@perplexdotgg/bounce 1.0.0 → 1.0.2

package/src/collision/cast/castConvexVsConvex.ts

@@ -1,213 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Vec3 } from "../../math/vec3";
-import { Body } from "../../physics/Body";
-import { ConvexWithcomputeSupportShape, SupportMode } from "../../shape/Convex";
-import { BackFaceMode } from "../collide/collide";
-import { GjkCastShapeResult } from "../gjk/GjkModule";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { CastCollector, CastResult, CastSettings } from "./cast";
-
-const negatedOffset = /*@__PURE__*/ Vec3.create();
-const offsetIsometryA = /*@__PURE__*/ Isometry.create();
-const offsetIsometryB = /*@__PURE__*/ Isometry.create();
-const inverseOffsetIsometryB = /*@__PURE__*/ Isometry.create();
-const offsetIsometryAToB = /*@__PURE__*/ Isometry.create();
-const displacementInB = /*@__PURE__*/ Vec3.create();
-
-export function castConvexVsConvex(
-  penetrationDepthModule: PenetrationDepthModule,
-  ioCollector: CastCollector,
-  inShapeA: ConvexWithcomputeSupportShape,
-  inShapeB: ConvexWithcomputeSupportShape,
-  isometryA: Isometry,
-  isometryB: Isometry,
-  inScaleA: number,
-  inScaleB: number,
-  displacement: Vec3,
-  offset: Vec3,
-  inSettings: CastSettings,
-  preferredNormalBDirection?: Vec3,
-  bodyA: Body | null = null,
-  bodyB: Body | null = null
-): void {
-  // translate A and B by the offset, for example to move them both to origin
-  negatedOffset.negateVector(offset);
-  offsetIsometryA.matrix.postTranslatedMatrix(isometryA.matrix, negatedOffset);
-  offsetIsometryB.matrix.postTranslatedMatrix(isometryB.matrix, negatedOffset);
-
-  // get a transformA in the space of B
-  inverseOffsetIsometryB.matrix.invertMatrix(offsetIsometryB.matrix);
-  offsetIsometryAToB.matrix.multiplyMatrices(inverseOffsetIsometryB.matrix, offsetIsometryA.matrix);
-
-  // get displacement in the space of B
-  inverseOffsetIsometryB.matrix.multiply3x3(displacementInB, displacement);
-
-  castConvexVsConvexLocal(
-    penetrationDepthModule,
-    ioCollector,
-    inShapeA,
-    inShapeB,
-    offsetIsometryAToB,
-    offsetIsometryB,
-    inScaleA,
-    inScaleB,
-    displacementInB,
-    inSettings,
-    preferredNormalBDirection,
-    bodyA,
-    bodyB
-  );
-}
-
-const contact_normal_world = /*@__PURE__*/ Vec3.create();
-const epaResult = /*@__PURE__*/ GjkCastShapeResult.create();
-const result = /*@__PURE__*/ CastResult.create();
-
-// cast in B space, return in world space
-export function castConvexVsConvexLocal(
-  penetrationDepthModule: PenetrationDepthModule,
-  ioCollector: CastCollector,
-  inShapeA: ConvexWithcomputeSupportShape,
-  inShapeB: ConvexWithcomputeSupportShape,
-  isometryAToB: Isometry,
-  isometryB: Isometry,
-  inScaleA: number,
-  inScaleB: number,
-  displacementInB: Vec3,
-  inShapeCastSettings: CastSettings,
-  preferredNormalBDirection?: Vec3,
-  bodyA: Body | null = null,
-  bodyB: Body | null = null,
-  subShapeIdA: number = 0,
-  subShapeIdB: number = 0
-): void {
-  // Only supported for convex shapes
-  const cast_shape = inShapeA;
-
-  const shape = inShapeB;
-
-  const support_mode = inShapeCastSettings.useShrunkenShapeAndConvexRadius
-    ? SupportMode.ExcludeConvexRadius
-    : SupportMode.IncludeConvexRadius;
-
-  // Create support function for shape to cast
-  const cast_support = cast_shape.computeSupportShape(support_mode, inScaleA);
-
-  // Create support function for target shape
-  // SOURCE
-  const target_support = shape.computeSupportShape(support_mode, inScaleB);
-  const shapeB = target_support;
-  // SOURCE
-  // CHANGE
-  // const target_support = shape.computeSupportShape(support_mode, inScale);
-  // this.transformed_b.set(inCenterOfMassTransform2, target_support);
-  // const shapeB = this.transformed_b;
-  // CHANGE
-
-  // debugger;
-
-  // Do a raycast against the result
-  epaResult.lambda = ioCollector.getEarlyOutFraction();
-  penetrationDepthModule.castShape(
-    epaResult,
-    isometryAToB,
-    displacementInB,
-    inShapeCastSettings.collisionTolerance,
-    inShapeCastSettings.penetrationTolerance,
-    cast_support,
-    shapeB,
-    cast_support.getConvexRadius(),
-    target_support.getConvexRadius(),
-    inShapeCastSettings.returnDeepestPoint
-  );
-
-  const condition =
-    epaResult.isHitFound === true &&
-    (inShapeCastSettings.backFaceModeConvex === BackFaceMode.CollideWithBackFaces ||
-      epaResult.separatingAxis.dot(displacementInB) > 0);
-  // const condition = epaResult.isHitFound === true;
-  if (condition) {
-    // SOURCE
-    // Convert to world space
-    epaResult.pointA.transformByMat4(isometryB.matrix);
-    epaResult.pointB.transformByMat4(isometryB.matrix);
-    isometryB.matrix.multiply3x3(contact_normal_world, epaResult.separatingAxis);
-    // SOURCE
-    // CHANGE
-    //
-    // CHANGE
-
-    // @ts-ignore
-    result.bodyA = bodyA;
-    // @ts-ignore
-    result.bodyB = bodyB;
-    result.subShapeIdA = subShapeIdA;
-    result.subShapeIdB = subShapeIdB;
-    result.fraction = epaResult.lambda;
-    result.isBackFaceHit = false;
-    result.contactPointA.copy(epaResult.pointA);
-    result.contactPointB.copy(epaResult.pointB);
-    // result.bodyId2 = ioCollector.bodyId2;
-
-    // SOURCE
-    result.normalA.copy(contact_normal_world);
-    result.normalB.negateVector(contact_normal_world);
-    // SOURCE
-    // CHANGE
-    // result.penetrationAxis.copy(epaResult.separatingAxis);
-    // CHANGE
-
-    result.penetration = epaResult.pointA.distance(epaResult.pointB);
-
-    // Early out if this hit is deeper than the collector's early out value
-    if (epaResult.lambda === 0 && -result.penetration >= ioCollector.getEarlyOutFraction()) {
-      ioCollector.addMiss();
-      return;
-    }
-
-    // // TODO: Gather faces
-    // if (inShapeCastSettings.mCollectFacesMode == ECollectFacesMode::CollectFaces)
-    // {
-    //   // Get supporting face of shape 1
-    //   Mat44 transform_1_to_2 = inShapeCast.mCenterOfMassStart;
-    //   transform_1_to_2.SetTranslation(transform_1_to_2.GetTranslation() + fraction * inShapeCast.mDirection);
-    //   cast_shape->computeSupportingFace(SubShapeID(), transform_1_to_2.Multiply3x3Transposed(-contact_normal), inShapeCast.mScale, inCenterOfMassTransform2 * transform_1_to_2, result.mShape1Face);
-
-    //   // Get supporting face of shape 2
-    //   shape->computeSupportingFace(SubShapeID(), contact_normal, inScale, inCenterOfMassTransform2, result.mShape2Face);
-    // }
-
-    // adjust normal if preferred normal B direction is provided
-    // if (preferredNormalBDirection !== undefined) {
-    //   // compare normalB to preferredNormalBDirection component-wise
-    //   const difference = Vec3.global(this.world, "CastModule.castConvexVsConvexLocal.difference");
-    //   vec3.sub(difference, result.normalB, preferredNormalBDirection);
-    //   if (difference.isNearZero() === false) {
-    //     result.normalB.copy(preferredNormalBDirection);
-    //     vec3.negate(result.normalA, preferredNormalBDirection);
-    //   }
-    // }
-
-    // // exit if hit is shallower than the collector's current hit
-    // if (result.fraction >= ioCollector.getEarlyOutFraction()) {
-    //   ioCollector.addMiss();
-    //   return;
-    // }
-
-    // // flip normals
-    // vec3.negate(result.normalA, result.normalA);
-    // vec3.negate(result.normalB, result.normalB);
-
-    // always align the normals with the preferred normal direction
-    if (preferredNormalBDirection !== undefined) {
-      result.normalB.copy(preferredNormalBDirection);
-      result.normalA.negateVector(preferredNormalBDirection);
-    }
-
-    ioCollector.earlyOutFraction = result.fraction;
-
-    ioCollector.addHit(result);
-  } else {
-    ioCollector.addMiss();
-  }
-}

package/src/collision/cast/castConvexVsHeightMap.ts

@@ -1,73 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Mat3 } from "../../math/mat3";
-import { Vec3 } from "../../math/vec3";
-import { Body } from "../../physics/Body";
-import { Aabb } from "../../shape/Aabb";
-import { HeightMap } from "../../shape/HeightMap";
-import { Ray } from "../../shape/Ray";
-import { ConvexShape } from "../../shape/Shape";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { HeightMapCaster } from "../HeightMapCaster";
-import { TriangleCaster } from "../TriangleCaster";
-import { CastCollector, CastSettings } from "./cast";
-
-const isometryWorldToB = /*@__PURE__*/ Isometry.create();
-const isometryAToB = /*@__PURE__*/ Isometry.create();
-const shapeABoundsInBSpace = /*@__PURE__*/ Aabb.create();
-const displacementAInBSpace = /*@__PURE__*/ Vec3.create();
-const rotateWorldToB = /*@__PURE__*/ Mat3.create();
-const ray = /*@__PURE__*/ Ray.create();
-const halfExtents = /*@__PURE__*/ Vec3.create();
-const heightMapCaster = /*@__PURE__*/ new HeightMapCaster(new TriangleCaster());
-
-export function castConvexVsHeightMap(
-  penetrationDepthModule: PenetrationDepthModule,
-  ioCollector: CastCollector,
-  inShapeA: ConvexShape,
-  inShapeB: HeightMap,
-  isometryA: Isometry,
-  isometryB: Isometry,
-  inScaleA: number,
-  inScaleB: number,
-  displacement: Vec3,
-  offset: Vec3,
-  inSettings: CastSettings,
-  preferredNormalBDirection?: Vec3,
-  bodyA: Body | null = null,
-  bodyB: Body | null = null
-): void {
-  heightMapCaster.triangleCaster.initialize(
-    inSettings,
-    ioCollector,
-    inShapeA,
-    isometryA,
-    isometryB,
-    displacement,
-    offset
-  );
-
-  isometryWorldToB.matrix.invertMatrix(isometryB.matrix);
-
-  // a to world -> world to b
-  isometryAToB.matrix.multiplyMatrices(isometryA.matrix, isometryWorldToB.matrix);
-
-  shapeABoundsInBSpace.copy(inShapeA.computedAabb);
-  shapeABoundsInBSpace.transform(isometryAToB);
-
-  rotateWorldToB.fromMat4(isometryB.matrix);
-  displacementAInBSpace.transformVectorFromMat3(displacement, rotateWorldToB);
-
-  // aabb cast is done by the following method
-  // 1. shrink the shape aabb by its own extents down to a point
-  // 2. expand the block aabb by the extents of the shape aabb
-  // 3. cast the point by the displacement against the expanded block aabb (raycast vs aabb test)
-
-  shapeABoundsInBSpace.computeCentroid(ray.origin);
-  ray.direction.normalizeVector(displacementAInBSpace);
-  ray.length = displacementAInBSpace.length();
-
-  shapeABoundsInBSpace.computeHalfExtents(halfExtents);
-
-  heightMapCaster.initialize(halfExtents, ray, bodyA, bodyB);
-  inShapeB.walkHeightMap(heightMapCaster);
-}

package/src/collision/cast/castConvexVsTriangleMesh.ts

@@ -1,56 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Vec3 } from "../../math/vec3";
-import { Body } from "../../physics/Body";
-import { Aabb } from "../../shape/Aabb";
-import { ConvexShape } from "../../shape/Shape";
-import { Triangle } from "../../shape/Triangle";
-import { TriangleMesh } from "../../shape/TriangleMesh";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { TriangleCaster } from "../TriangleCaster";
-import { CastCollector, CastSettings } from "./cast";
-
-const isometryWorldToB = /*@__PURE__*/ Isometry.create();
-const isometryAToB = /*@__PURE__*/ Isometry.create();
-const boundsA = /*@__PURE__*/ Aabb.create();
-const transformedDisplacement = /*@__PURE__*/ Vec3.create();
-const triangleCaster = /*@__PURE__*/ new TriangleCaster();
-
-function onHit(triangle: Triangle) {
-  triangleCaster.cast(triangle, triangle.activeEdges, triangle.subShapeId, triangleCaster.bodyA, triangleCaster.bodyB);
-  return false;
-}
-
-export function castConvexVsTriangleMesh(
-  penetrationDepthModule: PenetrationDepthModule,
-  ioCollector: CastCollector,
-  inShapeA: ConvexShape,
-  inShapeB: TriangleMesh,
-  isometryA: Isometry,
-  isometryB: Isometry,
-  inScaleA: number,
-  inScaleB: number,
-  displacement: Vec3,
-  offset: Vec3,
-  inSettings: CastSettings,
-  preferredNormalBDirection?: Vec3,
-  bodyA: Body | null = null,
-  bodyB: Body | null = null
-): void {
-  triangleCaster.initialize(
-    inSettings,
-    ioCollector,
-    inShapeA,
-    isometryA,
-    isometryB,
-    displacement,
-    offset,
-    bodyA,
-    bodyB
-  );
-  isometryWorldToB.matrix.invertMatrix(isometryB.matrix);
-  isometryAToB.matrix.multiplyMatrices(isometryWorldToB.matrix, isometryA.matrix);
-  boundsA.copy(inShapeA.computedAabb);
-  boundsA.transform(isometryAToB);
-  isometryWorldToB.matrix.multiply3x3(transformedDisplacement, displacement);
-  inShapeB.bvh!.castAabb(onHit, boundsA, transformedDisplacement);
-}

package/src/collision/cast/castRayVsCompound.ts

@@ -1,44 +0,0 @@
-import { BasicTransform, ConvexShape } from "../..";
-import { Isometry } from "../../math/isometry";
-import { Vec3 } from "../../math/vec3";
-import { Body } from "../../physics/Body";
-import { CompoundShape } from "../../shape/CompoundShape";
-import { ConvexWithcomputeSupportShape, SupportMode } from "../../shape/Convex";
-import { Ray } from "../../shape/Ray";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { CastCollector, CastResult, RayCastSettings } from "./cast";
-import { castRayVsConvex } from "./castRayVsConvex";
-
-export function castRayVsCompound(
-  penetrationDepthModule: PenetrationDepthModule,
-  ioCollector: CastCollector,
-  inRay: Ray,
-  inShapeB: CompoundShape,
-  isometryB: Isometry,
-  inScaleB: number,
-  offset: Vec3,
-  inSettings: RayCastSettings,
-  bodyB: Body | null = null
-) {
-  for (const shapeObj of inShapeB.shapes) {
-    const shape = shapeObj.shape as ConvexShape;
-    const transform = shapeObj.transform as BasicTransform;
-
-    transformSubShapeBToB.fromRotationAndTranslation(transform.rotation, transform.position);
-    transformSubShapeBToWorld.matrix.multiplyMatrices(isometryB.matrix, transformSubShapeBToB.matrix);
-    castRayVsConvex(
-      penetrationDepthModule,
-      ioCollector,
-      inRay,
-      shape,
-      transformSubShapeBToWorld,
-      inScaleB,
-      offset,
-      inSettings,
-      bodyB
-    );
-  }
-}
-
-const transformSubShapeBToB = /*@__PURE__*/ Isometry.create();
-const transformSubShapeBToWorld = /*@__PURE__*/ Isometry.create();

package/src/collision/cast/castRayVsConvex.ts

@@ -1,45 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Vec3 } from "../../math/vec3";
-import { Body } from "../../physics/Body";
-import { ConvexWithcomputeSupportShape, SupportMode } from "../../shape/Convex";
-import { Ray } from "../../shape/Ray";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { CastCollector, CastResult, RayCastSettings } from "./cast";
-
-export function castRayVsConvex(
-  penetrationDepthModule: PenetrationDepthModule,
-  ioCollector: CastCollector,
-  inRay: Ray,
-  inShapeB: ConvexWithcomputeSupportShape,
-  isometryB: Isometry,
-  inScaleB: number,
-  offset: Vec3,
-  inSettings: RayCastSettings,
-  bodyB: Body | null = null
-) {
-  const convexB = inShapeB.computeSupportShape(SupportMode.IncludeConvexRadius, 1);
-  raycast.fraction = ioCollector.getEarlyOutFraction();
-  worldToB.matrix.invertMatrix(isometryB.matrix);
-  transformedRay.copy(inRay).transform(worldToB);
-  transformedRay.direction.scale(transformedRay.length);
-  const hitFound = penetrationDepthModule.gjkModule.castRay(
-    transformedRay.origin,
-    transformedRay.direction,
-    1e-3,
-    convexB,
-    raycast
-  );
-  if (hitFound) {
-    result.hasContact = true;
-    result.bodyB = bodyB;
-    result.fraction = raycast.fraction;
-    ioCollector.addHit(result);
-  } else {
-    ioCollector.addMiss();
-  }
-}
-
-const result = /*@__PURE__*/ CastResult.create();
-const raycast = { fraction: 0 };
-const transformedRay = /*@__PURE__*/ Ray.create();
-const worldToB = /*@__PURE__*/ Isometry.create();

package/src/collision/cast/castRayVsHeightMap.ts

@@ -1,58 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Vec3 } from "../../math/vec3";
-import { Body } from "../../physics/Body";
-import { HeightMap } from "../../shape/HeightMap";
-import { Ray } from "../../shape/Ray";
-import { Triangle } from "../../shape/Triangle";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { CastCollector, CastResult, RayCastSettings } from "./cast";
-
-let collector: CastCollector;
-let ray: Ray;
-let body: Body | null;
-
-function onHit(triangle: Triangle): boolean {
-  result.reset();
-  result.hasContact = true;
-
-  raycasterResult.fraction = 1.0;
-  raycasterResult.hit = false;
-  ray.intersectsTriangle(raycasterResult, triangle);
-
-  if (!raycasterResult.hit || raycasterResult.fraction >= collector.getEarlyOutFraction()) {
-    collector.addMiss();
-    return false;
-  }
-
-  result.hasContact = true;
-  result.bodyB = body;
-  result.fraction = raycasterResult.fraction;
-  collector.earlyOutFraction = raycasterResult.fraction;
-  collector.addHit(result);
-  return false;
-}
-
-export function castRayVsHeightMap(
-  penetrationDepthModule: PenetrationDepthModule,
-  ioCollector: CastCollector,
-  inRay: Ray,
-  inShapeB: HeightMap,
-  isometryB: Isometry,
-  inScaleB: number,
-  offset: Vec3,
-  inSettings: RayCastSettings,
-  bodyB: Body | null = null
-) {
-  ioCollector.reset();
-  isometryWorldToB.matrix.invertMatrix(isometryB.matrix);
-  transformedRay.copy(inRay).transform(isometryWorldToB);
-  collector = ioCollector;
-  ray = transformedRay;
-  body = bodyB;
-  inShapeB.castRay(onHit, transformedRay);
-}
-
-const result = /*@__PURE__*/ CastResult.create();
-const raycasterResult = { fraction: 1.0, hit: false };
-const isometryWorldToB = /*@__PURE__*/ Isometry.create();
-const transformedRay = /*@__PURE__*/ Ray.create();

package/src/collision/cast/castRayVsTriangleMesh.ts

@@ -1,58 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Vec3 } from "../../math/vec3";
-import { Body } from "../../physics/Body";
-import { Ray } from "../../shape/Ray";
-import { Triangle } from "../../shape/Triangle";
-import { TriangleMesh } from "../../shape/TriangleMesh";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { CastCollector, CastResult, RayCastSettings } from "./cast";
-
-let collector: CastCollector;
-let ray: Ray;
-let body: Body | null;
-
-function onHit(triangle: Triangle): boolean {
-  result.reset();
-  result.hasContact = true;
-
-  raycasterResult.fraction = 1.0;
-  raycasterResult.hit = false;
-  ray.intersectsTriangle(raycasterResult, triangle);
-
-  if (!raycasterResult.hit || raycasterResult.fraction >= collector.getEarlyOutFraction()) {
-    collector.addMiss();
-    return false;
-  }
-
-  result.hasContact = true;
-  result.bodyB = body;
-  result.fraction = raycasterResult.fraction;
-  collector.earlyOutFraction = raycasterResult.fraction;
-  collector.addHit(result);
-  return false;
-}
-
-export function castRayVsTriangleMesh(
-  penetrationDepthModule: PenetrationDepthModule,
-  ioCollector: CastCollector,
-  inRay: Ray,
-  inShapeB: TriangleMesh,
-  isometryB: Isometry,
-  inScaleB: number,
-  offset: Vec3,
-  inSettings: RayCastSettings,
-  bodyB: Body | null = null
-) {
-  ioCollector.reset();
-  isometryWorldToB.matrix.invertMatrix(isometryB.matrix);
-  transformedRay.copy(inRay).transform(isometryWorldToB);
-  collector = ioCollector;
-  ray = transformedRay;
-  body = bodyB;
-  inShapeB.bvh!.castRay(onHit, transformedRay);
-}
-
-const result = /*@__PURE__*/ CastResult.create();
-const raycasterResult = { fraction: 1.0, hit: false };
-const isometryWorldToB = /*@__PURE__*/ Isometry.create();
-const transformedRay = /*@__PURE__*/ Ray.create();

package/src/collision/closestPoints/closestPoints.ts

@@ -1,23 +0,0 @@
-import { BooleanType, createClass, MonomorphType, NumberType, PropertyDefinitionMap } from "monomorph";
-import { Vec3 } from "../../math/vec3";
-
-const closestPointResultProps = {
-  point: MonomorphType(Vec3),
-  pointSet: NumberType(0),
-} as const satisfies PropertyDefinitionMap;
-
-export class ClosestPointResult extends createClass<ClosestPointResult, typeof closestPointResultProps>(
-  closestPointResultProps
-) {}
-
-const barycentricCoordinatesResultProps = {
-  u: NumberType(0),
-  v: NumberType(0),
-  w: NumberType(0),
-  isValid: BooleanType(false),
-} as const satisfies PropertyDefinitionMap;
-
-export class BarycentricCoordinatesResult extends createClass<
-  BarycentricCoordinatesResult,
-  typeof barycentricCoordinatesResultProps
->(barycentricCoordinatesResultProps) {}

package/src/collision/closestPoints/computeBarycentricCoordinates2d.ts

@@ -1,32 +0,0 @@
-import { Vec3 } from "../../math/vec3";
-import { BarycentricCoordinatesResult } from "./closestPoints";
-
-const ab = /*@__PURE__*/ Vec3.create();
-
-export function computeBarycentricCoordinates2d(
-  outBarycentric: BarycentricCoordinatesResult,
-  a: Vec3,
-  b: Vec3,
-  squaredTolerance: number = 1e-10
-) {
-  ab.subtractVectors(b, a);
-  const denominator = ab.squaredLength();
-  if (denominator < squaredTolerance) {
-    // Degenerate line segment, fallback to points
-    if (a.squaredLength() < b.squaredLength()) {
-      // A closest
-      outBarycentric.u = 1.0;
-      outBarycentric.v = 0.0;
-    } else {
-      // B closest
-      outBarycentric.u = 0.0;
-      outBarycentric.v = 1.0;
-    }
-    outBarycentric.isValid = false;
-    return;
-  } else {
-    outBarycentric.v = -a.dot(ab) / denominator;
-    outBarycentric.u = 1.0 - outBarycentric.v;
-  }
-  outBarycentric.isValid = true;
-}

package/src/collision/closestPoints/computeBarycentricCoordinates3d.ts

@@ -1,81 +0,0 @@
-import { Vec3 } from "../../math/vec3";
-import { BarycentricCoordinatesResult } from "./closestPoints";
-import { computeBarycentricCoordinates2d } from "./computeBarycentricCoordinates2d";
-
-const ab = /*@__PURE__*/ Vec3.create();
-const ac = /*@__PURE__*/ Vec3.create();
-const bc = /*@__PURE__*/ Vec3.create();
-const otherBarycentric = /*@__PURE__*/ BarycentricCoordinatesResult.create();
-
-export function computeBarycentricCoordinates3d(
-  outBarycentric: BarycentricCoordinatesResult,
-  a: Vec3,
-  b: Vec3,
-  c: Vec3,
-  squaredTolerance: number = 1e-10
-) {
-  ab.subtractVectors(b, a);
-  ac.subtractVectors(c, a);
-  bc.subtractVectors(c, b);
-
-  const d00 = ab.dot(ab);
-  const d11 = ac.dot(ac);
-  const d22 = bc.dot(bc);
-
-  if (d00 <= d22) {
-    // Use v0 and v1 to calculate barycentric coordinates
-    const d01 = ab.dot(ac);
-
-    const denominator = d00 * d11 - d01 * d01;
-    if (Math.abs(denominator) < 1.0e-12) {
-      // Degenerate triangle, return coordinates along longest edge
-      if (d00 > d11) {
-        computeBarycentricCoordinates2d(otherBarycentric, a, b, squaredTolerance);
-        outBarycentric.u = otherBarycentric.u;
-        outBarycentric.v = otherBarycentric.v;
-        outBarycentric.w = 0.0;
-      } else {
-        computeBarycentricCoordinates2d(otherBarycentric, a, c, squaredTolerance);
-        outBarycentric.u = otherBarycentric.u;
-        outBarycentric.w = otherBarycentric.v;
-        outBarycentric.v = 0.0;
-      }
-      outBarycentric.isValid = false;
-      return;
-    } else {
-      const a0 = a.dot(ab);
-      const a1 = a.dot(ac);
-      outBarycentric.v = (d01 * a1 - d11 * a0) / denominator;
-      outBarycentric.w = (d01 * a0 - d00 * a1) / denominator;
-      outBarycentric.u = 1.0 - outBarycentric.v - outBarycentric.w;
-    }
-  } else {
-    // Use v1 and v2 to calculate barycentric coordinates
-    const d12 = ac.dot(bc);
-
-    const denominator = d11 * d22 - d12 * d12;
-    if (Math.abs(denominator) < 1.0e-12) {
-      // Degenerate triangle, return coordinates along longest edge
-      if (d11 > d22) {
-        computeBarycentricCoordinates2d(otherBarycentric, a, c, squaredTolerance);
-        outBarycentric.u = otherBarycentric.u;
-        outBarycentric.w = otherBarycentric.v;
-        outBarycentric.v = 0.0;
-      } else {
-        computeBarycentricCoordinates2d(otherBarycentric, b, c, squaredTolerance);
-        outBarycentric.v = otherBarycentric.u;
-        outBarycentric.w = otherBarycentric.v;
-        outBarycentric.u = 0.0;
-      }
-      outBarycentric.isValid = false;
-      return;
-    } else {
-      const c1 = c.dot(ac);
-      const c2 = c.dot(bc);
-      outBarycentric.u = (d22 * c1 - d12 * c2) / denominator;
-      outBarycentric.v = (d11 * c2 - d12 * c1) / denominator;
-      outBarycentric.w = 1.0 - outBarycentric.u - outBarycentric.v;
-    }
-  }
-  outBarycentric.isValid = true;
-}