@math.gl/culling 4.1.0 → 4.2.0-alpha.5

package/dist/lib/shapes/implicit-shape.js

@@ -0,0 +1,143 @@
+// math.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+import { Matrix4, Vector3 } from '@math.gl/core';
+import { INTERSECTION } from "../../constants.js";
+import { AxisAlignedBoundingBox } from "../bounding-volumes/axis-aligned-bounding-box.js";
+import { BoundingSphere } from "../bounding-volumes/bounding-sphere.js";
+/** Shared affine transform, support mapping and query implementation for finite convex shapes. */
+export class ImplicitShapeBase {
+    constructor(matrix) {
+        this.matrix = new Matrix4();
+        if (matrix)
+            this.matrix.copy(matrix);
+        validateAffineMatrix(this.matrix);
+        this.inverseMatrix = this.matrix.clone().invert();
+    }
+    equals(shape) {
+        if (this.type !== shape.type)
+            return false;
+        for (let i = 0; i < 16; i++)
+            if (this.matrix[i] !== shape.matrix[i])
+                return false;
+        return true;
+    }
+    transform(transform) {
+        const next = new Matrix4().copy(transform);
+        validateAffineMatrix(next);
+        this.matrix.multiplyLeft(next);
+        validateAffineMatrix(this.matrix);
+        this.inverseMatrix.copy(this.matrix).invert();
+        return this;
+    }
+    containsPoint(point) {
+        return this.containsLocalPoint(this.inverseMatrix.transformAsPoint(point));
+    }
+    distanceSquaredTo(point) {
+        const distance = this.distanceTo(point);
+        return distance * distance;
+    }
+    /** Exact for rigid/uniform transforms; conservative estimate for non-uniform scale or shear. */
+    distanceTo(point) {
+        const localPoint = this.inverseMatrix.transformAsPoint(point);
+        const localDistance = this.distanceToLocalPoint(localPoint);
+        const scales = this.matrix.getScale();
+        return localDistance * Math.min(scales[0], scales[1], scales[2]);
+    }
+    intersectPlane(plane) {
+        const maximum = this.getSupportPoint(plane.normal);
+        const minimum = this.getSupportPoint([-plane.normal[0], -plane.normal[1], -plane.normal[2]]);
+        const maxDistance = plane.getPointDistance(maximum);
+        const minDistance = plane.getPointDistance(minimum);
+        if (minDistance > 0)
+            return INTERSECTION.INSIDE;
+        if (maxDistance < 0)
+            return INTERSECTION.OUTSIDE;
+        return INTERSECTION.INTERSECTING;
+    }
+    intersectRay(ray) {
+        const localOrigin = this.inverseMatrix.transformAsPoint(ray.origin);
+        const localDirection = this.inverseMatrix.transformAsVector(ray.direction);
+        const hit = this.intersectLocalRay(localOrigin, localDirection);
+        if (!hit || hit.distance < 0)
+            return undefined;
+        const point = new Vector3(ray.direction).scale(hit.distance).add(ray.origin);
+        const inverse = this.inverseMatrix;
+        const normal = new Vector3(inverse[0] * hit.normal[0] + inverse[1] * hit.normal[1] + inverse[2] * hit.normal[2], inverse[4] * hit.normal[0] + inverse[5] * hit.normal[1] + inverse[6] * hit.normal[2], inverse[8] * hit.normal[0] + inverse[9] * hit.normal[1] + inverse[10] * hit.normal[2]).normalize();
+        return { distance: hit.distance, point, normal, entering: ray.direction.dot(normal) < 0 };
+    }
+    getAxisAlignedBoundingBox() {
+        const minimum = new Vector3();
+        const maximum = new Vector3();
+        for (let axis = 0; axis < 3; axis++) {
+            const direction = [0, 0, 0];
+            direction[axis] = 1;
+            maximum[axis] = this.getSupportPoint(direction)[axis];
+            direction[axis] = -1;
+            minimum[axis] = this.getSupportPoint(direction)[axis];
+        }
+        return new AxisAlignedBoundingBox(minimum, maximum);
+    }
+    getBoundingSphere() {
+        const box = this.getAxisAlignedBoundingBox();
+        if (!box)
+            return undefined;
+        return new BoundingSphere().fromCornerPoints(box.minimum, box.maximum);
+    }
+    getSupportPoint(worldDirection) {
+        const matrix = this.matrix;
+        const localDirection = [
+            matrix[0] * worldDirection[0] + matrix[1] * worldDirection[1] + matrix[2] * worldDirection[2],
+            matrix[4] * worldDirection[0] + matrix[5] * worldDirection[1] + matrix[6] * worldDirection[2],
+            matrix[8] * worldDirection[0] + matrix[9] * worldDirection[1] + matrix[10] * worldDirection[2]
+        ];
+        return new Vector3(this.supportLocal(localDirection)).transform(this.matrix);
+    }
+}
+export function validateAffineMatrix(matrix) {
+    if (matrix.length !== 16 || matrix.some(value => !Number.isFinite(value))) {
+        throw new Error('Shape matrix must contain 16 finite values');
+    }
+    if (Math.abs(matrix[3]) > 1e-12 ||
+        Math.abs(matrix[7]) > 1e-12 ||
+        Math.abs(matrix[11]) > 1e-12 ||
+        Math.abs(matrix[15] - 1) > 1e-12) {
+        throw new Error('Shape matrix must be affine');
+    }
+    if (Math.abs(new Matrix4().copy(matrix).determinant()) < 1e-15)
+        throw new Error('Shape matrix must be invertible');
+}
+export function solveQuadratic(a, b, c) {
+    if (Math.abs(a) < 1e-15)
+        return Math.abs(b) < 1e-15 ? [] : [-c / b];
+    const discriminant = b * b - 4 * a * c;
+    if (discriminant < 0)
+        return [];
+    const root = Math.sqrt(Math.max(0, discriminant));
+    return [(-b - root) / (2 * a), (-b + root) / (2 * a)].sort((left, right) => left - right);
+}
+export function closestDistanceToSegment2D(px, py, ax, ay, bx, by) {
+    const dx = bx - ax;
+    const dy = by - ay;
+    const denominator = dx * dx + dy * dy;
+    const t = denominator
+        ? Math.max(0, Math.min(1, ((px - ax) * dx + (py - ay) * dy) / denominator))
+        : 0;
+    return Math.hypot(px - (ax + t * dx), py - (ay + t * dy));
+}
+/** Distance in the radial/Y half-plane to a spherical profile arc selected by normal Y range. */
+export function closestDistanceToCircleArc2D(px, py, centerY, radius, minimumNormalY, maximumNormalY) {
+    if (radius === 0)
+        return Math.hypot(px, py - centerY);
+    const dx = px;
+    const dy = py - centerY;
+    const length = Math.hypot(dx, dy);
+    const normalY = length ? dy / length : 0;
+    if (normalY >= minimumNormalY && normalY <= maximumNormalY) {
+        return Math.abs(length - radius);
+    }
+    const minimumRadius = radius * Math.sqrt(Math.max(0, 1 - minimumNormalY ** 2));
+    const maximumRadius = radius * Math.sqrt(Math.max(0, 1 - maximumNormalY ** 2));
+    return Math.min(Math.hypot(px - minimumRadius, py - (centerY + radius * minimumNormalY)), Math.hypot(px - maximumRadius, py - (centerY + radius * maximumNormalY)));
+}
+//# sourceMappingURL=implicit-shape.js.map

package/dist/lib/shapes/implicit-shape.js.map

@@ -0,0 +1 @@
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package/dist/lib/shapes/plane-shape.d.ts

@@ -0,0 +1,26 @@
+import { ImplicitShapeBase, type ImplicitShape, type LocalRayIntersection } from "./implicit-shape.js";
+import type { AxisAlignedBoundingBox } from "../bounding-volumes/axis-aligned-bounding-box.js";
+import type { BoundingSphere } from "../bounding-volumes/bounding-sphere.js";
+import type { Plane } from "../plane.js";
+export type PlaneShapeProps = {
+    sizeX?: number;
+    sizeZ?: number;
+    matrix?: readonly number[];
+};
+/** Analytic glTF plane. The surface faces +Y and the negative-Y half-space is inside. */
+export declare class PlaneShape extends ImplicitShapeBase {
+    readonly type: "plane";
+    readonly sizeX?: number;
+    readonly sizeZ?: number;
+    constructor(props?: PlaneShapeProps);
+    clone(): PlaneShape;
+    equals(shape: ImplicitShape): boolean;
+    containsLocalPoint(point: readonly number[]): boolean;
+    distanceToLocalPoint(point: readonly number[]): number;
+    supportLocal(): readonly number[];
+    intersectLocalRay(origin: readonly number[], direction: readonly number[]): LocalRayIntersection | undefined;
+    intersectPlane(plane: Plane): number;
+    getAxisAlignedBoundingBox(): AxisAlignedBoundingBox | undefined;
+    getBoundingSphere(): BoundingSphere | undefined;
+}
+//# sourceMappingURL=plane-shape.d.ts.map

package/dist/lib/shapes/plane-shape.d.ts.map

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package/dist/lib/shapes/plane-shape.js

@@ -0,0 +1,72 @@
+// math.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+import { Vector3 } from '@math.gl/core';
+import { INTERSECTION } from "../../constants.js";
+import { ImplicitShapeBase } from "./implicit-shape.js";
+/** Analytic glTF plane. The surface faces +Y and the negative-Y half-space is inside. */
+export class PlaneShape extends ImplicitShapeBase {
+    constructor(props = {}) {
+        super(props.matrix);
+        this.type = 'plane';
+        this.sizeX = props.sizeX;
+        this.sizeZ = props.sizeZ;
+        if (this.sizeX !== undefined && (!Number.isFinite(this.sizeX) || this.sizeX <= 0))
+            throw new Error('Plane sizeX must be greater than zero');
+        if (this.sizeZ !== undefined && (!Number.isFinite(this.sizeZ) || this.sizeZ <= 0))
+            throw new Error('Plane sizeZ must be greater than zero');
+    }
+    clone() {
+        return new PlaneShape({ sizeX: this.sizeX, sizeZ: this.sizeZ, matrix: this.matrix });
+    }
+    equals(shape) {
+        return (shape instanceof PlaneShape &&
+            super.equals(shape) &&
+            this.sizeX === shape.sizeX &&
+            this.sizeZ === shape.sizeZ);
+    }
+    containsLocalPoint(point) {
+        return point[1] <= 1e-12;
+    }
+    distanceToLocalPoint(point) {
+        return Math.max(0, point[1]);
+    }
+    supportLocal() {
+        throw new Error('An unbounded plane half-space has no finite support point');
+    }
+    intersectLocalRay(origin, direction) {
+        if (Math.abs(direction[1]) < 1e-15)
+            return undefined;
+        const distance = -origin[1] / direction[1];
+        if (distance < 0)
+            return undefined;
+        const x = origin[0] + distance * direction[0];
+        const z = origin[2] + distance * direction[2];
+        if (this.sizeX !== undefined && Math.abs(x) > this.sizeX / 2 + 1e-12)
+            return undefined;
+        if (this.sizeZ !== undefined && Math.abs(z) > this.sizeZ / 2 + 1e-12)
+            return undefined;
+        return { distance, normal: [0, 1, 0] };
+    }
+    intersectPlane(plane) {
+        const boundaryPoint = new Vector3(0, 0, 0).transform(this.matrix);
+        const inverse = this.inverseMatrix;
+        const boundaryNormal = new Vector3(inverse[1], inverse[5], inverse[9]).normalize();
+        const alignment = boundaryNormal.dot(plane.normal);
+        if (Math.abs(Math.abs(alignment) - 1) > 1e-10)
+            return INTERSECTION.INTERSECTING;
+        const boundaryDistance = plane.getPointDistance(boundaryPoint);
+        if (alignment < 0 && boundaryDistance > 0)
+            return INTERSECTION.INSIDE;
+        if (alignment > 0 && boundaryDistance < 0)
+            return INTERSECTION.OUTSIDE;
+        return INTERSECTION.INTERSECTING;
+    }
+    getAxisAlignedBoundingBox() {
+        return undefined;
+    }
+    getBoundingSphere() {
+        return undefined;
+    }
+}
+//# sourceMappingURL=plane-shape.js.map

package/dist/lib/shapes/plane-shape.js.map

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package/dist/lib/shapes/sphere-shape.d.ts

@@ -0,0 +1,18 @@
+import { ImplicitShapeBase, type ImplicitShape, type LocalRayIntersection } from "./implicit-shape.js";
+export type SphereShapeProps = {
+    radius?: number;
+    matrix?: readonly number[];
+};
+/** Analytic glTF sphere shape. */
+export declare class SphereShape extends ImplicitShapeBase {
+    readonly type: "sphere";
+    readonly radius: number;
+    constructor(props?: SphereShapeProps);
+    clone(): SphereShape;
+    equals(shape: ImplicitShape): boolean;
+    containsLocalPoint(point: readonly number[]): boolean;
+    distanceToLocalPoint(point: readonly number[]): number;
+    supportLocal(direction: readonly number[]): readonly number[];
+    intersectLocalRay(origin: readonly number[], direction: readonly number[]): LocalRayIntersection | undefined;
+}
+//# sourceMappingURL=sphere-shape.d.ts.map

package/dist/lib/shapes/sphere-shape.d.ts.map

@@ -0,0 +1 @@
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package/dist/lib/shapes/sphere-shape.js

@@ -0,0 +1,43 @@
+// math.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+import { ImplicitShapeBase, solveQuadratic } from "./implicit-shape.js";
+const EPSILON = 1e-6;
+/** Analytic glTF sphere shape. */
+export class SphereShape extends ImplicitShapeBase {
+    constructor(props = {}) {
+        super(props.matrix);
+        this.type = 'sphere';
+        this.radius = props.radius ?? 0.5;
+        if (!Number.isFinite(this.radius) || this.radius <= 0)
+            throw new Error('Sphere radius must be greater than zero');
+    }
+    clone() {
+        return new SphereShape({ radius: this.radius, matrix: this.matrix });
+    }
+    equals(shape) {
+        return shape instanceof SphereShape && super.equals(shape) && this.radius === shape.radius;
+    }
+    containsLocalPoint(point) {
+        return Math.hypot(...point) <= this.radius + EPSILON;
+    }
+    distanceToLocalPoint(point) {
+        return Math.max(0, Math.hypot(...point) - this.radius);
+    }
+    supportLocal(direction) {
+        const length = Math.hypot(...direction);
+        return length ? direction.map(value => (value / length) * this.radius) : [this.radius, 0, 0];
+    }
+    intersectLocalRay(origin, direction) {
+        const roots = solveQuadratic(dot(direction, direction), 2 * dot(origin, direction), dot(origin, origin) - this.radius * this.radius);
+        const distance = roots.find(value => value >= 0);
+        if (distance === undefined)
+            return undefined;
+        const point = origin.map((value, i) => value + distance * direction[i]);
+        return { distance, normal: point.map(value => value / this.radius) };
+    }
+}
+function dot(a, b) {
+    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+//# sourceMappingURL=sphere-shape.js.map

package/dist/lib/shapes/sphere-shape.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -6,7 +6,7 @@
   "publishConfig": {
     "access": "public"
   },
-  "version": "4.1.0",
+  "version": "4.2.0-alpha.5",
   "keywords": [
     "webgl",
     "javascript",
@@ -42,8 +42,8 @@
     "src"
   ],
   "dependencies": {
-    "@math.gl/core": "4.1.0",
-    "@math.gl/types": "4.1.0"
+    "@math.gl/core": "4.2.0-alpha.5",
+    "@math.gl/types": "4.2.0-alpha.5"
   },
-  "gitHead": "76820f54e2a9034b42bd24ffeb381cc4e01ad46e"
+  "gitHead": "9c13785761867748e2edb167b5f2749dce803039"
 }

package/src/index.ts

@@ -9,6 +9,19 @@ export {BoundingSphere} from './lib/bounding-volumes/bounding-sphere';
 export {OrientedBoundingBox} from './lib/bounding-volumes/oriented-bounding-box';
 export {CullingVolume} from './lib/culling-volume';
 export {Plane} from './lib/plane';
+export {Ray} from './lib/ray';
+
+export type {ImplicitShape, RayIntersection} from './lib/shapes/implicit-shape';
+export {BoxShape} from './lib/shapes/box-shape';
+export type {BoxShapeProps} from './lib/shapes/box-shape';
+export {CapsuleShape} from './lib/shapes/capsule-shape';
+export type {CapsuleShapeProps} from './lib/shapes/capsule-shape';
+export {CylinderShape} from './lib/shapes/cylinder-shape';
+export type {CylinderShapeProps} from './lib/shapes/cylinder-shape';
+export {PlaneShape} from './lib/shapes/plane-shape';
+export type {PlaneShapeProps} from './lib/shapes/plane-shape';
+export {SphereShape} from './lib/shapes/sphere-shape';
+export type {SphereShapeProps} from './lib/shapes/sphere-shape';
 
 export {PerspectiveOffCenterFrustum as _PerspectiveOffCenterFrustum} from './lib/perspective-off-center-frustum';
 export {PerspectiveFrustum as _PerspectiveFrustum} from './lib/perspective-frustum';

package/src/lib/bounding-volumes/oriented-bounding-box.ts

@@ -7,9 +7,10 @@
 
 import {NumericArray} from '@math.gl/types';
 import {Vector3, Matrix3, Matrix4, Quaternion} from '@math.gl/core';
+
 import type {BoundingVolume} from './bounding-volume';
 import {BoundingSphere} from './bounding-sphere';
-import type {Plane} from '../plane';
+import {Plane} from '../plane';
 import {INTERSECTION} from '../../constants';
 
 const scratchVector3 = new Vector3();

package/src/lib/plane.ts

@@ -6,7 +6,8 @@
 // See LICENSE.md and https://github.com/AnalyticalGraphicsInc/cesium/blob/master/LICENSE.md
 
 /* eslint-disable */
-import {Vector3, equals, assert, NumericArray} from '@math.gl/core';
+import {Vector3, equals, assert, NumericArray, _MathUtils} from '@math.gl/core';
+import {Ray} from './ray';
 
 const scratchPosition = new Vector3();
 const scratchNormal = new Vector3();
@@ -86,4 +87,30 @@ export class Plane {
 
     return scratchPoint.subtract(scaledNormal).to(result);
   }
+
+  /**
+   * Computes the intersection of a ray and this plane.
+   *
+   * @param {Ray} ray The ray.
+   * @param {Vector3} [result] The object onto which to store the result.
+   * @returns {Vector3} The intersection point or undefined if there is no intersection.
+   */
+  intersectWithRay(ray: Ray, result: Vector3 = new Vector3()): Vector3 | undefined {
+    const origin = ray.origin;
+    const direction = ray.direction;
+    const normal = this.normal;
+    const denominator = normal.dot(direction);
+
+    if (Math.abs(denominator) < _MathUtils.EPSILON15) {
+      return undefined;
+    }
+
+    const t = (-this.distance - normal.dot(origin)) / denominator;
+
+    if (t < 0) {
+      return undefined;
+    }
+
+    return result.copy(direction).multiplyByScalar(t).add(origin);
+  }
 }

package/src/lib/ray.ts

@@ -0,0 +1,31 @@
+// math.gl
+// SPDX-License-Identifier: MIT and Apache-2.0
+// Copyright (c) vis.gl contributors
+
+// This file is derived from the Cesium library under Apache 2 license
+// See LICENSE.md and https://github.com/AnalyticalGraphicsInc/cesium/blob/master/LICENSE.md
+
+import {Vector3} from '@math.gl/core';
+
+/* Represents a ray that extends infinitely from the provided origin in the provided direction. */
+export class Ray {
+  origin: Vector3;
+  direction: Vector3;
+
+  /**
+   * Creates a new ray that extends infinitely from the provided origin in the provided direction.
+   *
+   * @param [origin=Vector3] The origin of the ray.
+   * @param [direction=Vector3] The direction of the ray.
+   */
+  constructor(origin?: Vector3, direction?: Vector3) {
+    if (origin) origin = origin.clone();
+    else origin = new Vector3();
+
+    if (direction) direction = direction.clone().normalize();
+    else direction = new Vector3();
+
+    this.origin = origin;
+    this.direction = direction;
+  }
+}

package/src/lib/shapes/box-shape.ts

@@ -0,0 +1,78 @@
+// math.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+
+import {ImplicitShapeBase, type ImplicitShape, type LocalRayIntersection} from './implicit-shape';
+
+const EPSILON = 1e-6;
+
+export type BoxShapeProps = {size?: readonly [number, number, number]; matrix?: readonly number[]};
+
+/** Analytic glTF box shape. */
+export class BoxShape extends ImplicitShapeBase {
+  readonly type = 'box' as const;
+  readonly size: readonly [number, number, number];
+  private readonly halfSize: readonly [number, number, number];
+
+  constructor(props: BoxShapeProps = {}) {
+    super(props.matrix);
+    this.size = props.size ? [...props.size] : [1, 1, 1];
+    if (this.size.some(value => !Number.isFinite(value) || value <= 0))
+      throw new Error('Box size values must be greater than zero');
+    this.halfSize = [this.size[0] / 2, this.size[1] / 2, this.size[2] / 2];
+  }
+
+  clone(): BoxShape {
+    return new BoxShape({size: this.size, matrix: this.matrix});
+  }
+  override equals(shape: ImplicitShape): boolean {
+    return (
+      shape instanceof BoxShape &&
+      super.equals(shape) &&
+      this.size.every((value, i) => value === shape.size[i])
+    );
+  }
+  containsLocalPoint(point: readonly number[]): boolean {
+    return point.every((value, i) => Math.abs(value) <= this.halfSize[i] + EPSILON);
+  }
+  distanceToLocalPoint(point: readonly number[]): number {
+    return Math.hypot(...point.map((value, i) => Math.max(0, Math.abs(value) - this.halfSize[i])));
+  }
+  supportLocal(direction: readonly number[]): readonly number[] {
+    return direction.map((value, i) => (value < 0 ? -this.halfSize[i] : this.halfSize[i]));
+  }
+  intersectLocalRay(
+    origin: readonly number[],
+    direction: readonly number[]
+  ): LocalRayIntersection | undefined {
+    let near = -Infinity;
+    let far = Infinity;
+    let nearAxis = 0;
+    let farAxis = 0;
+    for (let axis = 0; axis < 3; axis++) {
+      if (Math.abs(direction[axis]) < 1e-15) {
+        if (Math.abs(origin[axis]) > this.halfSize[axis]) return undefined;
+        continue;
+      }
+      let t1 = (-this.halfSize[axis] - origin[axis]) / direction[axis];
+      let t2 = (this.halfSize[axis] - origin[axis]) / direction[axis];
+      if (t1 > t2) [t1, t2] = [t2, t1];
+      if (t1 > near) {
+        near = t1;
+        nearAxis = axis;
+      }
+      if (t2 < far) {
+        far = t2;
+        farAxis = axis;
+      }
+      if (near > far) return undefined;
+    }
+    const distance = near >= 0 ? near : far;
+    if (distance < 0 || !Number.isFinite(distance)) return undefined;
+    const axis = near >= 0 ? nearAxis : farAxis;
+    const pointCoordinate = origin[axis] + distance * direction[axis];
+    const normal = [0, 0, 0];
+    normal[axis] = pointCoordinate < 0 ? -1 : 1;
+    return {distance, normal};
+  }
+}