@ifc-lite/clash 1.2.0 → 1.4.0

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

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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

package/dist/contact/narrow-phase.js.map

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package/dist/contact/plane.d.ts

@@ -0,0 +1,38 @@
+/**
+ * Plane utilities. A plane is stored as a unit normal + signed offset:
+ *   normal · x = offset
+ * `canonicalPlane` produces a direction-independent key so that the pair
+ * (normal, -normal, offset, -offset) hashes identically.
+ */
+import type { Vec3 } from "./types.js";
+export interface Plane {
+    readonly normal: Vec3;
+    readonly offset: number;
+}
+export interface PlaneBasis {
+    readonly origin: Vec3;
+    readonly u: Vec3;
+    readonly v: Vec3;
+    readonly normal: Vec3;
+}
+/** Build a plane from a normal (not required to be unit) and a point on it. */
+export declare function planeFromNormalPoint(normal: Vec3, point: Vec3): Plane;
+/**
+ * Direction-independent quantised plane key.
+ *
+ * The normal is reflected so its first nonzero component is positive,
+ * then rounded to `angleSnap` radians in spherical form. The offset is
+ * signed accordingly and rounded to `distSnap` world units.
+ */
+export declare function planeKey(plane: Plane, angleSnap?: number, distSnap?: number): string;
+/**
+ * Build an orthonormal basis `{u, v}` in the plane so 3D plane points can
+ * be projected to 2D and back. `origin` is chosen as the foot of the normal
+ * from the world origin.
+ */
+export declare function planeBasis(plane: Plane): PlaneBasis;
+/** Project a 3D point onto the plane's 2D basis. */
+export declare function projectTo2D(basis: PlaneBasis, p: Vec3): readonly [number, number];
+/** Lift a 2D basis point back to 3D. */
+export declare function liftTo3D(basis: PlaneBasis, p: readonly [number, number]): Vec3;
+//# sourceMappingURL=plane.d.ts.map

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

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

@@ -0,0 +1,83 @@
+/* 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 { dot3, length3 } from "./vec3.js";
+/** Build a plane from a normal (not required to be unit) and a point on it. */
+export function planeFromNormalPoint(normal, point) {
+    const ln = length3(normal);
+    if (ln === 0)
+        return { normal: [0, 0, 1], offset: 0 };
+    const n = [normal[0] / ln, normal[1] / ln, normal[2] / ln];
+    return { normal: n, offset: dot3(n, point) };
+}
+/**
+ * Direction-independent quantised plane key.
+ *
+ * The normal is reflected so its first nonzero component is positive,
+ * then rounded to `angleSnap` radians in spherical form. The offset is
+ * signed accordingly and rounded to `distSnap` world units.
+ */
+export function planeKey(plane, angleSnap = 1e-3, distSnap = 1e-3) {
+    const n = plane.normal;
+    const ln = length3(n);
+    if (ln === 0)
+        return "0|0|0|0";
+    // Canonicalise direction: first nonzero coordinate must be positive.
+    let sign = 1;
+    if (Math.abs(n[0]) > 1e-9)
+        sign = n[0] > 0 ? 1 : -1;
+    else if (Math.abs(n[1]) > 1e-9)
+        sign = n[1] > 0 ? 1 : -1;
+    else
+        sign = n[2] > 0 ? 1 : -1;
+    const cx = (n[0] / ln) * sign;
+    const cy = (n[1] / ln) * sign;
+    const cz = (n[2] / ln) * sign;
+    const off = plane.offset * sign;
+    return [
+        Math.round(cx / angleSnap),
+        Math.round(cy / angleSnap),
+        Math.round(cz / angleSnap),
+        Math.round(off / distSnap),
+    ].join("|");
+}
+/**
+ * Build an orthonormal basis `{u, v}` in the plane so 3D plane points can
+ * be projected to 2D and back. `origin` is chosen as the foot of the normal
+ * from the world origin.
+ */
+export function planeBasis(plane) {
+    const n = plane.normal;
+    // origin = offset * n (foot of normal from world origin if |n|=1)
+    const origin = [n[0] * plane.offset, n[1] * plane.offset, n[2] * plane.offset];
+    // pick a helper not parallel to n
+    const helper = Math.abs(n[0]) < 0.9 ? [1, 0, 0] : [0, 1, 0];
+    const u0 = [
+        helper[1] * n[2] - helper[2] * n[1],
+        helper[2] * n[0] - helper[0] * n[2],
+        helper[0] * n[1] - helper[1] * n[0],
+    ];
+    const uLen = length3(u0);
+    const u = uLen === 0 ? [1, 0, 0] : [u0[0] / uLen, u0[1] / uLen, u0[2] / uLen];
+    const v = [n[1] * u[2] - n[2] * u[1], n[2] * u[0] - n[0] * u[2], n[0] * u[1] - n[1] * u[0]];
+    return { origin, u, v, normal: n };
+}
+/** Project a 3D point onto the plane's 2D basis. */
+export function projectTo2D(basis, p) {
+    const dx = p[0] - basis.origin[0];
+    const dy = p[1] - basis.origin[1];
+    const dz = p[2] - basis.origin[2];
+    return [
+        dx * basis.u[0] + dy * basis.u[1] + dz * basis.u[2],
+        dx * basis.v[0] + dy * basis.v[1] + dz * basis.v[2],
+    ];
+}
+/** Lift a 2D basis point back to 3D. */
+export function liftTo3D(basis, p) {
+    return [
+        basis.origin[0] + basis.u[0] * p[0] + basis.v[0] * p[1],
+        basis.origin[1] + basis.u[1] * p[0] + basis.v[1] * p[1],
+        basis.origin[2] + basis.u[2] * p[0] + basis.v[2] * p[1],
+    ];
+}
+//# sourceMappingURL=plane.js.map

package/dist/contact/plane.js.map

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

@@ -0,0 +1,27 @@
+/**
+ * 2D polygon utilities: Sutherland–Hodgman clip of a subject polygon by
+ * a convex clip polygon, shoelace area, perimeter, centroid.
+ *
+ * Both polygons are arrays of `[x, y]` pairs. CCW winding gives positive
+ * area (standard convention).
+ */
+export type Point2 = readonly [number, number];
+export type Polygon2 = readonly Point2[];
+/** Shoelace-formula signed area (positive when CCW). */
+export declare function polygonSignedArea(poly: Polygon2): number;
+export declare const polygonArea: (poly: Polygon2) => number;
+export declare function polygonPerimeter(poly: Polygon2): number;
+/** Area-weighted centroid. Falls back to vertex mean for degenerate input. */
+export declare function polygonCentroid(poly: Polygon2): Point2;
+/**
+ * Sutherland–Hodgman polygon clip. `subject` may be any simple polygon;
+ * `clip` must be **convex** (CCW). Returns the intersection polygon, which
+ * can be empty (no overlap) or degenerate (collinear/point contact).
+ */
+export declare function sutherlandHodgman(subject: Polygon2, clip: Polygon2): Polygon2;
+/**
+ * Convex polygon from (unordered) points: sort by angle around centroid
+ * and return CCW. For use as a Sutherland-Hodgman clip.
+ */
+export declare function convexHull2(points: Polygon2): Polygon2;
+//# sourceMappingURL=polygon-clip.d.ts.map

package/dist/contact/polygon-clip.d.ts.map

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package/dist/contact/polygon-clip.js

@@ -0,0 +1,162 @@
+/* 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/. */
+/** Shoelace-formula signed area (positive when CCW). */
+export function polygonSignedArea(poly) {
+    const n = poly.length;
+    if (n < 3)
+        return 0;
+    let sum = 0;
+    for (let i = 0; i < n; i++) {
+        const a = poly[i];
+        const b = poly[(i + 1) % n];
+        sum += a[0] * b[1] - b[0] * a[1];
+    }
+    return sum / 2;
+}
+export const polygonArea = (poly) => Math.abs(polygonSignedArea(poly));
+export function polygonPerimeter(poly) {
+    const n = poly.length;
+    if (n < 2)
+        return 0;
+    let sum = 0;
+    for (let i = 0; i < n; i++) {
+        const a = poly[i];
+        const b = poly[(i + 1) % n];
+        const dx = b[0] - a[0];
+        const dy = b[1] - a[1];
+        sum += Math.sqrt(dx * dx + dy * dy);
+    }
+    return sum;
+}
+/** Area-weighted centroid. Falls back to vertex mean for degenerate input. */
+export function polygonCentroid(poly) {
+    const n = poly.length;
+    if (n === 0)
+        return [0, 0];
+    if (n === 1) {
+        const p0 = poly[0];
+        return [p0[0], p0[1]];
+    }
+    const a2 = polygonSignedArea(poly) * 2;
+    if (Math.abs(a2) < 1e-18) {
+        let mx = 0;
+        let my = 0;
+        for (const p of poly) {
+            mx += p[0];
+            my += p[1];
+        }
+        return [mx / n, my / n];
+    }
+    let cx = 0;
+    let cy = 0;
+    for (let i = 0; i < n; i++) {
+        const a = poly[i];
+        const b = poly[(i + 1) % n];
+        const cross = a[0] * b[1] - b[0] * a[1];
+        cx += (a[0] + b[0]) * cross;
+        cy += (a[1] + b[1]) * cross;
+    }
+    return [cx / (3 * a2), cy / (3 * a2)];
+}
+/**
+ * Sutherland–Hodgman polygon clip. `subject` may be any simple polygon;
+ * `clip` must be **convex** (CCW). Returns the intersection polygon, which
+ * can be empty (no overlap) or degenerate (collinear/point contact).
+ */
+export function sutherlandHodgman(subject, clip) {
+    if (subject.length === 0 || clip.length < 3)
+        return [];
+    // Enforce CCW clip — if the clip is CW we flip it.
+    const clipCCW = polygonSignedArea(clip) >= 0 ? clip : [...clip].reverse();
+    let output = subject.map((p) => [p[0], p[1]]);
+    for (let i = 0; i < clipCCW.length; i++) {
+        if (output.length === 0)
+            break;
+        const a = clipCCW[i];
+        const b = clipCCW[(i + 1) % clipCCW.length];
+        const input = output;
+        output = [];
+        for (let j = 0; j < input.length; j++) {
+            const current = input[j];
+            const prev = input[(j - 1 + input.length) % input.length];
+            const curIn = isLeftOrOn(a, b, current);
+            const prevIn = isLeftOrOn(a, b, prev);
+            if (curIn) {
+                if (!prevIn) {
+                    const ip = segmentIntersection(prev, current, a, b);
+                    if (ip)
+                        output.push(ip);
+                }
+                output.push(current);
+            }
+            else if (prevIn) {
+                const ip = segmentIntersection(prev, current, a, b);
+                if (ip)
+                    output.push(ip);
+            }
+        }
+    }
+    return output;
+}
+/** True when point `p` is to the left of, or on, directed edge `a → b`. */
+function isLeftOrOn(a, b, p) {
+    const cross = (b[0] - a[0]) * (p[1] - a[1]) - (b[1] - a[1]) * (p[0] - a[0]);
+    return cross >= 0;
+}
+/** Intersection of segment `p1→p2` with infinite line through `a→b`. */
+function segmentIntersection(p1, p2, a, b) {
+    const r0 = p2[0] - p1[0];
+    const r1 = p2[1] - p1[1];
+    const s0 = b[0] - a[0];
+    const s1 = b[1] - a[1];
+    const denom = r0 * s1 - r1 * s0;
+    if (Math.abs(denom) < 1e-15)
+        return null; // parallel
+    const qp0 = a[0] - p1[0];
+    const qp1 = a[1] - p1[1];
+    const t = (qp0 * s1 - qp1 * s0) / denom;
+    return [p1[0] + t * r0, p1[1] + t * r1];
+}
+/**
+ * Convex polygon from (unordered) points: sort by angle around centroid
+ * and return CCW. For use as a Sutherland-Hodgman clip.
+ */
+export function convexHull2(points) {
+    if (points.length < 3)
+        return points.map((p) => [p[0], p[1]]);
+    // Andrew's monotone chain
+    const pts = [...points].sort((a, b) => (a[0] === b[0] ? a[1] - b[1] : a[0] - b[0]));
+    const lower = [];
+    for (const p of pts) {
+        while (lower.length >= 2) {
+            const a = lower[lower.length - 2];
+            const b = lower[lower.length - 1];
+            if (cross2(a, b, p) <= 0)
+                lower.pop();
+            else
+                break;
+        }
+        lower.push(p);
+    }
+    const upper = [];
+    for (let i = pts.length - 1; i >= 0; i--) {
+        const p = pts[i];
+        while (upper.length >= 2) {
+            const a = upper[upper.length - 2];
+            const b = upper[upper.length - 1];
+            if (cross2(a, b, p) <= 0)
+                upper.pop();
+            else
+                break;
+        }
+        upper.push(p);
+    }
+    lower.pop();
+    upper.pop();
+    return [...lower, ...upper];
+}
+function cross2(o, a, b) {
+    return (a[0] - o[0]) * (b[1] - o[1]) - (a[1] - o[1]) * (b[0] - o[0]);
+}
+//# sourceMappingURL=polygon-clip.js.map

package/dist/contact/polygon-clip.js.map

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

@@ -0,0 +1,61 @@
+/**
+ * Shared-face clustering.
+ *
+ * Inputs: TrianglePair[] emitted by narrowPhase() for a single pair of
+ * elements. Output: one or more SharedFaceCluster objects, each representing
+ * a distinct contact between the two elements, classified as
+ * surface / line / point.
+ *
+ * Coplanar pairs cluster by plane key. For each cluster we Sutherland-Hodgman
+ * every (A,B) triangle pair on the shared plane, sum polygon areas, build a
+ * 3D boundary polygon as the convex hull of the union of clip vertices.
+ *
+ * Cross pairs cluster by intersection-line key (direction + point on line).
+ * Length is the union length of the per-pair 3D segments projected onto
+ * the line direction.
+ *
+ * Remaining incidental contacts fall into either classification by
+ * magnitude against the thresholds.
+ */
+import type { TrianglePair } from "./narrow-phase.js";
+import type { Plane } from "./plane.js";
+import type { Vec3 } from "./types.js";
+export interface SharedFaceCluster {
+    readonly kind: "surface" | "line" | "point";
+    /** Anchoring plane (for surface) or line (for line/point, where direction is the line dir). */
+    readonly plane?: Plane;
+    /** World-space centroid of the contact. */
+    readonly centroid: Vec3;
+    /** Outward normal (surface) or line direction (line/point). */
+    readonly normal: Vec3;
+    /** Shared-face area in m² (surface only — 0 otherwise). */
+    readonly area_m2: number;
+    /** Shared-line length in m (line only — 0 otherwise). */
+    readonly length_m: number;
+    /** Narrowest dimension of the contact patch in m. Distinguishes a broad
+     *  face (layered wall) from a thin bearing strip / cap. Length for a line
+     *  cluster is carried by `length_m`, so its `spanMin` is 0. */
+    readonly spanMin: number;
+    /** Widest dimension (diameter) of the contact patch in m. */
+    readonly spanMax: number;
+    /** Boundary polygon (3D) for surface contacts. Segment endpoints for line contacts. Empty for point. */
+    readonly boundary: readonly Vec3[];
+    /** Contributing triangle pairs. */
+    readonly pairs: readonly TrianglePair[];
+}
+export interface SharedFaceOptions {
+    /** Absolute tolerance for plane coincidence (unit: model-native length). Default 1e-3. */
+    readonly planeDistSnap?: number;
+    /** Angular snap for plane normal hashing (unitless, ~1 − cos). Default 1e-3. */
+    readonly planeAngleSnap?: number;
+    /** Area (m²) threshold: ≥ surface. Default 0.01. */
+    readonly surfaceAreaM2?: number;
+    /** Area (m²) below which a contact may still be line or point. Default 0.001. */
+    readonly pointAreaM2?: number;
+    /** Length (m) threshold: ≥ line. Default 0.05. */
+    readonly lineLengthM?: number;
+    /** Snap used when hashing intersection-line direction + base point. Default 1e-3. */
+    readonly lineSnap?: number;
+}
+export declare function clusterSharedFaces(pairs: readonly TrianglePair[], opts?: SharedFaceOptions): SharedFaceCluster[];
+//# sourceMappingURL=shared-faces.d.ts.map

package/dist/contact/shared-faces.d.ts.map

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