSphereIntersect( _sphere, triangles[ i ] ) ) {
+
+				hit = true;
+
+				_sphere.center.add( result.normal.multiplyScalar( result.depth ) );
+
+			}
+
+		}
+
+		if ( hit ) {
+
+			const collisionVector = _sphere.center.clone().sub( sphere.center );
+			const depth = collisionVector.length();
+
+			return { normal: collisionVector.normalize(), depth: depth };
+
+		}
+
+		return false;
+
+	}
+
+	/**
+	 * Performs a capsule intersection test with this Octree.
+	 *
+	 * @param {Capsule} capsule - The capsule to test.
+	 * @return {Object|boolean} The intersection object. If no intersection
+	 * is detected, the method returns `false`.
+	 */
+	capsuleIntersect( capsule ) {
+
+		_capsule.copy( capsule );
+
+		const triangles = [];
+		let result, hit = false;
+
+		this.getCapsuleTriangles( _capsule, triangles );
+
+		for ( let i = 0; i < triangles.length; i ++ ) {
+
+			if ( result = this.triangleCapsuleIntersect( _capsule, triangles[ i ] ) ) {
+
+				hit = true;
+
+				_capsule.translate( result.normal.multiplyScalar( result.depth ) );
+
+			}
+
+		}
+
+		if ( hit ) {
+
+			const collisionVector = _capsule.getCenter( _center ).sub( capsule.getCenter( _v1 ) );
+			const depth = collisionVector.length();
+
+			return { normal: collisionVector.normalize(), depth: depth };
+
+		}
+
+		return false;
+
+	}
+
+	/**
+	 * Performs a ray intersection test with this Octree.
+	 *
+	 * @param {Ray} ray - The ray to test.
+	 * @return {Object|boolean} The nearest intersection object. If no intersection
+	 * is detected, the method returns `false`.
+	 */
+	rayIntersect( ray ) {
+
+		const triangles = [];
+		let triangle, position, distance = 1e100;
+
+		this.getRayTriangles( ray, triangles );
+
+		for ( let i = 0; i < triangles.length; i ++ ) {
+
+			const result = ray.intersectTriangle( triangles[ i ].a, triangles[ i ].b, triangles[ i ].c, true, _v1 );
+
+			if ( result ) {
+
+				const newdistance = result.sub( ray.origin ).length();
+
+				if ( distance > newdistance ) {
+
+					position = result.clone().add( ray.origin );
+					distance = newdistance;
+					triangle = triangles[ i ];
+
+				}
+
+			}
+
+		}
+
+		return distance < 1e100 ? { distance: distance, triangle: triangle, position: position } : false;
+
+	}
+
+	/**
+	 * Constructs the Octree from the given 3D object.
+	 *
+	 * @param {Object3D} group - The scene graph node.
+	 * @return {Octree} A reference to this Octree.
+	 */
+	fromGraphNode( group ) {
+
+		group.updateWorldMatrix( true, true );
+
+		group.traverse( ( obj ) => {
+
+			if ( obj.isMesh === true ) {
+
+				if ( this.layers.test( obj.layers ) ) {
+
+					let geometry, isTemp = false;
+
+					if ( obj.geometry.index !== null ) {
+
+						isTemp = true;
+						geometry = obj.geometry.toNonIndexed();
+
+					} else {
+
+						geometry = obj.geometry;
+
+					}
+
+					const positionAttribute = geometry.getAttribute( 'position' );
+
+					for ( let i = 0; i < positionAttribute.count; i += 3 ) {
+
+						const v1 = new Vector3().fromBufferAttribute( positionAttribute, i );
+						const v2 = new Vector3().fromBufferAttribute( positionAttribute, i + 1 );
+						const v3 = new Vector3().fromBufferAttribute( positionAttribute, i + 2 );
+
+						v1.applyMatrix4( obj.matrixWorld );
+						v2.applyMatrix4( obj.matrixWorld );
+						v3.applyMatrix4( obj.matrixWorld );
+
+						this.addTriangle( new Triangle( v1, v2, v3 ) );
+
+					}
+
+					if ( isTemp ) {
+
+						geometry.dispose();
+
+					}
+
+				}
+
+			}
+
+		} );
+
+		this.build();
+
+		return this;
+
+	}
+
+	/**
+	 * Clears the Octree by making it empty.
+	 *
+	 * @return {Octree} A reference to this Octree.
+	 */
+	clear() {
+
+		this.box = null;
+		this.bounds.makeEmpty();
+
+		this.subTrees.length = 0;
+		this.triangles.length = 0;
+
+		return this;
+
+	}
+
+}
+
+export { Octree };