@kitware/vtk.js 23.4.2 → 23.4.4

package/Filters/General/OBBTree.js

@@ -0,0 +1,1243 @@
+import _toConsumableArray from '@babel/runtime/helpers/toConsumableArray';
+import macro from '../../macros.js';
+import vtkCellArray from '../../Common/Core/CellArray.js';
+import vtkLine from '../../Common/DataModel/Line.js';
+import { d as dot, j as cross, n as norm, t as jacobi, l as normalize, k as add } from '../../Common/Core/Math/index.js';
+import vtkMatrixBuilder from '../../Common/Core/MatrixBuilder.js';
+import vtkOBBNode from './OBBTree/OBBNode.js';
+import vtkPoints from '../../Common/Core/Points.js';
+import { CellType } from '../../Common/DataModel/CellTypes/Constants.js';
+import vtkPolyData from '../../Common/DataModel/PolyData.js';
+import vtkTriangle from '../../Common/DataModel/Triangle.js';
+import { pushArray, getCellTriangles } from './OBBTree/helper.js';
+import { mat4, vec4 } from 'gl-matrix';
+
+var vtkErrorMacro = macro.vtkErrorMacro;
+var VTK_DOUBLE_MAX = Number.MAX_SAFE_INTEGER; // ----------------------------------------------------------------------------
+// vtkOBBTree methods
+// ----------------------------------------------------------------------------
+
+function vtkOBBTree(publicAPI, model) {
+  // Set our classname
+  model.classHierarchy.push('vtkOBBTree');
+  /**
+   * Compute an OBB from the list of cells given.  This used to be
+   * public but should not have been.  A public call has been added
+   * so that the functionality can be accessed.
+   * @param {Array} cells
+   * @param {Array[3]} corner
+   * @param {Array[3]} max
+   * @param {Array[3]} mid
+   * @param {Array[3]} min
+   * @param {Array[3]} size
+   */
+
+  function computeOBB(cells, corner, max, mid, min, size) {
+    model.OBBCount++;
+    model.pointsList = []; //
+    // Compute mean & moments
+    //
+
+    var numCells = cells.length;
+    var mean = [0, 0, 0];
+    var totMass = 0.0;
+    var a0 = [0, 0, 0];
+    var a1 = [0, 0, 0];
+    var a2 = [0, 0, 0];
+    var a = [0, 0, 0, 0, 0, 0, 0, 0, 0];
+    var dp0 = [0, 0, 0];
+    var dp1 = [0, 0, 0];
+    var c = [0, 0, 0];
+    var triMass = 0;
+
+    if (!model.dataset.getCells()) {
+      model.dataset.buildCells();
+    }
+
+    for (var i = 0; i < numCells; i++) {
+      var cellId = cells[i];
+      var type = model.dataset.getCells().getCellType(cellId);
+      var ptIds = model.dataset.getCellPoints(cellId).cellPointIds;
+      var _numPts = ptIds.length;
+
+      for (var j = 0; j < _numPts - 2; j++) {
+        var cellsIds = getCellTriangles(ptIds, type, j);
+        var pId = cellsIds.ptId0;
+        var qId = cellsIds.ptId1;
+        var rId = cellsIds.ptId2;
+
+        if (pId < 0) {
+          // eslint-disable-next-line no-continue
+          continue;
+        }
+
+        var p = [];
+        var q = [];
+        var r = [];
+        model.dataset.getPoints().getPoint(pId, p);
+        model.dataset.getPoints().getPoint(qId, q);
+        model.dataset.getPoints().getPoint(rId, r); // p, q, and r are the oriented triangle points.
+        // Compute the components of the moment of inertia tensor.
+
+        for (var k = 0; k < 3; k++) {
+          // two edge vectors
+          dp0[k] = q[k] - p[k];
+          dp1[k] = r[k] - p[k]; // centroid
+
+          c[k] = (p[k] + q[k] + r[k]) / 3;
+        }
+
+        var xp = cross(dp0, dp1, []);
+        triMass = 0.5 * norm(xp);
+        totMass += triMass;
+
+        for (var _k = 0; _k < 3; _k++) {
+          mean[_k] += triMass * c[_k];
+        } // on-diagonal terms
+
+
+        a0[0] += triMass * (9 * c[0] * c[0] + p[0] * p[0] + q[0] * q[0] + r[0] * r[0]) / 12;
+        a1[1] += triMass * (9 * c[1] * c[1] + p[1] * p[1] + q[1] * q[1] + r[1] * r[1]) / 12;
+        a2[2] += triMass * (9 * c[2] * c[2] + p[2] * p[2] + q[2] * q[2] + r[2] * r[2]) / 12; // off-diagonal terms
+
+        a0[1] += triMass * (9 * c[0] * c[1] + p[0] * p[1] + q[0] * q[1] + r[0] * r[1]) / 12;
+        a0[2] += triMass * (9 * c[0] * c[2] + p[0] * p[2] + q[0] * q[2] + r[0] * r[2]) / 12;
+        a1[2] += triMass * (9 * c[1] * c[2] + p[1] * p[2] + q[1] * q[2] + r[1] * r[2]) / 12;
+      } // end foreach triangle
+      // While computing cell moments, gather all the cell's
+      // point coordinates into a single list.
+
+
+      for (var _j = 0; _j < _numPts; _j++) {
+        if (model.insertedPoints[ptIds[_j]] !== model.OBBCount) {
+          model.insertedPoints[ptIds[_j]] = model.OBBCount;
+          var pt = [];
+          model.dataset.getPoints().getPoint(ptIds[_j], pt);
+          model.pointsList.push(pt);
+        }
+      } // for all points of this cell
+
+    } // end foreach cell
+    // normalize data
+
+
+    for (var _i = 0; _i < 3; _i++) {
+      mean[_i] /= totMass;
+    } // matrix is symmetric
+
+
+    a1[0] = a0[1];
+    a2[0] = a0[2];
+    a2[1] = a1[2];
+    a = [a0[0], a0[1], a0[2], a1[0], a1[1], a1[2], a2[0], a2[1], a2[2]]; // get covariance from moments
+
+    for (var _i2 = 0; _i2 < 3; _i2++) {
+      for (var _j2 = 0; _j2 < 3; _j2++) {
+        a[_i2 * 3 + _j2] = a[_i2 * 3 + _j2] / totMass - mean[_i2] * mean[_j2];
+      }
+    } //
+    // Extract axes (i.e., eigenvectors) from covariance matrix.
+    //
+
+
+    var v = [0, 0, 0, 0, 0, 0, 0, 0, 0];
+    jacobi(a, size, v);
+    max[0] = v[0];
+    max[1] = v[3];
+    max[2] = v[6];
+    mid[0] = v[1];
+    mid[1] = v[4];
+    mid[2] = v[7];
+    min[0] = v[2];
+    min[1] = v[5];
+    min[2] = v[8];
+
+    for (var _i3 = 0; _i3 < 3; _i3++) {
+      a[_i3] = mean[_i3] + max[_i3];
+      a[3 + _i3] = mean[_i3] + mid[_i3];
+      a[6 + _i3] = mean[_i3] + min[_i3];
+    } //
+    // Create oriented bounding box by projecting points onto eigenvectors.
+    //
+
+
+    var tMin = [VTK_DOUBLE_MAX, VTK_DOUBLE_MAX, VTK_DOUBLE_MAX];
+    var tMax = [-VTK_DOUBLE_MAX, -VTK_DOUBLE_MAX, -VTK_DOUBLE_MAX];
+    var numPts = model.pointsList.length;
+
+    for (var ptId = 0; ptId < numPts; ptId++) {
+      var _p = model.pointsList[ptId];
+
+      for (var _i4 = 0; _i4 < 3; _i4++) {
+        var out = vtkLine.distanceToLine(_p, mean, a.slice(3 * _i4, 3 * (_i4 + 1)), []);
+
+        if (out.t < tMin[_i4]) {
+          tMin[_i4] = out.t;
+        }
+
+        if (out.t > tMax[_i4]) {
+          tMax[_i4] = out.t;
+        }
+      }
+    } // for all points
+
+
+    for (var _i5 = 0; _i5 < 3; _i5++) {
+      corner[_i5] = mean[_i5] + tMin[0] * max[_i5] + tMin[1] * mid[_i5] + tMin[2] * min[_i5];
+      max[_i5] *= tMax[0] - tMin[0];
+      mid[_i5] *= tMax[1] - tMin[1];
+      min[_i5] *= tMax[2] - tMin[2];
+    }
+  }
+  /**
+   * Build the OBB tree
+   * @param {Array} cells
+   * @param {vtkOBBNode} obbNode
+   * @param {Number} level
+   */
+
+
+  function buildTree(cells, obbNode, level) {
+    var numCells = cells.length;
+
+    if (level > model.level) {
+      model.level = level;
+    }
+
+    var axes = obbNode.getAxes();
+    var corner = obbNode.getCorner();
+    var size = [0, 0, 0];
+    computeOBB(cells, corner, axes[0], axes[1], axes[2], size);
+    obbNode.setAxes(axes);
+    obbNode.setCorner(corner); // Check whether to continue recursing; if so, create two children and
+    // assign cells to appropriate child.
+
+    if (level < model.maxLevel && numCells > model.numberOfCellsPerNode) {
+      var LHlist = [];
+      var RHlist = [];
+      var p = [0, 0, 0];
+      var n = [0, 0, 0]; // loop over three split planes to find acceptable one
+
+      for (var i = 0; i < 3; i++) {
+        // compute split point
+        p[i] = corner[i] + axes[0][i] / 2 + axes[1][i] / 2 + axes[2][i] / 2;
+      }
+
+      var splitPlane = 0;
+      var splitAcceptable = 0;
+      var bestRatio = 1;
+      var foundBestSplit = 0;
+      var bestPlane = 0;
+
+      for (; !splitAcceptable && splitPlane < 3;) {
+        // compute split normal
+        for (var _i6 = 0; _i6 < 3; _i6++) {
+          n[_i6] = axes[splitPlane][_i6];
+        }
+
+        normalize(n); // traverse cells, assigning to appropriate child list as necessary
+
+        var _loop = function _loop(_i7) {
+          var cellId = cells[_i7];
+          var pointsIDs = model.dataset.getCellPoints(cellId).cellPointIds;
+          var cellPts = [];
+          pointsIDs.forEach(function (id) {
+            var pt = [];
+            model.dataset.getPoints().getPoint(pointsIDs[id], pt);
+            cellPts.push(pt);
+          });
+          var c = [0, 0, 0];
+          var numPts = cellPts.length;
+          var negative = 0;
+          var positive = 0;
+
+          for (var j = 0; j < numPts; j++) {
+            var ptId = pointsIDs[j];
+            var x = model.dataset.getPoints().getPoint(ptId);
+            var val = n[0] * (x[0] - p[0]) + n[1] * (x[1] - p[1]) + n[2] * (x[2] - p[2]);
+            c[0] += x[0];
+            c[1] += x[1];
+            c[2] += x[2];
+
+            if (val < 0.0) {
+              negative = 1;
+            } else {
+              positive = 1;
+            }
+          }
+
+          if (negative && positive) {
+            // Use centroid to decide straddle cases
+            c[0] /= numPts;
+            c[1] /= numPts;
+            c[2] /= numPts;
+
+            var _val = n[0] * (c[0] - p[0]) + n[1] * (c[1] - p[1]) + n[2] * (c[2] - p[2]);
+
+            if (_val < 0.0) {
+              LHlist.push(cellId);
+            } else {
+              RHlist.push(cellId);
+            }
+          } else if (negative) {
+            LHlist.push(cellId);
+          } else {
+            RHlist.push(cellId);
+          }
+        };
+
+        for (var _i7 = 0; _i7 < numCells; _i7++) {
+          _loop(_i7);
+        } // for all cells
+        // evaluate this split
+
+
+        var numInLHnode = LHlist.length;
+        var numInRHnode = RHlist.length;
+        var ratio = Math.abs((numInRHnode - numInLHnode) / numCells); // see whether we've found acceptable split plane
+
+        if (ratio < 0.6 || foundBestSplit) {
+          // accept right off the bat
+          splitAcceptable = 1;
+        } else {
+          // not a great split try another
+          LHlist = [];
+          RHlist = [];
+
+          if (ratio < bestRatio) {
+            bestRatio = ratio;
+            bestPlane = splitPlane;
+          }
+
+          if (++splitPlane === 3 && bestRatio < 0.95) {
+            // at closing time, even the ugly ones look good
+            splitPlane = bestPlane;
+            foundBestSplit = 1;
+          }
+        } // try another split
+
+      } // for each split
+
+
+      if (splitAcceptable) {
+        // otherwise recursion terminates
+        var LHnode = vtkOBBNode.newInstance();
+        var RHnode = vtkOBBNode.newInstance();
+        obbNode.setKids([LHnode, RHnode]);
+        LHnode.setParent(obbNode);
+        RHnode.setParent(obbNode);
+        cells.length = 0;
+        buildTree(LHlist, LHnode, level + 1);
+        buildTree(RHlist, RHnode, level + 1);
+      } else {
+        // free up local objects
+        LHlist = [];
+        RHlist = [];
+      }
+    } // if should build tree
+
+
+    if (cells && model.retainCellLists) {
+      obbNode.setCells(cells);
+    } else if (cells) {
+      cells.length = 0;
+    }
+  }
+
+  function generatePolygons(obbNode, level, repLevel, points, cells) {
+    if (level === repLevel || repLevel < 0 && obbNode.getKids()) {
+      var nbPoints = points.getNumberOfPoints();
+      var newPoints = [];
+      var newCells = [];
+      var cubeIds = [];
+      newPoints.push.apply(newPoints, _toConsumableArray(obbNode.getCorner()));
+      cubeIds[0] = nbPoints++;
+      var x = [];
+      newPoints.push.apply(newPoints, _toConsumableArray(add(obbNode.getCorner(), obbNode.getAxis(0), x)));
+      cubeIds[1] = nbPoints++;
+      var y = [];
+      newPoints.push.apply(newPoints, _toConsumableArray(add(obbNode.getCorner(), obbNode.getAxis(1), y)));
+      cubeIds[2] = nbPoints++;
+      var xy = [];
+      newPoints.push.apply(newPoints, _toConsumableArray(add(x, obbNode.getAxis(1), xy)));
+      cubeIds[3] = nbPoints++;
+      var z = [];
+      newPoints.push.apply(newPoints, _toConsumableArray(add(obbNode.getCorner(), obbNode.getAxis(2), z)));
+      cubeIds[4] = nbPoints++;
+      var xz = [];
+      newPoints.push.apply(newPoints, _toConsumableArray(add(x, obbNode.getAxis(2), xz)));
+      cubeIds[5] = nbPoints++;
+      var yz = [];
+      newPoints.push.apply(newPoints, _toConsumableArray(add(y, obbNode.getAxis(2), yz)));
+      cubeIds[6] = nbPoints++;
+      var xyz = [];
+      newPoints.push.apply(newPoints, _toConsumableArray(add(xy, obbNode.getAxis(2), xyz)));
+      cubeIds[7] = nbPoints++;
+      newCells.push(4, cubeIds[0], cubeIds[2], cubeIds[3], cubeIds[1]);
+      newCells.push(4, cubeIds[0], cubeIds[1], cubeIds[5], cubeIds[4]);
+      newCells.push(4, cubeIds[0], cubeIds[4], cubeIds[6], cubeIds[2]);
+      newCells.push(4, cubeIds[1], cubeIds[3], cubeIds[7], cubeIds[5]);
+      newCells.push(4, cubeIds[4], cubeIds[5], cubeIds[7], cubeIds[6]);
+      newCells.push(4, cubeIds[2], cubeIds[6], cubeIds[7], cubeIds[3]);
+      points.setData(pushArray(points.getData(), newPoints));
+      cells.setData(pushArray(cells.getData(), newCells));
+    } else if ((level < repLevel || repLevel < 0) && obbNode.getKids()) {
+      generatePolygons(obbNode.getKids()[0], level + 1, repLevel, points, cells);
+      generatePolygons(obbNode.getKids()[1], level + 1, repLevel, points, cells);
+    }
+  }
+  /**
+   * Transform the whole OBB tree by using input transform
+   * @param {Transform} transform vtkjs Transform object
+   */
+
+
+  publicAPI.transform = function (transform) {
+    // Setup matrix used to transform vectors
+    var matrix = mat4.create();
+    mat4.copy(matrix, transform.getMatrix());
+    matrix[12] = 0;
+    matrix[13] = 0;
+    matrix[14] = 0;
+    matrix[15] = 1;
+    var transformVector = vtkMatrixBuilder.buildFromRadian().setMatrix(matrix);
+    var obbStack = new Array(model.level + 1);
+    obbStack[0] = model.tree;
+    var depth = 1;
+
+    while (depth > 0) {
+      depth -= 1;
+      var node = obbStack[depth];
+      var corner = node.getCorner();
+      var max = node.getAxis(0);
+      var mid = node.getAxis(1);
+      var min = node.getAxis(2);
+      transform.apply(corner);
+      transformVector.apply(max);
+      transformVector.apply(mid);
+      transformVector.apply(min);
+      node.setCorner(corner);
+      node.setAxes([max, mid, min]);
+
+      if (node.getKids() !== null) {
+        // push kids onto stack
+        obbStack[depth] = node.getKids()[0];
+        obbStack[depth + 1] = node.getKids()[1];
+        depth += 2;
+      }
+    }
+  };
+  /**
+   * Deep copy input node into class attribute tree
+   * @param {vtkOBBNode} tree
+   * @returns
+   */
+
+
+  publicAPI.deepCopy = function (tree) {
+    if (!tree) {
+      return;
+    }
+
+    publicAPI.setLevel(tree.getLevel());
+    publicAPI.setRetainCellLists(tree.getRetainCellLists());
+    publicAPI.setDataset(tree.getDataset());
+    publicAPI.setAutomatic(tree.getAutomatic());
+    publicAPI.setNumberOfCellsPerNode(tree.getNumberOfCellsPerNode());
+    publicAPI.setTolerance(tree.getTolerance());
+    var root = tree.getTree();
+
+    if (root) {
+      model.tree = vtkOBBNode.newInstance();
+      model.tree.deepCopy(root);
+    }
+  };
+  /**
+   * A method to compute the OBB of a dataset without having to go through the
+   * Execute method; It does set
+   * @param {vtkPolyData} input
+   * @param {Array[3]} corner
+   * @param {Array[3]} max
+   * @param {Array[3]} mid
+   * @param {Array[3]} min
+   * @param {Array[3]} size
+   */
+
+
+  publicAPI.computeOBBFromDataset = function (input, corner, max, mid, min, size) {
+    if (!input) {
+      return;
+    }
+
+    var numPts = input.getPoints().getNumberOfPoints();
+    var numCells = input.getNumberOfCells();
+
+    if (numPts < 1 || numCells < 1) {
+      vtkErrorMacro("Can't compute OBB - no data available!");
+      return;
+    }
+
+    model.dataset = input;
+    model.OBBCount = 0;
+    model.insertedPoints = Array.from({
+      length: numPts
+    }, function (_) {
+      return 0;
+    });
+    model.pointsList = [];
+    var cellList = Array.from({
+      length: numCells
+    }, function (_, i) {
+      return i;
+    });
+    computeOBB(cellList, corner, max, mid, min, size);
+  };
+  /**
+   * Returns true if nodeB and nodeA are disjoint after optional
+   * transformation of nodeB with matrix XformBtoA
+   * @param {vtkOBBNode} nodeA
+   * @param {vtkOBBNode} nodeB
+   * @param {mat4} XformBtoA
+   */
+
+
+  publicAPI.disjointOBBNodes = function (nodeA, nodeB, XformBtoA) {
+    if (!nodeA || !nodeB) {
+      return 5; // A and B are disjoint
+    }
+
+    var input = new Array(4);
+    var output = new Array(4);
+    var eps = model.tolerance;
+    var pA = nodeA;
+    var pB = vtkOBBNode.newInstance();
+    var dotAB = [0, 0, 0, 0, 0, 0, 0, 0, 0];
+
+    if (XformBtoA) {
+      // Here we assume that XformBtoA is an orthogonal matrix
+      input[0] = nodeB.getCorner()[0];
+      input[1] = nodeB.getCorner()[1];
+      input[2] = nodeB.getCorner()[2];
+      input[3] = 1.0;
+      vec4.transformMat4(output, input, XformBtoA);
+      pB.setCorner([output[0] / output[3], output[1] / output[3], output[2] / output[3]]); // Clean this up when the bug input MultiplyVectors is fixed!
+
+      for (var ii = 0; ii < 3; ii++) {
+        pB.getAxis(0)[ii] = nodeB.getCorner()[ii] + nodeB.getAxis(0)[ii];
+        pB.getAxis(1)[ii] = nodeB.getCorner()[ii] + nodeB.getAxis(1)[ii];
+        pB.getAxis(2)[ii] = nodeB.getCorner()[ii] + nodeB.getAxis(2)[ii];
+      }
+
+      for (var _ii = 0; _ii < 3; _ii++) {
+        input[0] = pB.getAxis(_ii)[0];
+        input[1] = pB.getAxis(_ii)[1];
+        input[2] = pB.getAxis(_ii)[2];
+        input[3] = 1.0;
+        vec4.transformMat4(output, input, XformBtoA);
+        pB.getAxis(_ii)[0] = output[0] / output[3];
+        pB.getAxis(_ii)[1] = output[1] / output[3];
+        pB.getAxis(_ii)[2] = output[2] / output[3];
+      }
+
+      for (var _ii2 = 0; _ii2 < 3; _ii2++) {
+        pB.getAxis(0)[_ii2] = pB.getAxis(0)[_ii2] - pB.getCorner()[_ii2];
+        pB.getAxis(1)[_ii2] = pB.getAxis(1)[_ii2] - pB.getCorner()[_ii2];
+        pB.getAxis(2)[_ii2] = pB.getAxis(2)[_ii2] - pB.getCorner()[_ii2];
+      }
+    } else {
+      pB = nodeB;
+    }
+
+    var centerA = [0, 0, 0];
+    var centerB = [0, 0, 0];
+    var AtoB = [0, 0, 0];
+
+    for (var _ii3 = 0; _ii3 < 3; _ii3++) {
+      centerA[_ii3] = pA.getCorner()[_ii3] + 0.5 * (pA.getAxis(0)[_ii3] + pA.getAxis(1)[_ii3] + pA.getAxis(2)[_ii3]);
+      centerB[_ii3] = pB.getCorner()[_ii3] + 0.5 * (pB.getAxis(0)[_ii3] + pB.getAxis(1)[_ii3] + pB.getAxis(2)[_ii3]);
+      AtoB[_ii3] = centerB[_ii3] - centerA[_ii3];
+    } // Project maximal and minimal corners onto line between centers
+
+
+    var rangeAmin = dot(pA.getCorner(), AtoB);
+    var rangeAmax = rangeAmin;
+    var rangeBmin = dot(pB.getCorner(), AtoB);
+    var rangeBmax = rangeBmin;
+    var dotA = 0;
+    var dotB = 0;
+
+    for (var _ii4 = 0; _ii4 < 3; _ii4++) {
+      // compute A range
+      dotA = dot(pA.getAxis(_ii4), AtoB);
+
+      if (dotA > 0) {
+        rangeAmax += dotA;
+      } else {
+        rangeAmin += dotA;
+      } // compute B range
+
+
+      dotB = dot(pB.getAxis(_ii4), AtoB);
+
+      if (dotB > 0) {
+        rangeBmax += dotB;
+      } else {
+        rangeBmin += dotB;
+      }
+    }
+
+    if (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
+      return 1; // A and B are Disjoint by the 1st test.
+    } // now check for a separation plane parallel to the faces of B
+
+
+    for (var _ii5 = 0; _ii5 < 3; _ii5++) {
+      // plane is normal to pB.getAxis(ii)
+      // computing B range is easy...
+      rangeBmin = dot(pB.getCorner(), pB.getAxis(_ii5));
+      rangeBmax = rangeBmin;
+      rangeBmax += dot(pB.getAxis(_ii5), pB.getAxis(_ii5)); // compute A range...
+
+      rangeAmin = dot(pA.getCorner(), pB.getAxis(_ii5));
+      rangeAmax = rangeAmin;
+
+      for (var jj = 0; jj < 3; jj++) {
+        // (note: we are saving all 9 dotproducts for future use)
+        dotA = dot(pB.getAxis(_ii5), pA.getAxis(jj));
+        dotAB[_ii5 * 3 + jj] = dotA;
+
+        if (dotA > 0) {
+          rangeAmax += dotA;
+        } else {
+          rangeAmin += dotA;
+        }
+      }
+
+      if (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
+        return 2; // A and B are Disjoint by the 3rd test.
+      }
+    } // now check for a separation plane parallel to the faces of A
+
+
+    for (var _ii6 = 0; _ii6 < 3; _ii6++) {
+      // plane is normal to pA.getAxis(ii)
+      // computing A range is easy...
+      rangeAmin = dot(pA.getCorner(), pA.getAxis(_ii6));
+      rangeAmax = rangeAmin;
+      rangeAmax += dot(pA.getAxis(_ii6), pA.getAxis(_ii6)); // compute B range...
+
+      rangeBmin = dot(pB.getCorner(), pA.getAxis(_ii6));
+      rangeBmax = rangeBmin;
+
+      for (var _jj = 0; _jj < 3; _jj++) {
+        // (note: we are using the 9 dotproducts computed earlier)
+        dotB = dotAB[_jj * 3 + _ii6];
+
+        if (dotB > 0) {
+          rangeBmax += dotB;
+        } else {
+          rangeBmin += dotB;
+        }
+      }
+
+      if (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
+        return 3; // A and B are Disjoint by the 2nd test.
+      }
+    } // Bad luck: now we must look for a separation plane parallel
+    // to one edge from A and one edge from B.
+
+
+    for (var _ii7 = 0; _ii7 < 3; _ii7++) {
+      for (var _jj2 = 0; _jj2 < 3; _jj2++) {
+        // the plane is normal to pA.getAxis(ii) X pB.getAxis(jj)
+        cross(pA.getAxis(_ii7), pB.getAxis(_jj2), AtoB);
+        rangeAmin = dot(pA.getCorner(), AtoB);
+        rangeAmax = rangeAmin;
+        rangeBmin = dot(pB.getCorner(), AtoB);
+        rangeBmax = rangeBmin;
+
+        for (var kk = 0; kk < 3; kk++) {
+          // compute A range
+          dotA = dot(pA.getAxis(kk), AtoB);
+
+          if (dotA > 0) {
+            rangeAmax += dotA;
+          } else {
+            rangeAmin += dotA;
+          } // compute B range
+
+
+          dotB = dot(pB.getAxis(kk), AtoB);
+
+          if (dotB > 0) {
+            rangeBmax += dotB;
+          } else {
+            rangeBmin += dotB;
+          }
+        }
+
+        if (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
+          return 4; // A and B are Disjoint by the 4th test.
+        }
+      }
+    } // if we fall through to here, the OBB's overlap
+
+
+    return 0;
+  };
+  /**
+   * Intersect this OBBTree with OBBTreeB (as transformed) and
+   * call processing function for each intersecting leaf node pair.
+   * If the processing function returns a negative integer, terminate.
+   * For each intersecting leaf node pair, call callback.
+   * OBBTreeB is optionally transformed by XformBtoA before testing
+   * @param {vtkOBBTree} obbTreeB
+   * @param {mat4|null|undefined} XformBtoA
+   * @param {function|null|undefined} callback Compared function that takes in argument:
+   * nodeA (vtkOBBNode), nodeB (vtkOBBNode), XForm (mat4), arg
+   */
+
+
+  publicAPI.intersectWithOBBTree = function (obbTreeB, XformBtoA) {
+    var onIntersect = arguments.length > 2 && arguments[2] !== undefined ? arguments[2] : function () {
+      return -1;
+    };
+    var maxDepth = model.level;
+    var minDepth = obbTreeB.getLevel();
+
+    if (minDepth > maxDepth) {
+      minDepth = maxDepth;
+      maxDepth = obbTreeB.getLevel();
+    }
+
+    var maxStackDepth = 3 * minDepth + 2 * (maxDepth - minDepth) + 1;
+    var OBBStackA = new Array(maxStackDepth);
+    var OBBStackB = new Array(maxStackDepth);
+    OBBStackA[0] = model.tree;
+    OBBStackB[0] = obbTreeB.getTree();
+    var depth = 1;
+    var count = 0;
+    var returnValue = 0; // simulate recursion without overhead of real recursion.
+
+    while (depth > 0 && returnValue > -1) {
+      depth--;
+      var nodeA = OBBStackA[depth];
+      var nodeB = OBBStackB[depth];
+
+      if (!publicAPI.disjointOBBNodes(nodeA, nodeB, XformBtoA)) {
+        // Collision
+        if (!nodeA.getKids()) {
+          if (!nodeB.getKids()) {
+            returnValue = onIntersect(nodeA, nodeB, XformBtoA);
+            count += Math.abs(returnValue);
+          } else {
+            // A is a leaf, but B goes deeper.
+            OBBStackA[depth] = nodeA;
+            OBBStackB[depth] = nodeB.getKids()[0];
+            OBBStackA[depth + 1] = nodeA;
+            OBBStackB[depth + 1] = nodeB.getKids()[1];
+            depth += 2;
+          }
+        } else if (!nodeB.getKids()) {
+          // B is a leaf, but A goes deeper.
+          OBBStackB[depth] = nodeB;
+          OBBStackA[depth] = nodeA.getKids()[0];
+          OBBStackB[depth + 1] = nodeB;
+          OBBStackA[depth + 1] = nodeA.getKids()[1];
+          depth += 2;
+        } else {
+          // neither A nor B are leaves. Go to the next level.
+          OBBStackA[depth] = nodeA.getKids()[0];
+          OBBStackB[depth] = nodeB.getKids()[0];
+          OBBStackA[depth + 1] = nodeA.getKids()[1];
+          OBBStackB[depth + 1] = nodeB.getKids()[0];
+          OBBStackA[depth + 2] = nodeA.getKids()[0];
+          OBBStackB[depth + 2] = nodeB.getKids()[1];
+          OBBStackA[depth + 3] = nodeA.getKids()[1];
+          OBBStackB[depth + 3] = nodeB.getKids()[1];
+          depth += 4;
+        }
+      }
+    }
+
+    return count;
+  };
+
+  publicAPI.triangleIntersectsNode = function (nodeA, p0, p1, p2, XformBtoA) {
+    var eps = model.tolerance;
+    var pA = nodeA;
+    var pB = [_toConsumableArray(p0), _toConsumableArray(p1), _toConsumableArray(p2)];
+
+    if (XformBtoA) {
+      // Here we assume that XformBtoA is an orthogonal matrix
+      var input = [0, 0, 0, 1];
+      var output = [];
+
+      for (var ii = 0; ii < 3; ii++) {
+        input[0] = pB[ii][0];
+        input[1] = pB[ii][1];
+        input[2] = pB[ii][2];
+        vec4.transformMat4(output, input, XformBtoA);
+        pB[ii][0] = output[0] / output[3];
+        pB[ii][1] = output[1] / output[3];
+        pB[ii][2] = output[2] / output[3];
+      }
+    } // now check for a separation plane parallel to the triangle
+
+
+    var v0 = [];
+    var v1 = [];
+
+    for (var _ii8 = 0; _ii8 < 3; _ii8++) {
+      // plane is normal to the triangle
+      v0[_ii8] = pB[1][_ii8] - pB[0][_ii8];
+      v1[_ii8] = pB[2][_ii8] - pB[0][_ii8];
+    }
+
+    var xprod = cross(v0, v1, []); // computing B range is easy...
+
+    var rangeBmax = dot(pB[0], xprod);
+    var rangeBmin = rangeBmax; // compute A range...
+
+    var rangeAmax = dot(pA.getCorner(), xprod);
+    var rangeAmin = rangeAmax;
+    var dotA;
+
+    for (var jj = 0; jj < 3; jj++) {
+      dotA = dot(xprod, pA.getAxis(jj));
+
+      if (dotA > 0) {
+        rangeAmax += dotA;
+      } else {
+        rangeAmin += dotA;
+      }
+    }
+
+    if (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
+      return 0; // A and B are Disjoint by the 1st test.
+    } // now check for a separation plane parallel to the faces of A
+
+
+    for (var _ii9 = 0; _ii9 < 3; _ii9++) {
+      // plane is normal to pA->Axes[ii]
+      // computing A range is easy...
+      rangeAmax = dot(pA.getCorner(), pA.getAxis(_ii9));
+      rangeAmin = rangeAmax;
+      rangeAmax += dot(pA.getAxis(_ii9), pA.getAxis(_ii9)); // compute B range...
+
+      rangeBmax = dot(pB[0], pA.getAxis(_ii9));
+      rangeBmin = rangeBmax;
+
+      var _dotB = dot(pB[1], pA.getAxis(_ii9));
+
+      if (_dotB > rangeBmax) {
+        rangeBmax = _dotB;
+      } else {
+        rangeBmin = _dotB;
+      }
+
+      _dotB = dot(pB[2], pA.getAxis(_ii9));
+
+      if (_dotB > rangeBmax) {
+        rangeBmax = _dotB;
+      } else if (_dotB < rangeBmin) {
+        rangeBmin = _dotB;
+      }
+
+      if (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
+        return 0; // A and B are Disjoint by the 2nd test.
+      }
+    } // Bad luck: now we must look for a separation plane parallel
+    // to one edge from A and one edge from B.
+
+
+    var AtoB = [];
+    var dotB;
+
+    for (var _ii10 = 0; _ii10 < 3; _ii10++) {
+      for (var _jj3 = 0; _jj3 < 3; _jj3++) {
+        // the plane is normal to pA->Axes[ii] X (pB[jj+1]-pB[jj])
+        v0[0] = pB[(_jj3 + 1) % 3][0] - pB[_jj3][0];
+        v0[1] = pB[(_jj3 + 1) % 3][1] - pB[_jj3][1];
+        v0[2] = pB[(_jj3 + 1) % 3][2] - pB[_jj3][2];
+        cross(pA.getAxis(_ii10), v0, AtoB);
+        rangeAmax = dot(pA.getCorner(), AtoB);
+        rangeAmin = rangeAmax;
+        rangeBmax = dot(pB[_jj3], AtoB);
+        rangeBmin = rangeBmax;
+
+        for (var kk = 0; kk < 3; kk++) {
+          // compute A range
+          dotA = dot(pA.getAxis(kk), AtoB);
+
+          if (dotA > 0) {
+            rangeAmax += dotA;
+          } else {
+            rangeAmin += dotA;
+          }
+        } // compute B range
+
+
+        dotB = dot(pB[(_jj3 + 2) % 3], AtoB);
+
+        if (dotB > rangeBmax) {
+          rangeBmax = dotB;
+        } else {
+          rangeBmin = dotB;
+        }
+
+        if (rangeAmax + eps < rangeBmin || rangeBmax + eps < rangeAmin) {
+          return 0; // A and B are Disjoint by the 3rd test.
+        }
+      }
+    } // if we fall through to here, the OBB overlaps the triangle.
+
+
+    return 1;
+  };
+  /**
+   *
+   * @param {*} info must be an object with { obbTree1, intersectionLines }
+   * @param {*} node0
+   * @param {*} node1
+   * @param {*} transform
+   * @returns the number of intersection lines found
+   */
+
+
+  publicAPI.findTriangleIntersections = function (info, node0, node1, transform) {
+    // Set up local structures to hold Impl array information
+    // vtkOBBTree* obbTree1 = info->OBBTree1;
+    // vtkCellArray* intersectionLines = info->IntersectionLines;
+    // vtkIdTypeArray* intersectionSurfaceId = info->SurfaceId;
+    // vtkIdTypeArray* intersectionCellIds0 = info->CellIds[0];
+    // vtkIdTypeArray* intersectionCellIds1 = info->CellIds[1];
+    // vtkPointLocator* pointMerger = info->PointMerger;
+    // double tolerance = info->Tolerance;
+    var mesh0 = publicAPI.getDataset();
+    var mesh1 = info.obbTree1.getDataset();
+    var pointOffset = info.intersectionLines.getPoints().getNumberOfPoints();
+    var intersectionPoints = [];
+    var intersectionLines = []; // The number of cells in OBBTree
+
+    var numCells0 = node0.getCells().length;
+
+    for (var id0 = 0; id0 < numCells0; id0++) {
+      var cellId0 = node0.getCells()[id0];
+      var type0 = mesh0.getCellType(cellId0); // Make sure the cell is a triangle
+
+      if (type0 === CellType.VTK_TRIANGLE) {
+        var _mesh0$getCellPoints = mesh0.getCellPoints(cellId0),
+            triPtIds0 = _mesh0$getCellPoints.cellPointIds;
+
+        var triPts0 = [[], [], []];
+
+        for (var id = 0; id < triPtIds0.length; id++) {
+          mesh0.getPoints().getPoint(triPtIds0[id], triPts0[id]);
+        }
+
+        if (info.obbTree1.triangleIntersectsNode(node1, triPts0[0], triPts0[1], triPts0[2], transform)) {
+          var numCells1 = node1.getCells().length;
+
+          for (var id1 = 0; id1 < numCells1; id1++) {
+            var cellId1 = node1.getCells()[id1];
+            var type1 = mesh1.getCellType(cellId1);
+
+            if (type1 === CellType.VTK_TRIANGLE) {
+              // See if the two cells actually intersect. If they do,
+              // add an entry into the intersection maps and add an
+              // intersection line.
+              var _mesh1$getCellPoints = mesh1.getCellPoints(cellId1),
+                  triPtIds1 = _mesh1$getCellPoints.cellPointIds;
+
+              var triPts1 = [[], [], []];
+
+              for (var _id = 0; _id < triPtIds1.length; _id++) {
+                mesh1.getPoints().getPoint(triPtIds1[_id], triPts1[_id]);
+              }
+
+              var _vtkTriangle$intersec = vtkTriangle.intersectWithTriangle.apply(vtkTriangle, triPts0.concat(triPts1, [model.tolerance])),
+                  intersect = _vtkTriangle$intersec.intersect,
+                  coplanar = _vtkTriangle$intersec.coplanar,
+                  outpt0 = _vtkTriangle$intersec.pt1,
+                  outpt1 = _vtkTriangle$intersec.pt2;
+
+              if (intersect && !coplanar) {
+                var pointId = intersectionPoints.length / 3;
+                intersectionPoints.push.apply(intersectionPoints, _toConsumableArray(outpt0).concat(_toConsumableArray(outpt1)));
+                intersectionLines.push(2, pointOffset + pointId, pointOffset + pointId + 1);
+              } // If actual intersection, add point and cell to edge, line,
+              // and surface maps!
+
+              /*
+              if (coplanar) {
+                // Coplanar triangle intersection is not handled.
+                // This intersection will not be included in the output. TODO
+                // vtkDebugMacro(<<"Coplanar");
+                intersects = false;
+                continue;
+              }
+              if (intersects)
+              {
+                vtkIdType lineId = info.intersectionLines->GetNumberOfCells();
+                   vtkIdType ptId0, ptId1;
+                int unique[2];
+                unique[0] = pointMerger->InsertUniquePoint(outpt0, ptId0);
+                unique[1] = pointMerger->InsertUniquePoint(outpt1, ptId1);
+                   int addline = 1;
+                if (ptId0 == ptId1)
+                {
+                  addline = 0;
+                }
+                   if (ptId0 == ptId1 && surfaceid[0] != surfaceid[1])
+                {
+                  intersectionSurfaceId->InsertValue(ptId0, 3);
+                }
+                else
+                {
+                  if (unique[0])
+                  {
+                    intersectionSurfaceId->InsertValue(ptId0, surfaceid[0]);
+                  }
+                  else
+                  {
+                    if (intersectionSurfaceId->GetValue(ptId0) != 3)
+                    {
+                      intersectionSurfaceId->InsertValue(ptId0, surfaceid[0]);
+                    }
+                  }
+                  if (unique[1])
+                  {
+                    intersectionSurfaceId->InsertValue(ptId1, surfaceid[1]);
+                  }
+                  else
+                  {
+                    if (intersectionSurfaceId->GetValue(ptId1) != 3)
+                    {
+                      intersectionSurfaceId->InsertValue(ptId1, surfaceid[1]);
+                    }
+                  }
+                }
+                   info->IntersectionPtsMap[0]->insert(std::make_pair(ptId0, cellId0));
+                info->IntersectionPtsMap[1]->insert(std::make_pair(ptId0, cellId1));
+                info->IntersectionPtsMap[0]->insert(std::make_pair(ptId1, cellId0));
+                info->IntersectionPtsMap[1]->insert(std::make_pair(ptId1, cellId1));
+                   // Check to see if duplicate line. Line can only be a duplicate
+                // line if both points are not unique and they don't
+                // equal each other
+                if (!unique[0] && !unique[1] && ptId0 != ptId1)
+                {
+                  vtkSmartPointer<vtkPolyData> lineTest = vtkSmartPointer<vtkPolyData>::New();
+                  lineTest->SetPoints(pointMerger->GetPoints());
+                  lineTest->SetLines(intersectionLines);
+                  lineTest->BuildLinks();
+                  int newLine = info->CheckLine(lineTest, ptId0, ptId1);
+                  if (newLine == 0)
+                  {
+                    addline = 0;
+                  }
+                }
+                if (addline)
+                {
+                  // If the line is new and does not consist of two identical
+                  // points, add the line to the intersection and update
+                  // mapping information
+                  intersectionLines->InsertNextCell(2);
+                  intersectionLines->InsertCellPoint(ptId0);
+                  intersectionLines->InsertCellPoint(ptId1);
+                     intersectionCellIds0->InsertNextValue(cellId0);
+                  intersectionCellIds1->InsertNextValue(cellId1);
+                     info->PointCellIds[0]->InsertValue(ptId0, cellId0);
+                  info->PointCellIds[0]->InsertValue(ptId1, cellId0);
+                  info->PointCellIds[1]->InsertValue(ptId0, cellId1);
+                  info->PointCellIds[1]->InsertValue(ptId1, cellId1);
+                     info->IntersectionMap[0]->insert(std::make_pair(cellId0, lineId));
+                  info->IntersectionMap[1]->insert(std::make_pair(cellId1, lineId));
+                     // Check which edges of cellId0 and cellId1 outpt0 and
+                  // outpt1 are on, if any.
+                  int isOnEdge = 0;
+                  int m0p0 = 0, m0p1 = 0, m1p0 = 0, m1p1 = 0;
+                  for (vtkIdType edgeId = 0; edgeId < 3; edgeId++)
+                  {
+                    isOnEdge = info->AddToPointEdgeMap(
+                      0, ptId0, outpt0, mesh0, cellId0, edgeId, lineId, triPtIds0);
+                    if (isOnEdge != -1)
+                    {
+                      m0p0++;
+                    }
+                    isOnEdge = info->AddToPointEdgeMap(
+                      0, ptId1, outpt1, mesh0, cellId0, edgeId, lineId, triPtIds0);
+                    if (isOnEdge != -1)
+                    {
+                      m0p1++;
+                    }
+                    isOnEdge = info->AddToPointEdgeMap(
+                      1, ptId0, outpt0, mesh1, cellId1, edgeId, lineId, triPtIds1);
+                    if (isOnEdge != -1)
+                    {
+                      m1p0++;
+                    }
+                    isOnEdge = info->AddToPointEdgeMap(
+                      1, ptId1, outpt1, mesh1, cellId1, edgeId, lineId, triPtIds1);
+                    if (isOnEdge != -1)
+                    {
+                      m1p1++;
+                    }
+                  }
+                  // Special cases caught by tolerance and not from the Point
+                  // Merger
+                  if (m0p0 > 0 && m1p0 > 0)
+                  {
+                    intersectionSurfaceId->InsertValue(ptId0, 3);
+                  }
+                  if (m0p1 > 0 && m1p1 > 0)
+                  {
+                    intersectionSurfaceId->InsertValue(ptId1, 3);
+                  }
+                }
+                // Add information about origin surface to std::maps for
+                // checks later
+                if (intersectionSurfaceId->GetValue(ptId0) == 1)
+                {
+                  info->IntersectionPtsMap[0]->insert(std::make_pair(ptId0, cellId0));
+                }
+                else if (intersectionSurfaceId->GetValue(ptId0) == 2)
+                {
+                  info->IntersectionPtsMap[1]->insert(std::make_pair(ptId0, cellId1));
+                }
+                else
+                {
+                  info->IntersectionPtsMap[0]->insert(std::make_pair(ptId0, cellId0));
+                  info->IntersectionPtsMap[1]->insert(std::make_pair(ptId0, cellId1));
+                }
+                if (intersectionSurfaceId->GetValue(ptId1) == 1)
+                {
+                  info->IntersectionPtsMap[0]->insert(std::make_pair(ptId1, cellId0));
+                }
+                else if (intersectionSurfaceId->GetValue(ptId1) == 2)
+                {
+                  info->IntersectionPtsMap[1]->insert(std::make_pair(ptId1, cellId1));
+                }
+                else
+                {
+                  info->IntersectionPtsMap[0]->insert(std::make_pair(ptId1, cellId0));
+                  info->IntersectionPtsMap[1]->insert(std::make_pair(ptId1, cellId1));
+                }
+              }
+              */
+
+            }
+          }
+        }
+      }
+    }
+
+    if (intersectionPoints.length) {
+      var points = vtkPoints.newInstance();
+      points.setData(pushArray(info.intersectionLines.getPoints().getData(), intersectionPoints));
+      info.intersectionLines.setPoints(points);
+      var lines = vtkCellArray.newInstance();
+      lines.setData(pushArray(info.intersectionLines.getLines().getData(), intersectionLines));
+      info.intersectionLines.setLines(lines);
+    }
+
+    return intersectionLines.length / 3;
+  };
+  /**
+   * Create polygonal representation for OBB tree at specified level. If
+   * level < 0, then the leaf OBB nodes will be gathered. The aspect ratio (ar)
+   * and line diameter (d) are used to control the building of the
+   * representation. If a OBB node edge ratio's are greater than ar, then the
+   * dimension of the OBB is collapsed (OBB->plane->line). A "line" OBB will be
+   * represented either as two crossed polygons, or as a line, depending on
+   * the relative diameter of the OBB compared to the diameter (d).
+   * @param {Number} level Level of the representation
+   * @returns {vtkPolyData}
+   */
+
+
+  publicAPI.generateRepresentation = function (level) {
+    if (!model.tree) {
+      vtkErrorMacro('No tree to generate representation for');
+      return null;
+    }
+
+    var points = vtkPoints.newInstance();
+    var polys = vtkCellArray.newInstance();
+    generatePolygons(model.tree, 0, level, points, polys);
+    var output = vtkPolyData.newInstance();
+    output.setPoints(points);
+    output.setPolys(polys);
+    return output;
+  };
+
+  publicAPI.buildLocator = function () {
+    if (model.dataset === null) {
+      vtkErrorMacro("Can't build OBB tree - no data available!");
+      return;
+    }
+
+    var numPts = model.dataset.getPoints().getNumberOfPoints();
+    var numCells = model.dataset.getNumberOfCells();
+
+    if (numPts < 1 || numCells < 1) {
+      vtkErrorMacro("Can't build OBB tree - no data available!");
+      return;
+    }
+
+    model.OBBCount = 0; // Initialize an array of numPts elements set to value 0
+
+    model.insertedPoints = Array.from({
+      length: numPts
+    }, function (_) {
+      return 0;
+    });
+    model.pointsList = [];
+    var cellList = Array.from({
+      length: numCells
+    }, function (_, i) {
+      return i;
+    });
+    model.tree = vtkOBBNode.newInstance();
+    model.level = 0;
+    buildTree(cellList, model.tree, 0);
+    model.insertedPoints = [];
+    model.pointsList = [];
+    publicAPI.modified();
+  };
+} // ----------------------------------------------------------------------------
+
+
+var DEFAULT_VALUES = {
+  tolerance: 0.01,
+  automatic: true,
+  numberOfCellsPerNode: 32,
+  dataset: null,
+  tree: null,
+  pointsList: [],
+  insertedPoints: [],
+  OBBCount: 0,
+  level: 8,
+  maxLevel: 8,
+  retainCellLists: 1
+}; // ----------------------------------------------------------------------------
+
+function extend(publicAPI, model) {
+  var initialValues = arguments.length > 2 && arguments[2] !== undefined ? arguments[2] : {};
+  Object.assign(model, DEFAULT_VALUES, initialValues); // Build VTK API
+
+  macro.setGet(publicAPI, model, ['tolerance', 'automatic', 'numberOfCellsPerNode', 'dataset', 'tree', 'maxLevel', 'level', 'retainCellLists']); // Make this a VTK object
+
+  macro.obj(publicAPI, model); // Object specific methods
+
+  vtkOBBTree(publicAPI, model);
+} // ----------------------------------------------------------------------------
+
+var newInstance = macro.newInstance(extend, 'vtkOBBTree'); // ----------------------------------------------------------------------------
+
+var vtkOBBTree$1 = {
+  newInstance: newInstance,
+  extend: extend
+};
+
+export { vtkOBBTree$1 as default, extend, newInstance };