@ifc-lite/clash 1.2.0 → 1.3.0

package/dist/contact/aabb.d.ts

@@ -0,0 +1,20 @@
+import type { AABB, Vec3 } from "./types.js";
+/** An empty AABB (inverted bounds); union with any AABB yields that AABB. */
+export declare const EMPTY_AABB: AABB;
+/** True when two AABBs overlap (closed intervals). */
+export declare function intersects(a: AABB, b: AABB): boolean;
+/** Smallest AABB containing both inputs. */
+export declare function unionAabb(a: AABB, b: AABB): AABB;
+/** Geometric centre of an AABB. */
+export declare function center(a: AABB): Vec3;
+/** Size (extent) of an AABB along each axis. */
+export declare function size(a: AABB): Vec3;
+/** True when the AABB contains the point (closed intervals). */
+export declare function contains(a: AABB, p: Vec3): boolean;
+/** Inflate the AABB by `eps` on every face. Negative values deflate. */
+export declare function inflate(a: AABB, eps: number): AABB;
+/** Build an AABB from a flat positions buffer (xyz, xyz, …). */
+export declare function aabbFromPositions(positions: ArrayLike<number>): AABB;
+/** Longest axis of the AABB: 0=x, 1=y, 2=z. */
+export declare function longestAxis(a: AABB): 0 | 1 | 2;
+//# sourceMappingURL=aabb.d.ts.map

package/dist/contact/aabb.d.ts.map

@@ -0,0 +1 @@
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package/dist/contact/aabb.js

@@ -0,0 +1,88 @@
+/* This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/. */
+/** An empty AABB (inverted bounds); union with any AABB yields that AABB. */
+export const EMPTY_AABB = {
+    min: [Number.POSITIVE_INFINITY, Number.POSITIVE_INFINITY, Number.POSITIVE_INFINITY],
+    max: [Number.NEGATIVE_INFINITY, Number.NEGATIVE_INFINITY, Number.NEGATIVE_INFINITY],
+};
+/** True when two AABBs overlap (closed intervals). */
+export function intersects(a, b) {
+    return (a.min[0] <= b.max[0] &&
+        a.max[0] >= b.min[0] &&
+        a.min[1] <= b.max[1] &&
+        a.max[1] >= b.min[1] &&
+        a.min[2] <= b.max[2] &&
+        a.max[2] >= b.min[2]);
+}
+/** Smallest AABB containing both inputs. */
+export function unionAabb(a, b) {
+    return {
+        min: [Math.min(a.min[0], b.min[0]), Math.min(a.min[1], b.min[1]), Math.min(a.min[2], b.min[2])],
+        max: [Math.max(a.max[0], b.max[0]), Math.max(a.max[1], b.max[1]), Math.max(a.max[2], b.max[2])],
+    };
+}
+/** Geometric centre of an AABB. */
+export function center(a) {
+    return [(a.min[0] + a.max[0]) / 2, (a.min[1] + a.max[1]) / 2, (a.min[2] + a.max[2]) / 2];
+}
+/** Size (extent) of an AABB along each axis. */
+export function size(a) {
+    return [a.max[0] - a.min[0], a.max[1] - a.min[1], a.max[2] - a.min[2]];
+}
+/** True when the AABB contains the point (closed intervals). */
+export function contains(a, p) {
+    return (p[0] >= a.min[0] &&
+        p[0] <= a.max[0] &&
+        p[1] >= a.min[1] &&
+        p[1] <= a.max[1] &&
+        p[2] >= a.min[2] &&
+        p[2] <= a.max[2]);
+}
+/** Inflate the AABB by `eps` on every face. Negative values deflate. */
+export function inflate(a, eps) {
+    return {
+        min: [a.min[0] - eps, a.min[1] - eps, a.min[2] - eps],
+        max: [a.max[0] + eps, a.max[1] + eps, a.max[2] + eps],
+    };
+}
+/** Build an AABB from a flat positions buffer (xyz, xyz, …). */
+export function aabbFromPositions(positions) {
+    if (positions.length === 0 || positions.length % 3 !== 0) {
+        return EMPTY_AABB;
+    }
+    let minX = Number.POSITIVE_INFINITY;
+    let minY = Number.POSITIVE_INFINITY;
+    let minZ = Number.POSITIVE_INFINITY;
+    let maxX = Number.NEGATIVE_INFINITY;
+    let maxY = Number.NEGATIVE_INFINITY;
+    let maxZ = Number.NEGATIVE_INFINITY;
+    for (let i = 0; i < positions.length; i += 3) {
+        const x = positions[i];
+        const y = positions[i + 1];
+        const z = positions[i + 2];
+        if (x < minX)
+            minX = x;
+        if (y < minY)
+            minY = y;
+        if (z < minZ)
+            minZ = z;
+        if (x > maxX)
+            maxX = x;
+        if (y > maxY)
+            maxY = y;
+        if (z > maxZ)
+            maxZ = z;
+    }
+    return { min: [minX, minY, minZ], max: [maxX, maxY, maxZ] };
+}
+/** Longest axis of the AABB: 0=x, 1=y, 2=z. */
+export function longestAxis(a) {
+    const [dx, dy, dz] = size(a);
+    if (dx >= dy && dx >= dz)
+        return 0;
+    if (dy >= dz)
+        return 1;
+    return 2;
+}
+//# sourceMappingURL=aabb.js.map

package/dist/contact/aabb.js.map

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

@@ -0,0 +1,39 @@
+import type { AABB, MeshBounds } from "./types.js";
+/**
+ * Median-split BVH with two query primitives:
+ *   - queryAABB(q): items overlapping `q`
+ *   - queryPairs(eps?): all unordered pairs whose (optionally inflated) AABBs overlap
+ *
+ * Build cost: O(n log n). queryPairs descends both subtrees simultaneously,
+ * pruning on AABB intersection — true O(n log n) self-pair enumeration rather
+ * than O(n^2) per-element queries.
+ */
+export interface BvhNode {
+    readonly bounds: AABB;
+    readonly left?: BvhNode;
+    readonly right?: BvhNode;
+    /** Indices into the original `items` array; present only on leaves. */
+    readonly items?: readonly number[];
+}
+export interface BvhOptions {
+    /** Maximum items per leaf; lower = deeper tree, higher = faster build. */
+    readonly leafSize?: number;
+}
+export declare class Bvh {
+    readonly root: BvhNode | null;
+    readonly items: readonly MeshBounds[];
+    private constructor();
+    /** Build a BVH from a list of bounded items. Median-split along the longest axis. */
+    static build(items: readonly MeshBounds[], opts?: BvhOptions): Bvh;
+    /** Return ids of items whose AABB intersects `q`. Order is depth-first, stable. */
+    queryAABB(q: AABB): string[];
+    /**
+     * Return all unordered pairs `(idA, idB)` with idA < idB (lex) whose AABBs
+     * (optionally inflated by `epsilon` on all sides) overlap. Pair order is
+     * deterministic given input order.
+     */
+    queryPairs(epsilon?: number): IdPair[];
+}
+type IdPair = readonly [string, string];
+export {};
+//# sourceMappingURL=bvh.d.ts.map

package/dist/contact/bvh.d.ts.map

@@ -0,0 +1 @@
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package/dist/contact/bvh.js

@@ -0,0 +1,173 @@
+/* This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/. */
+import { EMPTY_AABB, center, intersects, longestAxis, unionAabb } from "./aabb.js";
+export class Bvh {
+    root;
+    items;
+    constructor(root, items) {
+        this.root = root;
+        this.items = items;
+    }
+    /** Build a BVH from a list of bounded items. Median-split along the longest axis. */
+    static build(items, opts = {}) {
+        if (items.length === 0)
+            return new Bvh(null, items);
+        const leafSize = Math.max(1, opts.leafSize ?? 4);
+        const indices = items.map((_, i) => i);
+        const root = buildNode(items, indices, leafSize);
+        return new Bvh(root, items);
+    }
+    /** Return ids of items whose AABB intersects `q`. Order is depth-first, stable. */
+    queryAABB(q) {
+        if (!this.root)
+            return [];
+        const out = [];
+        queryAabbNode(this.root, q, this.items, out);
+        return out;
+    }
+    /**
+     * Return all unordered pairs `(idA, idB)` with idA < idB (lex) whose AABBs
+     * (optionally inflated by `epsilon` on all sides) overlap. Pair order is
+     * deterministic given input order.
+     */
+    queryPairs(epsilon = 0) {
+        if (!this.root)
+            return [];
+        const out = [];
+        selfPair(this.root, this.items, epsilon, out);
+        // Stable canonicalisation — the emission loops already guarantee no dupes,
+        // but we sort both within each pair and across the pair array so the
+        // output is insensitive to tree construction order (just input order).
+        for (let i = 0; i < out.length; i++) {
+            const p = out[i];
+            if (p[0] > p[1])
+                out[i] = [p[1], p[0]];
+        }
+        out.sort((a, b) => a[0] < b[0] ? -1 : a[0] > b[0] ? 1 : a[1] < b[1] ? -1 : a[1] > b[1] ? 1 : 0);
+        return out;
+    }
+}
+function buildNode(items, indices, leafSize) {
+    if (indices.length === 0) {
+        return { bounds: EMPTY_AABB, items: [] };
+    }
+    const bounds = indices.reduce((acc, idx) => unionAabb(acc, items[idx].aabb), EMPTY_AABB);
+    if (indices.length <= leafSize) {
+        return { bounds, items: indices.slice() };
+    }
+    const axis = longestAxis(bounds);
+    // Sort indices by centre along longest axis, then split at median.
+    indices.sort((ia, ib) => {
+        const ca = center(items[ia].aabb)[axis];
+        const cb = center(items[ib].aabb)[axis];
+        return ca - cb;
+    });
+    const mid = indices.length >> 1;
+    const leftIdx = indices.slice(0, mid);
+    const rightIdx = indices.slice(mid);
+    return {
+        bounds,
+        left: buildNode(items, leftIdx, leafSize),
+        right: buildNode(items, rightIdx, leafSize),
+    };
+}
+function queryAabbNode(node, q, items, out) {
+    if (!intersects(node.bounds, q))
+        return;
+    if (node.items) {
+        for (const i of node.items) {
+            const it = items[i];
+            if (intersects(it.aabb, q))
+                out.push(it.id);
+        }
+        return;
+    }
+    if (node.left)
+        queryAabbNode(node.left, q, items, out);
+    if (node.right)
+        queryAabbNode(node.right, q, items, out);
+}
+/** Dual-traversal self-pair emission. */
+function selfPair(node, items, eps, out) {
+    if (node.items) {
+        emitLeafPairs(node.items, items, eps, out);
+        return;
+    }
+    if (node.left)
+        selfPair(node.left, items, eps, out);
+    if (node.right)
+        selfPair(node.right, items, eps, out);
+    if (node.left && node.right)
+        crossPair(node.left, node.right, items, eps, out);
+}
+function crossPair(a, b, items, eps, out) {
+    if (!boundsOverlapInflated(a.bounds, b.bounds, eps))
+        return;
+    if (a.items && b.items) {
+        emitLeafCross(a.items, b.items, items, eps, out);
+        return;
+    }
+    // Descend the larger side first to keep recursion depth bounded.
+    if (a.items) {
+        if (b.left)
+            crossPair(a, b.left, items, eps, out);
+        if (b.right)
+            crossPair(a, b.right, items, eps, out);
+        return;
+    }
+    if (b.items) {
+        if (a.left)
+            crossPair(a.left, b, items, eps, out);
+        if (a.right)
+            crossPair(a.right, b, items, eps, out);
+        return;
+    }
+    if (a.left) {
+        if (b.left)
+            crossPair(a.left, b.left, items, eps, out);
+        if (b.right)
+            crossPair(a.left, b.right, items, eps, out);
+    }
+    if (a.right) {
+        if (b.left)
+            crossPair(a.right, b.left, items, eps, out);
+        if (b.right)
+            crossPair(a.right, b.right, items, eps, out);
+    }
+}
+function emitLeafPairs(leaf, items, eps, out) {
+    for (let i = 0; i < leaf.length; i++) {
+        const ia = leaf[i];
+        const a = items[ia];
+        for (let j = i + 1; j < leaf.length; j++) {
+            const ib = leaf[j];
+            const b = items[ib];
+            if (boundsOverlapInflated(a.aabb, b.aabb, eps))
+                out.push([a.id, b.id]);
+        }
+    }
+}
+function emitLeafCross(aLeaf, bLeaf, items, eps, out) {
+    for (const ia of aLeaf) {
+        const a = items[ia];
+        for (const ib of bLeaf) {
+            const b = items[ib];
+            if (a.id === b.id)
+                continue;
+            if (boundsOverlapInflated(a.aabb, b.aabb, eps))
+                out.push([a.id, b.id]);
+        }
+    }
+}
+function boundsOverlapInflated(a, b, eps) {
+    if (eps === 0)
+        return intersects(a, b);
+    return (a.min[0] - eps <= b.max[0] + eps &&
+        a.max[0] + eps >= b.min[0] - eps &&
+        a.min[1] - eps <= b.max[1] + eps &&
+        a.max[1] + eps >= b.min[1] - eps &&
+        a.min[2] - eps <= b.max[2] + eps &&
+        a.max[2] + eps >= b.min[2] - eps);
+}
+//# sourceMappingURL=bvh.js.map

package/dist/contact/bvh.js.map

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

@@ -0,0 +1,31 @@
+/**
+ * Contact-interface geometry for a single pair of meshes.
+ *
+ * Where the AABB clash box is a crude proxy, this returns the REAL contact
+ * patch: the shared-face polygon for coplanar/flush overlaps (surface), the
+ * intersection line for crossings (line), or a point — classified by area and
+ * length. It is built from a Moller triangle-triangle test (which reports the
+ * intersection segment for crossings and the coplanar case) followed by
+ * shared-face clustering: coplanar triangle pairs are Sutherland-Hodgman clipped
+ * on their common plane and unioned into a boundary polygon; cross pairs union
+ * their segments along the intersection line.
+ *
+ * Intended for on-demand use on the FOCUSED clash (one pair), not the bulk
+ * detection sweep — clustering every clash would be far too expensive.
+ */
+import { narrowPhase, type NarrowPhaseOptions } from './narrow-phase.js';
+import { clusterSharedFaces, type SharedFaceCluster, type SharedFaceOptions } from './shared-faces.js';
+import type { Mesh } from './types.js';
+export type { Mesh, Vec3, AABB } from './types.js';
+export type { SharedFaceCluster, SharedFaceOptions } from './shared-faces.js';
+export type { TrianglePair, NarrowPhaseOptions } from './narrow-phase.js';
+export { narrowPhase, clusterSharedFaces };
+export interface ContactOptions extends NarrowPhaseOptions, SharedFaceOptions {
+}
+/**
+ * Compute the contact interface(s) between two world-space meshes: the real
+ * shared-face polygon (surface), intersection line, or point — not an AABB.
+ * Returns an empty array when the triangles neither cross nor share a plane.
+ */
+export declare function contactClusters(a: Mesh, b: Mesh, opts?: ContactOptions): SharedFaceCluster[];
+//# sourceMappingURL=index.d.ts.map

package/dist/contact/index.d.ts.map

@@ -0,0 +1 @@
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package/dist/contact/index.js

@@ -0,0 +1,33 @@
+/* This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/. */
+/**
+ * Contact-interface geometry for a single pair of meshes.
+ *
+ * Where the AABB clash box is a crude proxy, this returns the REAL contact
+ * patch: the shared-face polygon for coplanar/flush overlaps (surface), the
+ * intersection line for crossings (line), or a point — classified by area and
+ * length. It is built from a Moller triangle-triangle test (which reports the
+ * intersection segment for crossings and the coplanar case) followed by
+ * shared-face clustering: coplanar triangle pairs are Sutherland-Hodgman clipped
+ * on their common plane and unioned into a boundary polygon; cross pairs union
+ * their segments along the intersection line.
+ *
+ * Intended for on-demand use on the FOCUSED clash (one pair), not the bulk
+ * detection sweep — clustering every clash would be far too expensive.
+ */
+import { narrowPhase } from './narrow-phase.js';
+import { clusterSharedFaces, } from './shared-faces.js';
+export { narrowPhase, clusterSharedFaces };
+/**
+ * Compute the contact interface(s) between two world-space meshes: the real
+ * shared-face polygon (surface), intersection line, or point — not an AABB.
+ * Returns an empty array when the triangles neither cross nor share a plane.
+ */
+export function contactClusters(a, b, opts = {}) {
+    const pairs = narrowPhase(a, b, opts);
+    if (pairs.length === 0)
+        return [];
+    return clusterSharedFaces(pairs, opts);
+}
+//# sourceMappingURL=index.js.map

package/dist/contact/index.js.map

@@ -0,0 +1 @@
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package/dist/contact/mesh-bvh.d.ts

@@ -0,0 +1,21 @@
+import { Bvh } from "./bvh.js";
+import type { Mesh } from "./types.js";
+/**
+ * A BVH over a mesh's triangles. Item ids are stringified triangle indices.
+ * Cross-traversal between two MeshBvh yields candidate triangle-pair indices.
+ */
+export interface MeshBvh {
+    readonly mesh: Mesh;
+    readonly bvh: Bvh;
+}
+export declare function buildMeshBvh(mesh: Mesh, leafSize?: number): MeshBvh;
+/**
+ * Cross-query two MeshBvh instances. Returns candidate triangle-index pairs
+ * `(iA, iB)` where iA is in `a.mesh` and iB is in `b.mesh`, whose AABBs
+ * (inflated by `epsilon`) overlap.
+ *
+ * Pairs are not canonicalised — both meshes are distinct inputs, so order
+ * is preserved (A first, B second).
+ */
+export declare function queryMeshCross(a: MeshBvh, b: MeshBvh, epsilon?: number): Array<readonly [number, number]>;
+//# sourceMappingURL=mesh-bvh.d.ts.map

package/dist/contact/mesh-bvh.d.ts.map

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package/dist/contact/mesh-bvh.js

@@ -0,0 +1,96 @@
+/* This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/. */
+import { Bvh } from "./bvh.js";
+import { triangleAabb, triangleAt, triangleCount } from "./triangle.js";
+export function buildMeshBvh(mesh, leafSize = 8) {
+    const n = triangleCount(mesh);
+    const items = new Array(n);
+    for (let i = 0; i < n; i++) {
+        items[i] = { id: String(i), aabb: triangleAabb(triangleAt(mesh, i)) };
+    }
+    return { mesh, bvh: Bvh.build(items, { leafSize }) };
+}
+/**
+ * Cross-query two MeshBvh instances. Returns candidate triangle-index pairs
+ * `(iA, iB)` where iA is in `a.mesh` and iB is in `b.mesh`, whose AABBs
+ * (inflated by `epsilon`) overlap.
+ *
+ * Pairs are not canonicalised — both meshes are distinct inputs, so order
+ * is preserved (A first, B second).
+ */
+export function queryMeshCross(a, b, epsilon = 0) {
+    if (!a.bvh.root || !b.bvh.root)
+        return [];
+    const out = [];
+    crossNode(a.bvh, b.bvh, a.bvh.root, b.bvh.root, epsilon, out);
+    // Dedup — BVHs partition the triangle set, so no true duplicates, but
+    // belt-and-braces:
+    const seen = new Set();
+    const deduped = [];
+    for (const p of out) {
+        const key = `${p[0]}|${p[1]}`;
+        if (seen.has(key))
+            continue;
+        seen.add(key);
+        deduped.push(p);
+    }
+    return deduped;
+}
+function crossNode(aTree, bTree, aNode, bNode, eps, out) {
+    if (!boundsOverlap(aNode.bounds, bNode.bounds, eps))
+        return;
+    const aLeaf = aNode.items;
+    const bLeaf = bNode.items;
+    if (aLeaf && bLeaf) {
+        for (const ia of aLeaf) {
+            const aItem = aTree.items[ia];
+            if (!aItem)
+                continue;
+            for (const ib of bLeaf) {
+                const bItem = bTree.items[ib];
+                if (!bItem)
+                    continue;
+                if (boundsOverlap(aItem.aabb, bItem.aabb, eps)) {
+                    out.push([Number(aItem.id), Number(bItem.id)]);
+                }
+            }
+        }
+        return;
+    }
+    if (aLeaf) {
+        if (bNode.left)
+            crossNode(aTree, bTree, aNode, bNode.left, eps, out);
+        if (bNode.right)
+            crossNode(aTree, bTree, aNode, bNode.right, eps, out);
+        return;
+    }
+    if (bLeaf) {
+        if (aNode.left)
+            crossNode(aTree, bTree, aNode.left, bNode, eps, out);
+        if (aNode.right)
+            crossNode(aTree, bTree, aNode.right, bNode, eps, out);
+        return;
+    }
+    if (aNode.left) {
+        if (bNode.left)
+            crossNode(aTree, bTree, aNode.left, bNode.left, eps, out);
+        if (bNode.right)
+            crossNode(aTree, bTree, aNode.left, bNode.right, eps, out);
+    }
+    if (aNode.right) {
+        if (bNode.left)
+            crossNode(aTree, bTree, aNode.right, bNode.left, eps, out);
+        if (bNode.right)
+            crossNode(aTree, bTree, aNode.right, bNode.right, eps, out);
+    }
+}
+function boundsOverlap(a, b, eps) {
+    return (a.min[0] - eps <= b.max[0] + eps &&
+        a.max[0] + eps >= b.min[0] - eps &&
+        a.min[1] - eps <= b.max[1] + eps &&
+        a.max[1] + eps >= b.min[1] - eps &&
+        a.min[2] - eps <= b.max[2] + eps &&
+        a.max[2] + eps >= b.min[2] - eps);
+}
+//# sourceMappingURL=mesh-bvh.js.map

package/dist/contact/mesh-bvh.js.map

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package/dist/contact/narrow-phase.d.ts

@@ -0,0 +1,37 @@
+import type { Triangle } from "./triangle.js";
+import type { Mesh, Vec3 } from "./types.js";
+export type TrianglePair = {
+    readonly triA: number;
+    readonly triB: number;
+    readonly a: Triangle;
+    readonly b: Triangle;
+    readonly kind: "coplanar";
+} | {
+    readonly triA: number;
+    readonly triB: number;
+    readonly a: Triangle;
+    readonly b: Triangle;
+    readonly kind: "cross";
+    /** 3D endpoints of the intersection segment on the common line. */
+    readonly p0: Vec3;
+    readonly p1: Vec3;
+};
+export interface NarrowPhaseOptions {
+    /** AABB inflation (world units). Default 0.002 (2 mm). */
+    readonly epsilon?: number;
+    /** Plane-distance tolerance for coplanarity and Möller sign tests. */
+    readonly planeEps?: number;
+    /** BVH leaf size for per-mesh triangle BVHs. Default 8. */
+    readonly leafSize?: number;
+}
+/**
+ * For two meshes A and B, return every triangle pair whose triangles
+ * either strictly cross or are coplanar (and whose AABBs are within
+ * `epsilon` of each other).
+ *
+ * Coplanar pairs are emitted without further 2D-overlap testing —
+ * shared-face clustering (downstream) does that more robustly across
+ * a whole cluster of coplanar hits.
+ */
+export declare function narrowPhase(a: Mesh, b: Mesh, opts?: NarrowPhaseOptions): TrianglePair[];
+//# sourceMappingURL=narrow-phase.d.ts.map

package/dist/contact/narrow-phase.d.ts.map

@@ -0,0 +1 @@
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package/dist/contact/narrow-phase.js

@@ -0,0 +1,49 @@
+/* This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/. */
+import { buildMeshBvh, queryMeshCross } from "./mesh-bvh.js";
+import { triTriIntersect } from "./tri-tri.js";
+import { triangleAt, triangleCount } from "./triangle.js";
+/**
+ * For two meshes A and B, return every triangle pair whose triangles
+ * either strictly cross or are coplanar (and whose AABBs are within
+ * `epsilon` of each other).
+ *
+ * Coplanar pairs are emitted without further 2D-overlap testing —
+ * shared-face clustering (downstream) does that more robustly across
+ * a whole cluster of coplanar hits.
+ */
+export function narrowPhase(a, b, opts = {}) {
+    const epsilon = opts.epsilon ?? 0.002;
+    const planeEps = opts.planeEps ?? 1e-6;
+    const leafSize = opts.leafSize ?? 8;
+    if (triangleCount(a) === 0 || triangleCount(b) === 0)
+        return [];
+    const bvhA = buildMeshBvh(a, leafSize);
+    const bvhB = buildMeshBvh(b, leafSize);
+    const candidates = queryMeshCross(bvhA, bvhB, epsilon);
+    const out = [];
+    for (const [iA, iB] of candidates) {
+        const triA = triangleAt(a, iA);
+        const triB = triangleAt(b, iB);
+        const res = triTriIntersect(triA, triB, planeEps);
+        if (res.kind === "none")
+            continue;
+        if (res.kind === "coplanar") {
+            out.push({ triA: iA, triB: iB, a: triA, b: triB, kind: "coplanar" });
+        }
+        else {
+            out.push({
+                triA: iA,
+                triB: iB,
+                a: triA,
+                b: triB,
+                kind: "cross",
+                p0: res.p0,
+                p1: res.p1,
+            });
+        }
+    }
+    return out;
+}
+//# sourceMappingURL=narrow-phase.js.map