@needle-tools/three 0.160.3 → 0.162.1

package/examples/jsm/math/Octree.js

@@ -1,540 +1,540 @@
-import {
-	Box3,
-	Line3,
-	Plane,
-	Sphere,
-	Triangle,
-	Vector3
-} from 'three';
-import { Capsule } from '../math/Capsule.js';
-
-
-const _v1 = new Vector3();
-const _v2 = new Vector3();
-const _point1 = new Vector3();
-const _point2 = new Vector3();
-const _plane = new Plane();
-const _line1 = new Line3();
-const _line2 = new Line3();
-const _sphere = new Sphere();
-const _capsule = new Capsule();
-
-const _temp1 = new Vector3();
-const _temp2 = new Vector3();
-const _temp3 = new Vector3();
-const EPS = 1e-10;
-
-function lineToLineClosestPoints( line1, line2, target1 = null, target2 = null ) {
-
-	const r = _temp1.copy( line1.end ).sub( line1.start );
-	const s = _temp2.copy( line2.end ).sub( line2.start );
-	const w = _temp3.copy( line2.start ).sub( line1.start );
-
-	const a = r.dot( s ),
-		b = r.dot( r ),
-		c = s.dot( s ),
-		d = s.dot( w ),
-		e = r.dot( w );
-
-	let t1, t2;
-	const divisor = b * c - a * a;
-
-	if ( Math.abs( divisor ) < EPS ) {
-
-		const d1 = - d / c;
-		const d2 = ( a - d ) / c;
-
-		if ( Math.abs( d1 - 0.5 ) < Math.abs( d2 - 0.5 ) ) {
-
-			t1 = 0;
-			t2 = d1;
-
-		} else {
-
-			t1 = 1;
-			t2 = d2;
-
-		}
-
-	} else {
-
-		t1 = ( d * a + e * c ) / divisor;
-		t2 = ( t1 * a - d ) / c;
-
-	}
-
-	t2 = Math.max( 0, Math.min( 1, t2 ) );
-	t1 = Math.max( 0, Math.min( 1, t1 ) );
-
-	if ( target1 ) {
-
-		target1.copy( r ).multiplyScalar( t1 ).add( line1.start );
-
-	}
-
-	if ( target2 ) {
-
-		target2.copy( s ).multiplyScalar( t2 ).add( line2.start );
-
-	}
-
-}
-
-class Octree {
-
-	constructor( box ) {
-
-		this.box = box;
-		this.bounds = new Box3();
-
-		this.subTrees = [];
-		this.triangles = [];
-
-	}
-
-	addTriangle( triangle ) {
-
-		this.bounds.min.x = Math.min( this.bounds.min.x, triangle.a.x, triangle.b.x, triangle.c.x );
-		this.bounds.min.y = Math.min( this.bounds.min.y, triangle.a.y, triangle.b.y, triangle.c.y );
-		this.bounds.min.z = Math.min( this.bounds.min.z, triangle.a.z, triangle.b.z, triangle.c.z );
-		this.bounds.max.x = Math.max( this.bounds.max.x, triangle.a.x, triangle.b.x, triangle.c.x );
-		this.bounds.max.y = Math.max( this.bounds.max.y, triangle.a.y, triangle.b.y, triangle.c.y );
-		this.bounds.max.z = Math.max( this.bounds.max.z, triangle.a.z, triangle.b.z, triangle.c.z );
-
-		this.triangles.push( triangle );
-
-		return this;
-
-	}
-
-	calcBox() {
-
-		this.box = this.bounds.clone();
-
-		// offset small amount to account for regular grid
-		this.box.min.x -= 0.01;
-		this.box.min.y -= 0.01;
-		this.box.min.z -= 0.01;
-
-		return this;
-
-	}
-
-	split( level ) {
-
-		if ( ! this.box ) return;
-
-		const subTrees = [];
-		const halfsize = _v2.copy( this.box.max ).sub( this.box.min ).multiplyScalar( 0.5 );
-
-		for ( let x = 0; x < 2; x ++ ) {
-
-			for ( let y = 0; y < 2; y ++ ) {
-
-				for ( let z = 0; z < 2; z ++ ) {
-
-					const box = new Box3();
-					const v = _v1.set( x, y, z );
-
-					box.min.copy( this.box.min ).add( v.multiply( halfsize ) );
-					box.max.copy( box.min ).add( halfsize );
-
-					subTrees.push( new Octree( box ) );
-
-				}
-
-			}
-
-		}
-
-		let triangle;
-
-		while ( triangle = this.triangles.pop() ) {
-
-			for ( let i = 0; i < subTrees.length; i ++ ) {
-
-				if ( subTrees[ i ].box.intersectsTriangle( triangle ) ) {
-
-					subTrees[ i ].triangles.push( triangle );
-
-				}
-
-			}
-
-		}
-
-		for ( let i = 0; i < subTrees.length; i ++ ) {
-
-			const len = subTrees[ i ].triangles.length;
-
-			if ( len > 8 && level < 16 ) {
-
-				subTrees[ i ].split( level + 1 );
-
-			}
-
-			if ( len !== 0 ) {
-
-				this.subTrees.push( subTrees[ i ] );
-
-			}
-
-		}
-
-		return this;
-
-	}
-
-	build() {
-
-		this.calcBox();
-		this.split( 0 );
-
-		return this;
-
-	}
-
-	getRayTriangles( ray, triangles ) {
-
-		for ( let i = 0; i < this.subTrees.length; i ++ ) {
-
-			const subTree = this.subTrees[ i ];
-			if ( ! ray.intersectsBox( subTree.box ) ) continue;
-
-			if ( subTree.triangles.length > 0 ) {
-
-				for ( let j = 0; j < subTree.triangles.length; j ++ ) {
-
-					if ( triangles.indexOf( subTree.triangles[ j ] ) === - 1 ) triangles.push( subTree.triangles[ j ] );
-
-				}
-
-			} else {
-
-				subTree.getRayTriangles( ray, triangles );
-
-			}
-
-		}
-
-		return triangles;
-
-	}
-
-	triangleCapsuleIntersect( capsule, triangle ) {
-
-		triangle.getPlane( _plane );
-
-		const d1 = _plane.distanceToPoint( capsule.start ) - capsule.radius;
-		const d2 = _plane.distanceToPoint( capsule.end ) - capsule.radius;
-
-		if ( ( d1 > 0 && d2 > 0 ) || ( d1 < - capsule.radius && d2 < - capsule.radius ) ) {
-
-			return false;
-
-		}
-
-		const delta = Math.abs( d1 / ( Math.abs( d1 ) + Math.abs( d2 ) ) );
-		const intersectPoint = _v1.copy( capsule.start ).lerp( capsule.end, delta );
-
-		if ( triangle.containsPoint( intersectPoint ) ) {
-
-			return { normal: _plane.normal.clone(), point: intersectPoint.clone(), depth: Math.abs( Math.min( d1, d2 ) ) };
-
-		}
-
-		const r2 = capsule.radius * capsule.radius;
-
-		const line1 = _line1.set( capsule.start, capsule.end );
-
-		const lines = [
-			[ triangle.a, triangle.b ],
-			[ triangle.b, triangle.c ],
-			[ triangle.c, triangle.a ]
-		];
-
-		for ( let i = 0; i < lines.length; i ++ ) {
-
-			const line2 = _line2.set( lines[ i ][ 0 ], lines[ i ][ 1 ] );
-
-			lineToLineClosestPoints( line1, line2, _point1, _point2 );
-
-			if ( _point1.distanceToSquared( _point2 ) < r2 ) {
-
-				return {
-					normal: _point1.clone().sub( _point2 ).normalize(),
-					point: _point2.clone(),
-					depth: capsule.radius - _point1.distanceTo( _point2 )
-				};
-
-			}
-
-		}
-
-		return false;
-
-	}
-
-	triangleSphereIntersect( sphere, triangle ) {
-
-		triangle.getPlane( _plane );
-
-		if ( ! sphere.intersectsPlane( _plane ) ) return false;
-
-		const depth = Math.abs( _plane.distanceToSphere( sphere ) );
-		const r2 = sphere.radius * sphere.radius - depth * depth;
-
-		const plainPoint = _plane.projectPoint( sphere.center, _v1 );
-
-		if ( triangle.containsPoint( sphere.center ) ) {
-
-			return { normal: _plane.normal.clone(), point: plainPoint.clone(), depth: Math.abs( _plane.distanceToSphere( sphere ) ) };
-
-		}
-
-		const lines = [
-			[ triangle.a, triangle.b ],
-			[ triangle.b, triangle.c ],
-			[ triangle.c, triangle.a ]
-		];
-
-		for ( let i = 0; i < lines.length; i ++ ) {
-
-			_line1.set( lines[ i ][ 0 ], lines[ i ][ 1 ] );
-			_line1.closestPointToPoint( plainPoint, true, _v2 );
-
-			const d = _v2.distanceToSquared( sphere.center );
-
-			if ( d < r2 ) {
-
-				return { normal: sphere.center.clone().sub( _v2 ).normalize(), point: _v2.clone(), depth: sphere.radius - Math.sqrt( d ) };
-
-			}
-
-		}
-
-		return false;
-
-	}
-
-	getSphereTriangles( sphere, triangles ) {
-
-		for ( let i = 0; i < this.subTrees.length; i ++ ) {
-
-			const subTree = this.subTrees[ i ];
-
-			if ( ! sphere.intersectsBox( subTree.box ) ) continue;
-
-			if ( subTree.triangles.length > 0 ) {
-
-				for ( let j = 0; j < subTree.triangles.length; j ++ ) {
-
-					if ( triangles.indexOf( subTree.triangles[ j ] ) === - 1 ) triangles.push( subTree.triangles[ j ] );
-
-				}
-
-			} else {
-
-				subTree.getSphereTriangles( sphere, triangles );
-
-			}
-
-		}
-
-	}
-
-	getCapsuleTriangles( capsule, triangles ) {
-
-		for ( let i = 0; i < this.subTrees.length; i ++ ) {
-
-			const subTree = this.subTrees[ i ];
-
-			if ( ! capsule.intersectsBox( subTree.box ) ) continue;
-
-			if ( subTree.triangles.length > 0 ) {
-
-				for ( let j = 0; j < subTree.triangles.length; j ++ ) {
-
-					if ( triangles.indexOf( subTree.triangles[ j ] ) === - 1 ) triangles.push( subTree.triangles[ j ] );
-
-				}
-
-			} else {
-
-				subTree.getCapsuleTriangles( capsule, triangles );
-
-			}
-
-		}
-
-	}
-
-	sphereIntersect( sphere ) {
-
-		_sphere.copy( sphere );
-
-		const triangles = [];
-		let result, hit = false;
-
-		this.getSphereTriangles( sphere, triangles );
-
-		for ( let i = 0; i < triangles.length; i ++ ) {
-
-			if ( result = this.triangleSphereIntersect( _sphere, triangles[ i ] ) ) {
-
-				hit = true;
-
-				_sphere.center.add( result.normal.multiplyScalar( result.depth ) );
-
-			}
-
-		}
-
-		if ( hit ) {
-
-			const collisionVector = _sphere.center.clone().sub( sphere.center );
-			const depth = collisionVector.length();
-
-			return { normal: collisionVector.normalize(), depth: depth };
-
-		}
-
-		return false;
-
-	}
-
-	capsuleIntersect( capsule ) {
-
-		_capsule.copy( capsule );
-
-		const triangles = [];
-		let result, hit = false;
-
-		this.getCapsuleTriangles( _capsule, triangles );
-
-		for ( let i = 0; i < triangles.length; i ++ ) {
-
-			if ( result = this.triangleCapsuleIntersect( _capsule, triangles[ i ] ) ) {
-
-				hit = true;
-
-				_capsule.translate( result.normal.multiplyScalar( result.depth ) );
-
-			}
-
-		}
-
-		if ( hit ) {
-
-			const collisionVector = _capsule.getCenter( new Vector3() ).sub( capsule.getCenter( _v1 ) );
-			const depth = collisionVector.length();
-
-			return { normal: collisionVector.normalize(), depth: depth };
-
-		}
-
-		return false;
-
-	}
-
-	rayIntersect( ray ) {
-
-		if ( ray.direction.length() === 0 ) return;
-
-		const triangles = [];
-		let triangle, position, distance = 1e100;
-
-		this.getRayTriangles( ray, triangles );
-
-		for ( let i = 0; i < triangles.length; i ++ ) {
-
-			const result = ray.intersectTriangle( triangles[ i ].a, triangles[ i ].b, triangles[ i ].c, true, _v1 );
-
-			if ( result ) {
-
-				const newdistance = result.sub( ray.origin ).length();
-
-				if ( distance > newdistance ) {
-
-					position = result.clone().add( ray.origin );
-					distance = newdistance;
-					triangle = triangles[ i ];
-
-				}
-
-			}
-
-		}
-
-		return distance < 1e100 ? { distance: distance, triangle: triangle, position: position } : false;
-
-	}
-
-	fromGraphNode( group ) {
-
-		group.updateWorldMatrix( true, true );
-
-		group.traverse( ( obj ) => {
-
-			if ( obj.isMesh === true ) {
-
-				let geometry, isTemp = false;
-
-				if ( obj.geometry.index !== null ) {
-
-					isTemp = true;
-					geometry = obj.geometry.toNonIndexed();
-
-				} else {
-
-					geometry = obj.geometry;
-
-				}
-
-				const positionAttribute = geometry.getAttribute( 'position' );
-
-				for ( let i = 0; i < positionAttribute.count; i += 3 ) {
-
-					const v1 = new Vector3().fromBufferAttribute( positionAttribute, i );
-					const v2 = new Vector3().fromBufferAttribute( positionAttribute, i + 1 );
-					const v3 = new Vector3().fromBufferAttribute( positionAttribute, i + 2 );
-
-					v1.applyMatrix4( obj.matrixWorld );
-					v2.applyMatrix4( obj.matrixWorld );
-					v3.applyMatrix4( obj.matrixWorld );
-
-					this.addTriangle( new Triangle( v1, v2, v3 ) );
-
-				}
-
-				if ( isTemp ) {
-
-					geometry.dispose();
-
-				}
-
-			}
-
-		} );
-
-		this.build();
-
-		return this;
-
-	}
-
-	clear() {
-
-		this.box = null;
-		this.bounds.makeEmpty();
-
-		this.subTrees.length = 0;
-		this.triangles.length = 0;
-
-		return this;
-
-	}
-
-}
-
-export { Octree };
+import {
+	Box3,
+	Line3,
+	Plane,
+	Sphere,
+	Triangle,
+	Vector3
+} from 'three';
+import { Capsule } from '../math/Capsule.js';
+
+
+const _v1 = new Vector3();
+const _v2 = new Vector3();
+const _point1 = new Vector3();
+const _point2 = new Vector3();
+const _plane = new Plane();
+const _line1 = new Line3();
+const _line2 = new Line3();
+const _sphere = new Sphere();
+const _capsule = new Capsule();
+
+const _temp1 = new Vector3();
+const _temp2 = new Vector3();
+const _temp3 = new Vector3();
+const EPS = 1e-10;
+
+function lineToLineClosestPoints( line1, line2, target1 = null, target2 = null ) {
+
+	const r = _temp1.copy( line1.end ).sub( line1.start );
+	const s = _temp2.copy( line2.end ).sub( line2.start );
+	const w = _temp3.copy( line2.start ).sub( line1.start );
+
+	const a = r.dot( s ),
+		b = r.dot( r ),
+		c = s.dot( s ),
+		d = s.dot( w ),
+		e = r.dot( w );
+
+	let t1, t2;
+	const divisor = b * c - a * a;
+
+	if ( Math.abs( divisor ) < EPS ) {
+
+		const d1 = - d / c;
+		const d2 = ( a - d ) / c;
+
+		if ( Math.abs( d1 - 0.5 ) < Math.abs( d2 - 0.5 ) ) {
+
+			t1 = 0;
+			t2 = d1;
+
+		} else {
+
+			t1 = 1;
+			t2 = d2;
+
+		}
+
+	} else {
+
+		t1 = ( d * a + e * c ) / divisor;
+		t2 = ( t1 * a - d ) / c;
+
+	}
+
+	t2 = Math.max( 0, Math.min( 1, t2 ) );
+	t1 = Math.max( 0, Math.min( 1, t1 ) );
+
+	if ( target1 ) {
+
+		target1.copy( r ).multiplyScalar( t1 ).add( line1.start );
+
+	}
+
+	if ( target2 ) {
+
+		target2.copy( s ).multiplyScalar( t2 ).add( line2.start );
+
+	}
+
+}
+
+class Octree {
+
+	constructor( box ) {
+
+		this.box = box;
+		this.bounds = new Box3();
+
+		this.subTrees = [];
+		this.triangles = [];
+
+	}
+
+	addTriangle( triangle ) {
+
+		this.bounds.min.x = Math.min( this.bounds.min.x, triangle.a.x, triangle.b.x, triangle.c.x );
+		this.bounds.min.y = Math.min( this.bounds.min.y, triangle.a.y, triangle.b.y, triangle.c.y );
+		this.bounds.min.z = Math.min( this.bounds.min.z, triangle.a.z, triangle.b.z, triangle.c.z );
+		this.bounds.max.x = Math.max( this.bounds.max.x, triangle.a.x, triangle.b.x, triangle.c.x );
+		this.bounds.max.y = Math.max( this.bounds.max.y, triangle.a.y, triangle.b.y, triangle.c.y );
+		this.bounds.max.z = Math.max( this.bounds.max.z, triangle.a.z, triangle.b.z, triangle.c.z );
+
+		this.triangles.push( triangle );
+
+		return this;
+
+	}
+
+	calcBox() {
+
+		this.box = this.bounds.clone();
+
+		// offset small amount to account for regular grid
+		this.box.min.x -= 0.01;
+		this.box.min.y -= 0.01;
+		this.box.min.z -= 0.01;
+
+		return this;
+
+	}
+
+	split( level ) {
+
+		if ( ! this.box ) return;
+
+		const subTrees = [];
+		const halfsize = _v2.copy( this.box.max ).sub( this.box.min ).multiplyScalar( 0.5 );
+
+		for ( let x = 0; x < 2; x ++ ) {
+
+			for ( let y = 0; y < 2; y ++ ) {
+
+				for ( let z = 0; z < 2; z ++ ) {
+
+					const box = new Box3();
+					const v = _v1.set( x, y, z );
+
+					box.min.copy( this.box.min ).add( v.multiply( halfsize ) );
+					box.max.copy( box.min ).add( halfsize );
+
+					subTrees.push( new Octree( box ) );
+
+				}
+
+			}
+
+		}
+
+		let triangle;
+
+		while ( triangle = this.triangles.pop() ) {
+
+			for ( let i = 0; i < subTrees.length; i ++ ) {
+
+				if ( subTrees[ i ].box.intersectsTriangle( triangle ) ) {
+
+					subTrees[ i ].triangles.push( triangle );
+
+				}
+
+			}
+
+		}
+
+		for ( let i = 0; i < subTrees.length; i ++ ) {
+
+			const len = subTrees[ i ].triangles.length;
+
+			if ( len > 8 && level < 16 ) {
+
+				subTrees[ i ].split( level + 1 );
+
+			}
+
+			if ( len !== 0 ) {
+
+				this.subTrees.push( subTrees[ i ] );
+
+			}
+
+		}
+
+		return this;
+
+	}
+
+	build() {
+
+		this.calcBox();
+		this.split( 0 );
+
+		return this;
+
+	}
+
+	getRayTriangles( ray, triangles ) {
+
+		for ( let i = 0; i < this.subTrees.length; i ++ ) {
+
+			const subTree = this.subTrees[ i ];
+			if ( ! ray.intersectsBox( subTree.box ) ) continue;
+
+			if ( subTree.triangles.length > 0 ) {
+
+				for ( let j = 0; j < subTree.triangles.length; j ++ ) {
+
+					if ( triangles.indexOf( subTree.triangles[ j ] ) === - 1 ) triangles.push( subTree.triangles[ j ] );
+
+				}
+
+			} else {
+
+				subTree.getRayTriangles( ray, triangles );
+
+			}
+
+		}
+
+		return triangles;
+
+	}
+
+	triangleCapsuleIntersect( capsule, triangle ) {
+
+		triangle.getPlane( _plane );
+
+		const d1 = _plane.distanceToPoint( capsule.start ) - capsule.radius;
+		const d2 = _plane.distanceToPoint( capsule.end ) - capsule.radius;
+
+		if ( ( d1 > 0 && d2 > 0 ) || ( d1 < - capsule.radius && d2 < - capsule.radius ) ) {
+
+			return false;
+
+		}
+
+		const delta = Math.abs( d1 / ( Math.abs( d1 ) + Math.abs( d2 ) ) );
+		const intersectPoint = _v1.copy( capsule.start ).lerp( capsule.end, delta );
+
+		if ( triangle.containsPoint( intersectPoint ) ) {
+
+			return { normal: _plane.normal.clone(), point: intersectPoint.clone(), depth: Math.abs( Math.min( d1, d2 ) ) };
+
+		}
+
+		const r2 = capsule.radius * capsule.radius;
+
+		const line1 = _line1.set( capsule.start, capsule.end );
+
+		const lines = [
+			[ triangle.a, triangle.b ],
+			[ triangle.b, triangle.c ],
+			[ triangle.c, triangle.a ]
+		];
+
+		for ( let i = 0; i < lines.length; i ++ ) {
+
+			const line2 = _line2.set( lines[ i ][ 0 ], lines[ i ][ 1 ] );
+
+			lineToLineClosestPoints( line1, line2, _point1, _point2 );
+
+			if ( _point1.distanceToSquared( _point2 ) < r2 ) {
+
+				return {
+					normal: _point1.clone().sub( _point2 ).normalize(),
+					point: _point2.clone(),
+					depth: capsule.radius - _point1.distanceTo( _point2 )
+				};
+
+			}
+
+		}
+
+		return false;
+
+	}
+
+	triangleSphereIntersect( sphere, triangle ) {
+
+		triangle.getPlane( _plane );
+
+		if ( ! sphere.intersectsPlane( _plane ) ) return false;
+
+		const depth = Math.abs( _plane.distanceToSphere( sphere ) );
+		const r2 = sphere.radius * sphere.radius - depth * depth;
+
+		const plainPoint = _plane.projectPoint( sphere.center, _v1 );
+
+		if ( triangle.containsPoint( sphere.center ) ) {
+
+			return { normal: _plane.normal.clone(), point: plainPoint.clone(), depth: Math.abs( _plane.distanceToSphere( sphere ) ) };
+
+		}
+
+		const lines = [
+			[ triangle.a, triangle.b ],
+			[ triangle.b, triangle.c ],
+			[ triangle.c, triangle.a ]
+		];
+
+		for ( let i = 0; i < lines.length; i ++ ) {
+
+			_line1.set( lines[ i ][ 0 ], lines[ i ][ 1 ] );
+			_line1.closestPointToPoint( plainPoint, true, _v2 );
+
+			const d = _v2.distanceToSquared( sphere.center );
+
+			if ( d < r2 ) {
+
+				return { normal: sphere.center.clone().sub( _v2 ).normalize(), point: _v2.clone(), depth: sphere.radius - Math.sqrt( d ) };
+
+			}
+
+		}
+
+		return false;
+
+	}
+
+	getSphereTriangles( sphere, triangles ) {
+
+		for ( let i = 0; i < this.subTrees.length; i ++ ) {
+
+			const subTree = this.subTrees[ i ];
+
+			if ( ! sphere.intersectsBox( subTree.box ) ) continue;
+
+			if ( subTree.triangles.length > 0 ) {
+
+				for ( let j = 0; j < subTree.triangles.length; j ++ ) {
+
+					if ( triangles.indexOf( subTree.triangles[ j ] ) === - 1 ) triangles.push( subTree.triangles[ j ] );
+
+				}
+
+			} else {
+
+				subTree.getSphereTriangles( sphere, triangles );
+
+			}
+
+		}
+
+	}
+
+	getCapsuleTriangles( capsule, triangles ) {
+
+		for ( let i = 0; i < this.subTrees.length; i ++ ) {
+
+			const subTree = this.subTrees[ i ];
+
+			if ( ! capsule.intersectsBox( subTree.box ) ) continue;
+
+			if ( subTree.triangles.length > 0 ) {
+
+				for ( let j = 0; j < subTree.triangles.length; j ++ ) {
+
+					if ( triangles.indexOf( subTree.triangles[ j ] ) === - 1 ) triangles.push( subTree.triangles[ j ] );
+
+				}
+
+			} else {
+
+				subTree.getCapsuleTriangles( capsule, triangles );
+
+			}
+
+		}
+
+	}
+
+	sphereIntersect( sphere ) {
+
+		_sphere.copy( sphere );
+
+		const triangles = [];
+		let result, hit = false;
+
+		this.getSphereTriangles( sphere, triangles );
+
+		for ( let i = 0; i < triangles.length; i ++ ) {
+
+			if ( result = this.triangleSphereIntersect( _sphere, triangles[ i ] ) ) {
+
+				hit = true;
+
+				_sphere.center.add( result.normal.multiplyScalar( result.depth ) );
+
+			}
+
+		}
+
+		if ( hit ) {
+
+			const collisionVector = _sphere.center.clone().sub( sphere.center );
+			const depth = collisionVector.length();
+
+			return { normal: collisionVector.normalize(), depth: depth };
+
+		}
+
+		return false;
+
+	}
+
+	capsuleIntersect( capsule ) {
+
+		_capsule.copy( capsule );
+
+		const triangles = [];
+		let result, hit = false;
+
+		this.getCapsuleTriangles( _capsule, triangles );
+
+		for ( let i = 0; i < triangles.length; i ++ ) {
+
+			if ( result = this.triangleCapsuleIntersect( _capsule, triangles[ i ] ) ) {
+
+				hit = true;
+
+				_capsule.translate( result.normal.multiplyScalar( result.depth ) );
+
+			}
+
+		}
+
+		if ( hit ) {
+
+			const collisionVector = _capsule.getCenter( new Vector3() ).sub( capsule.getCenter( _v1 ) );
+			const depth = collisionVector.length();
+
+			return { normal: collisionVector.normalize(), depth: depth };
+
+		}
+
+		return false;
+
+	}
+
+	rayIntersect( ray ) {
+
+		if ( ray.direction.length() === 0 ) return;
+
+		const triangles = [];
+		let triangle, position, distance = 1e100;
+
+		this.getRayTriangles( ray, triangles );
+
+		for ( let i = 0; i < triangles.length; i ++ ) {
+
+			const result = ray.intersectTriangle( triangles[ i ].a, triangles[ i ].b, triangles[ i ].c, true, _v1 );
+
+			if ( result ) {
+
+				const newdistance = result.sub( ray.origin ).length();
+
+				if ( distance > newdistance ) {
+
+					position = result.clone().add( ray.origin );
+					distance = newdistance;
+					triangle = triangles[ i ];
+
+				}
+
+			}
+
+		}
+
+		return distance < 1e100 ? { distance: distance, triangle: triangle, position: position } : false;
+
+	}
+
+	fromGraphNode( group ) {
+
+		group.updateWorldMatrix( true, true );
+
+		group.traverse( ( obj ) => {
+
+			if ( obj.isMesh === true ) {
+
+				let geometry, isTemp = false;
+
+				if ( obj.geometry.index !== null ) {
+
+					isTemp = true;
+					geometry = obj.geometry.toNonIndexed();
+
+				} else {
+
+					geometry = obj.geometry;
+
+				}
+
+				const positionAttribute = geometry.getAttribute( 'position' );
+
+				for ( let i = 0; i < positionAttribute.count; i += 3 ) {
+
+					const v1 = new Vector3().fromBufferAttribute( positionAttribute, i );
+					const v2 = new Vector3().fromBufferAttribute( positionAttribute, i + 1 );
+					const v3 = new Vector3().fromBufferAttribute( positionAttribute, i + 2 );
+
+					v1.applyMatrix4( obj.matrixWorld );
+					v2.applyMatrix4( obj.matrixWorld );
+					v3.applyMatrix4( obj.matrixWorld );
+
+					this.addTriangle( new Triangle( v1, v2, v3 ) );
+
+				}
+
+				if ( isTemp ) {
+
+					geometry.dispose();
+
+				}
+
+			}
+
+		} );
+
+		this.build();
+
+		return this;
+
+	}
+
+	clear() {
+
+		this.box = null;
+		this.bounds.makeEmpty();
+
+		this.subTrees.length = 0;
+		this.triangles.length = 0;
+
+		return this;
+
+	}
+
+}
+
+export { Octree };