@lampdotdev/lamp 0.0.0-stage → 0.35.0

package/Resources/WebLibraries/three/addons/math/OBB.js

@@ -0,0 +1,535 @@
+import {
+	Box3,
+	MathUtils,
+	Matrix4,
+	Matrix3,
+	Ray,
+	Vector3
+} from 'three';
+
+// module scope helper variables
+
+const a = {
+	c: null, // center
+	u: [ new Vector3(), new Vector3(), new Vector3() ], // basis vectors
+	e: [] // half width
+};
+
+const b = {
+	c: null, // center
+	u: [ new Vector3(), new Vector3(), new Vector3() ], // basis vectors
+	e: [] // half width
+};
+
+const R = [[], [], []];
+const AbsR = [[], [], []];
+const t = [];
+
+const xAxis = new Vector3();
+const yAxis = new Vector3();
+const zAxis = new Vector3();
+const v1 = new Vector3();
+const size = new Vector3();
+const closestPoint = new Vector3();
+const rotationMatrix = new Matrix3();
+const aabb = new Box3();
+const matrix = new Matrix4();
+const inverse = new Matrix4();
+const localRay = new Ray();
+
+/**
+ * Represents an oriented bounding box (OBB) in 3D space.
+ *
+ * @three_import import { OBB } from 'three/addons/math/OBB.js';
+ */
+class OBB {
+
+	/**
+	 * Constructs a new OBB.
+	 *
+	 * @param {Vector3} [center] - The center of the OBB.
+	 * @param {Vector3} [halfSize] - Positive halfwidth extents of the OBB along each axis.
+	 * @param {Matrix3} [rotation] - The rotation of the OBB.
+	 */
+	constructor( center = new Vector3(), halfSize = new Vector3(), rotation = new Matrix3() ) {
+
+		/**
+		 * The center of the OBB.
+		 *
+		 * @type {Vector3}
+		 */
+		this.center = center;
+
+		/**
+		 * Positive halfwidth extents of the OBB along each axis.
+		 *
+		 * @type {Vector3}
+		 */
+		this.halfSize = halfSize;
+
+		/**
+		 * The rotation of the OBB.
+		 *
+		 * @type {Matrix3}
+		 */
+		this.rotation = rotation;
+
+	}
+
+	/**
+	 * Sets the OBBs components to the given values.
+	 *
+	 * @param {Vector3} [center] - The center of the OBB.
+	 * @param {Vector3} [halfSize] - Positive halfwidth extents of the OBB along each axis.
+	 * @param {Matrix3} [rotation] - The rotation of the OBB.
+	 * @return {OBB} A reference to this OBB.
+	 */
+	set( center, halfSize, rotation ) {
+
+		this.center = center;
+		this.halfSize = halfSize;
+		this.rotation = rotation;
+
+		return this;
+
+	}
+
+	/**
+	 * Copies the values of the given OBB to this instance.
+	 *
+	 * @param {OBB} obb - The OBB to copy.
+	 * @return {OBB} A reference to this OBB.
+	 */
+	copy( obb ) {
+
+		this.center.copy( obb.center );
+		this.halfSize.copy( obb.halfSize );
+		this.rotation.copy( obb.rotation );
+
+		return this;
+
+	}
+
+	/**
+	 * Returns a new OBB with copied values from this instance.
+	 *
+	 * @return {OBB} A clone of this instance.
+	 */
+	clone() {
+
+		return new this.constructor().copy( this );
+
+	}
+
+	/**
+	 * Returns the size of this OBB.
+	 *
+	 * @param {Vector3} target - The target vector that is used to store the method's result.
+	 * @return {Vector3} The size.
+	 */
+	getSize( target ) {
+
+		return target.copy( this.halfSize ).multiplyScalar( 2 );
+
+	}
+
+	/**
+	 * Clamps the given point within the bounds of this OBB.
+	 *
+	 * @param {Vector3} point - The point that should be clamped within the bounds of this OBB.
+	 * @param {Vector3} target - The target vector that is used to store the method's result.
+	 * @returns {Vector3} - The clamped point.
+	 */
+	clampPoint( point, target ) {
+
+		// Reference: Closest Point on OBB to Point in Real-Time Collision Detection
+		// by Christer Ericson (chapter 5.1.4)
+
+		const halfSize = this.halfSize;
+
+		v1.subVectors( point, this.center );
+		this.rotation.extractBasis( xAxis, yAxis, zAxis );
+
+		// start at the center position of the OBB
+
+		target.copy( this.center );
+
+		// project the target onto the OBB axes and walk towards that point
+
+		const x = MathUtils.clamp( v1.dot( xAxis ), - halfSize.x, halfSize.x );
+		target.add( xAxis.multiplyScalar( x ) );
+
+		const y = MathUtils.clamp( v1.dot( yAxis ), - halfSize.y, halfSize.y );
+		target.add( yAxis.multiplyScalar( y ) );
+
+		const z = MathUtils.clamp( v1.dot( zAxis ), - halfSize.z, halfSize.z );
+		target.add( zAxis.multiplyScalar( z ) );
+
+		return target;
+
+	}
+
+	/**
+	 * Returns `true` if the given point lies within this OBB.
+	 *
+	 * @param {Vector3} point - The point to test.
+	 * @returns {boolean} - Whether the given point lies within this OBB or not.
+	 */
+	containsPoint( point ) {
+
+		v1.subVectors( point, this.center );
+		this.rotation.extractBasis( xAxis, yAxis, zAxis );
+
+		// project v1 onto each axis and check if these points lie inside the OBB
+
+		return Math.abs( v1.dot( xAxis ) ) <= this.halfSize.x &&
+				Math.abs( v1.dot( yAxis ) ) <= this.halfSize.y &&
+				Math.abs( v1.dot( zAxis ) ) <= this.halfSize.z;
+
+	}
+
+	/**
+	 * Returns `true` if the given AABB intersects this OBB.
+	 *
+	 * @param {Box3} box3 - The AABB to test.
+	 * @returns {boolean} - Whether the given AABB intersects this OBB or not.
+	 */
+	intersectsBox3( box3 ) {
+
+		return this.intersectsOBB( obb.fromBox3( box3 ) );
+
+	}
+
+	/**
+	 * Returns `true` if the given bounding sphere intersects this OBB.
+	 *
+	 * @param {Sphere} sphere - The bounding sphere to test.
+	 * @returns {boolean} - Whether the given bounding sphere intersects this OBB or not.
+	 */
+	intersectsSphere( sphere ) {
+
+		// find the point on the OBB closest to the sphere center
+
+		this.clampPoint( sphere.center, closestPoint );
+
+		// if that point is inside the sphere, the OBB and sphere intersect
+
+		return closestPoint.distanceToSquared( sphere.center ) <= ( sphere.radius * sphere.radius );
+
+	}
+
+	/**
+	 * Returns `true` if the given OBB intersects this OBB.
+	 *
+	 * @param {OBB} obb - The OBB to test.
+	 * @param {number} [epsilon=Number.EPSILON] - A small value to prevent arithmetic errors.
+	 * @returns {boolean} - Whether the given OBB intersects this OBB or not.
+	 */
+	intersectsOBB( obb, epsilon = Number.EPSILON ) {
+
+		// Reference: OBB-OBB Intersection in Real-Time Collision Detection
+		// by Christer Ericson (chapter 4.4.1)
+
+		// prepare data structures (the code uses the same nomenclature like the reference)
+
+		a.c = this.center;
+		a.e[ 0 ] = this.halfSize.x;
+		a.e[ 1 ] = this.halfSize.y;
+		a.e[ 2 ] = this.halfSize.z;
+		this.rotation.extractBasis( a.u[ 0 ], a.u[ 1 ], a.u[ 2 ] );
+
+		b.c = obb.center;
+		b.e[ 0 ] = obb.halfSize.x;
+		b.e[ 1 ] = obb.halfSize.y;
+		b.e[ 2 ] = obb.halfSize.z;
+		obb.rotation.extractBasis( b.u[ 0 ], b.u[ 1 ], b.u[ 2 ] );
+
+		// compute rotation matrix expressing b in a's coordinate frame
+
+		for ( let i = 0; i < 3; i ++ ) {
+
+			for ( let j = 0; j < 3; j ++ ) {
+
+				R[ i ][ j ] = a.u[ i ].dot( b.u[ j ] );
+
+			}
+
+		}
+
+		// compute translation vector
+
+		v1.subVectors( b.c, a.c );
+
+		// bring translation into a's coordinate frame
+
+		t[ 0 ] = v1.dot( a.u[ 0 ] );
+		t[ 1 ] = v1.dot( a.u[ 1 ] );
+		t[ 2 ] = v1.dot( a.u[ 2 ] );
+
+		// compute common subexpressions. Add in an epsilon term to
+		// counteract arithmetic errors when two edges are parallel and
+		// their cross product is (near) null
+
+		for ( let i = 0; i < 3; i ++ ) {
+
+			for ( let j = 0; j < 3; j ++ ) {
+
+				AbsR[ i ][ j ] = Math.abs( R[ i ][ j ] ) + epsilon;
+
+			}
+
+		}
+
+		let ra, rb;
+
+		// test axes L = A0, L = A1, L = A2
+
+		for ( let i = 0; i < 3; i ++ ) {
+
+			ra = a.e[ i ];
+			rb = b.e[ 0 ] * AbsR[ i ][ 0 ] + b.e[ 1 ] * AbsR[ i ][ 1 ] + b.e[ 2 ] * AbsR[ i ][ 2 ];
+			if ( Math.abs( t[ i ] ) > ra + rb ) return false;
+
+
+		}
+
+		// test axes L = B0, L = B1, L = B2
+
+		for ( let i = 0; i < 3; i ++ ) {
+
+			ra = a.e[ 0 ] * AbsR[ 0 ][ i ] + a.e[ 1 ] * AbsR[ 1 ][ i ] + a.e[ 2 ] * AbsR[ 2 ][ i ];
+			rb = b.e[ i ];
+			if ( Math.abs( t[ 0 ] * R[ 0 ][ i ] + t[ 1 ] * R[ 1 ][ i ] + t[ 2 ] * R[ 2 ][ i ] ) > ra + rb ) return false;
+
+		}
+
+		// test axis L = A0 x B0
+
+		ra = a.e[ 1 ] * AbsR[ 2 ][ 0 ] + a.e[ 2 ] * AbsR[ 1 ][ 0 ];
+		rb = b.e[ 1 ] * AbsR[ 0 ][ 2 ] + b.e[ 2 ] * AbsR[ 0 ][ 1 ];
+		if ( Math.abs( t[ 2 ] * R[ 1 ][ 0 ] - t[ 1 ] * R[ 2 ][ 0 ] ) > ra + rb ) return false;
+
+		// test axis L = A0 x B1
+
+		ra = a.e[ 1 ] * AbsR[ 2 ][ 1 ] + a.e[ 2 ] * AbsR[ 1 ][ 1 ];
+		rb = b.e[ 0 ] * AbsR[ 0 ][ 2 ] + b.e[ 2 ] * AbsR[ 0 ][ 0 ];
+		if ( Math.abs( t[ 2 ] * R[ 1 ][ 1 ] - t[ 1 ] * R[ 2 ][ 1 ] ) > ra + rb ) return false;
+
+		// test axis L = A0 x B2
+
+		ra = a.e[ 1 ] * AbsR[ 2 ][ 2 ] + a.e[ 2 ] * AbsR[ 1 ][ 2 ];
+		rb = b.e[ 0 ] * AbsR[ 0 ][ 1 ] + b.e[ 1 ] * AbsR[ 0 ][ 0 ];
+		if ( Math.abs( t[ 2 ] * R[ 1 ][ 2 ] - t[ 1 ] * R[ 2 ][ 2 ] ) > ra + rb ) return false;
+
+		// test axis L = A1 x B0
+
+		ra = a.e[ 0 ] * AbsR[ 2 ][ 0 ] + a.e[ 2 ] * AbsR[ 0 ][ 0 ];
+		rb = b.e[ 1 ] * AbsR[ 1 ][ 2 ] + b.e[ 2 ] * AbsR[ 1 ][ 1 ];
+		if ( Math.abs( t[ 0 ] * R[ 2 ][ 0 ] - t[ 2 ] * R[ 0 ][ 0 ] ) > ra + rb ) return false;
+
+		// test axis L = A1 x B1
+
+		ra = a.e[ 0 ] * AbsR[ 2 ][ 1 ] + a.e[ 2 ] * AbsR[ 0 ][ 1 ];
+		rb = b.e[ 0 ] * AbsR[ 1 ][ 2 ] + b.e[ 2 ] * AbsR[ 1 ][ 0 ];
+		if ( Math.abs( t[ 0 ] * R[ 2 ][ 1 ] - t[ 2 ] * R[ 0 ][ 1 ] ) > ra + rb ) return false;
+
+		// test axis L = A1 x B2
+
+		ra = a.e[ 0 ] * AbsR[ 2 ][ 2 ] + a.e[ 2 ] * AbsR[ 0 ][ 2 ];
+		rb = b.e[ 0 ] * AbsR[ 1 ][ 1 ] + b.e[ 1 ] * AbsR[ 1 ][ 0 ];
+		if ( Math.abs( t[ 0 ] * R[ 2 ][ 2 ] - t[ 2 ] * R[ 0 ][ 2 ] ) > ra + rb ) return false;
+
+		// test axis L = A2 x B0
+
+		ra = a.e[ 0 ] * AbsR[ 1 ][ 0 ] + a.e[ 1 ] * AbsR[ 0 ][ 0 ];
+		rb = b.e[ 1 ] * AbsR[ 2 ][ 2 ] + b.e[ 2 ] * AbsR[ 2 ][ 1 ];
+		if ( Math.abs( t[ 1 ] * R[ 0 ][ 0 ] - t[ 0 ] * R[ 1 ][ 0 ] ) > ra + rb ) return false;
+
+		// test axis L = A2 x B1
+
+		ra = a.e[ 0 ] * AbsR[ 1 ][ 1 ] + a.e[ 1 ] * AbsR[ 0 ][ 1 ];
+		rb = b.e[ 0 ] * AbsR[ 2 ][ 2 ] + b.e[ 2 ] * AbsR[ 2 ][ 0 ];
+		if ( Math.abs( t[ 1 ] * R[ 0 ][ 1 ] - t[ 0 ] * R[ 1 ][ 1 ] ) > ra + rb ) return false;
+
+		// test axis L = A2 x B2
+
+		ra = a.e[ 0 ] * AbsR[ 1 ][ 2 ] + a.e[ 1 ] * AbsR[ 0 ][ 2 ];
+		rb = b.e[ 0 ] * AbsR[ 2 ][ 1 ] + b.e[ 1 ] * AbsR[ 2 ][ 0 ];
+		if ( Math.abs( t[ 1 ] * R[ 0 ][ 2 ] - t[ 0 ] * R[ 1 ][ 2 ] ) > ra + rb ) return false;
+
+		// since no separating axis is found, the OBBs must be intersecting
+
+		return true;
+
+	}
+
+	/**
+	 * Returns `true` if the given plane intersects this OBB.
+	 *
+	 * @param {Plane} plane - The plane to test.
+	 * @returns {boolean} Whether the given plane intersects this OBB or not.
+	 */
+	intersectsPlane( plane ) {
+
+		// Reference: Testing Box Against Plane in Real-Time Collision Detection
+		// by Christer Ericson (chapter 5.2.3)
+
+		this.rotation.extractBasis( xAxis, yAxis, zAxis );
+
+		// compute the projection interval radius of this OBB onto L(t) = this->center + t * p.normal;
+
+		const r = this.halfSize.x * Math.abs( plane.normal.dot( xAxis ) ) +
+				this.halfSize.y * Math.abs( plane.normal.dot( yAxis ) ) +
+				this.halfSize.z * Math.abs( plane.normal.dot( zAxis ) );
+
+		// compute distance of the OBB's center from the plane
+
+		const d = plane.distanceToPoint( this.center );
+
+		// Intersection occurs when distance d falls within [-r,+r] interval
+
+		return Math.abs( d ) <= r;
+
+	}
+
+	/**
+	 * Performs a ray/OBB intersection test and stores the intersection point
+	 * in the given 3D vector.
+	 *
+	 * @param {Ray} ray - The ray to test.
+	 * @param {Vector3} target - The target vector that is used to store the method's result.
+	 * @return {?Vector3} The intersection point. If no intersection is detected, `null` is returned.
+	 */
+	intersectRay( ray, target ) {
+
+		// the idea is to perform the intersection test in the local space
+		// of the OBB.
+
+		this.getSize( size );
+		aabb.setFromCenterAndSize( v1.set( 0, 0, 0 ), size );
+
+		// create a 4x4 transformation matrix
+
+		matrix.setFromMatrix3( this.rotation );
+		matrix.setPosition( this.center );
+
+		// transform ray to the local space of the OBB
+
+		inverse.copy( matrix ).invert();
+		localRay.copy( ray ).applyMatrix4( inverse );
+
+		// perform ray <-> AABB intersection test
+
+		if ( localRay.intersectBox( aabb, target ) ) {
+
+			// transform the intersection point back to world space
+
+			return target.applyMatrix4( matrix );
+
+		} else {
+
+			return null;
+
+		}
+
+	}
+
+	/**
+	 * Returns `true` if the given ray intersects this OBB.
+	 *
+	 * @param {Ray} ray - The ray to test.
+	 * @returns {boolean} Whether the given ray intersects this OBB or not.
+	 */
+	intersectsRay( ray ) {
+
+		return this.intersectRay( ray, v1 ) !== null;
+
+	}
+
+	/**
+	 * Defines an OBB based on the given AABB.
+	 *
+	 * @param {Box3} box3 - The AABB to setup the OBB from.
+	 * @return {OBB} A reference of this OBB.
+	 */
+	fromBox3( box3 ) {
+
+		box3.getCenter( this.center );
+
+		box3.getSize( this.halfSize ).multiplyScalar( 0.5 );
+
+		this.rotation.identity();
+
+		return this;
+
+	}
+
+	/**
+	 * Returns `true` if the given OBB is equal to this OBB.
+	 *
+	 * @param {OBB} obb - The OBB to test.
+	 * @returns {boolean} Whether the given OBB is equal to this OBB or not.
+	 */
+	equals( obb ) {
+
+		return obb.center.equals( this.center ) &&
+			obb.halfSize.equals( this.halfSize ) &&
+			obb.rotation.equals( this.rotation );
+
+	}
+
+	/**
+	 * Applies the given transformation matrix to this OBB. This method can be
+	 * used to transform the bounding volume with the world matrix of a 3D object
+	 * in order to keep both entities in sync.
+	 *
+	 * @param {Matrix4} matrix - The matrix to apply.
+	 * @return {OBB} A reference of this OBB.
+	 */
+	applyMatrix4( matrix ) {
+
+		const e = matrix.elements;
+
+		let sx = v1.set( e[ 0 ], e[ 1 ], e[ 2 ] ).length();
+		const sy = v1.set( e[ 4 ], e[ 5 ], e[ 6 ] ).length();
+		const sz = v1.set( e[ 8 ], e[ 9 ], e[ 10 ] ).length();
+
+		const det = matrix.determinant();
+		if ( det < 0 ) sx = - sx;
+
+		rotationMatrix.setFromMatrix4( matrix );
+
+		const invSX = 1 / sx;
+		const invSY = 1 / sy;
+		const invSZ = 1 / sz;
+
+		rotationMatrix.elements[ 0 ] *= invSX;
+		rotationMatrix.elements[ 1 ] *= invSX;
+		rotationMatrix.elements[ 2 ] *= invSX;
+
+		rotationMatrix.elements[ 3 ] *= invSY;
+		rotationMatrix.elements[ 4 ] *= invSY;
+		rotationMatrix.elements[ 5 ] *= invSY;
+
+		rotationMatrix.elements[ 6 ] *= invSZ;
+		rotationMatrix.elements[ 7 ] *= invSZ;
+		rotationMatrix.elements[ 8 ] *= invSZ;
+
+		this.rotation.premultiply( rotationMatrix );
+
+		this.halfSize.x *= Math.abs( sx );
+		this.halfSize.y *= sy;
+		this.halfSize.z *= sz;
+
+		v1.setFromMatrixPosition( matrix );
+		this.center.add( v1 );
+
+		return this;
+
+	}
+
+}
+
+const obb = new OBB();
+
+export { OBB };