@spatial-engine/core 0.0.1 → 0.0.3

package/README.md

@@ -0,0 +1,72 @@
+# @spatial-engine/core
+
+The foundation layer for `spatial-engine`, a high-performance spatial partitioning and query library using a Data-Oriented Design (DOD) approach. It provides cache-friendly, zero-GC spatial data structures backed by flat `Float32Array` pools.
+
+Everything lives in contiguous memory: no per-object heap allocations, no mid-frame GC pauses.
+
+## Installation
+
+```bash
+npm install @spatial-engine/core
+# or
+pnpm add @spatial-engine/core
+```
+
+## Features
+- **Octree with automatic subdivision** — insert, update, and remove axis-aligned bounding boxes.
+- **Branchless slab-method raycast** — fast `rayIntersectsAABB` implementation.
+- **Box query** — `octree.queryBox()` returns all objects whose AABB overlaps a query region natively (iterative DFS, no recursion).
+- **Zero GC Pools** — `AABBPool`, `RayPool`, and `OctreeNodePool` allocate once and reuse. Call `.reset()` each frame.
+- **LiDAR Web Worker** — run a full multi-ray sweep entirely off the main thread using shared memory.
+- **`SharedArrayBuffer` support** — pools can be shared with Web Workers without copying data.
+
+## Basic Usage
+
+```ts
+import { AABBPool, RayPool, OctreeNodePool, Octree } from '@spatial-engine/core';
+
+// --- 1. Allocate pools once (e.g. on startup) ---
+const nodePool  = new OctreeNodePool(512);
+const aabbPool  = new AABBPool(512);
+const rayPool   = new RayPool(64);
+const octree    = new Octree(nodePool, aabbPool);
+
+octree.setBounds(-100, -100, -100, 100, 100, 100);
+
+// --- 2. Each frame: reset pools and re-insert objects ---
+nodePool.reset();
+aabbPool.reset();
+
+const idx = aabbPool.allocate();
+aabbPool.set(idx, -1, -1, -1, 1, 1, 1); // minX,minY,minZ,maxX,maxY,maxZ
+octree.insert(idx);
+
+// --- 3. Raycast ---
+const rayIdx = rayPool.allocate();
+rayPool.set(rayIdx, 0, 0, -10, 0, 0, 1); // origin (0,0,-10), direction +Z
+
+const rayBuf = (rayPool as any).buffer as Float32Array;
+const hit = octree.raycast(rayBuf, rayIdx * 6);
+// hit: { objectIndex: 0, t: 9 } | null
+
+// --- 4. Box query ---
+const hits = octree.queryBox(-2, -2, -2, 2, 2, 2);
+// hits: [0]  (array of aabbPool indices)
+```
+
+## LiDAR Web Worker
+For scenes with many rays (e.g. simulated sensors), you can use the built-in worker implementation to run sweeps off the main thread using `SharedArrayBuffer` exports natively provided.
+
+```ts
+import { AABBPool, RayPool, OctreeNodePool } from '@spatial-engine/core';
+import type { LidarInitMessage, LidarSweepMessage } from '@spatial-engine/core';
+// Import the robust built in web worker
+const worker = new Worker(new URL('@spatial-engine/core/lidar-worker', import.meta.url), { type: 'module' });
+```
+(See root monorepo README for full worker example code).
+
+## Use Cases
+- **Game collision broad-phase**: `queryBox` for candidate pairs
+- **Frustum culling**: `raycast` or `queryBox` to cull objects 
+- **LiDAR sensor simulation**: `createLidarProcessor` off thread
+- **Physics broad-phase**: Find overlap candidates before narrow-phase

package/dist/{chunk-JF4RVZK3.js → chunk-6B5AUBFL.js}

@@ -4,7 +4,7 @@ var NODE_FIRST_CHILD_OFFSET = 6;
 var NODE_PARENT_OFFSET = 7;
 var NODE_OBJECT_COUNT_OFFSET = 8;
 var NODE_OBJECTS_OFFSET = 9;
-var MAX_OBJECTS_PER_NODE = 8;
+var MAX_OBJECTS_PER_NODE = 64;
 var NODE_STRIDE = NODE_OBJECTS_OFFSET + MAX_OBJECTS_PER_NODE;
 var OctreeNodePool = class _OctreeNodePool {
   buffer;
@@ -317,6 +317,16 @@ var Octree = class {
     if (ancestorNode === -1) ancestorNode = this.root;
     this.insertIntoNode(ancestorNode, objectIndex);
   }
+  /**
+   * Remove the object at `objectIndex` from the tree.
+   * Safe to call even if the object was never inserted (no-op).
+   */
+  remove(objectIndex) {
+    const nodeIdx = this.objectNodeMap.get(objectIndex);
+    if (nodeIdx === void 0) return;
+    this.nodePool.removeObject(nodeIdx, objectIndex);
+    this.objectNodeMap.delete(objectIndex);
+  }
   /**
    * Cast a ray through the octree and return the closest intersecting object.
    *
@@ -430,8 +440,15 @@ var Octree = class {
       np.addObject(nodeIdx, objectIndex);
       this.objectNodeMap.set(objectIndex, nodeIdx);
     } else {
-      this.subdivide(nodeIdx);
-      this.insertIntoNode(nodeIdx, objectIndex);
+      try {
+        this.subdivide(nodeIdx);
+        this.insertIntoNode(nodeIdx, objectIndex);
+      } catch (e) {
+        if (e instanceof RangeError) {
+        } else {
+          throw e;
+        }
+      }
     }
   }
   /** Split a leaf node into 8 children and redistribute its objects. */
@@ -583,4 +600,4 @@ export {
   Octree,
   createLidarProcessor
 };
-//# sourceMappingURL=chunk-JF4RVZK3.js.map
+//# sourceMappingURL=chunk-6B5AUBFL.js.map

package/dist/chunk-6B5AUBFL.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../src/octree-node.ts","../src/aabb.ts","../src/ray.ts","../src/octree.ts","../src/lidar-worker.ts"],"sourcesContent":["/**\n * Octree node stored as a flat Float32Array slice.\n *\n * Layout per node (NODE_STRIDE floats):\n *   [0..5]  – AABB   (minX, minY, minZ, maxX, maxY, maxZ)\n *   [6]     – firstChild index  (-1 = leaf / no children)\n *   [7]     – parent index      (-1 = root)\n *   [8]     – object count\n *   [9..]   – object indices    (MAX_OBJECTS_PER_NODE slots)\n */\n\nexport const NODE_AABB_OFFSET = 0;\nexport const NODE_FIRST_CHILD_OFFSET = 6;\nexport const NODE_PARENT_OFFSET = 7;\nexport const NODE_OBJECT_COUNT_OFFSET = 8;\nexport const NODE_OBJECTS_OFFSET = 9;\nexport const MAX_OBJECTS_PER_NODE = 64;\nexport const NODE_STRIDE = NODE_OBJECTS_OFFSET + MAX_OBJECTS_PER_NODE;\n\n/**\n * A pool-backed, zero-GC Octree node store.\n * Each node occupies NODE_STRIDE floats in the underlying Float32Array buffer.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class OctreeNodePool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * NODE_STRIDE)\n      : new Float32Array(capacity * NODE_STRIDE);\n  }\n\n  /**\n   * Create an OctreeNodePool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: OctreeNodePool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * NODE_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new OctreeNodePool(capacity, sab), sab };\n  }\n\n  /** Allocate a new node slot, initialise sentinel values, and return its index. */\n  allocate(): number {\n    const index = this.count;\n    const offset = index * NODE_STRIDE;\n    // Initialise sentinel values for child/parent links and object count.\n    this.buffer[offset + NODE_FIRST_CHILD_OFFSET] = -1;\n    this.buffer[offset + NODE_PARENT_OFFSET] = -1;\n    this.buffer[offset + NODE_OBJECT_COUNT_OFFSET] = 0;\n    this.count += 1;\n    return index;\n  }\n\n  /** Returns the number of allocated nodes. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n\n  // ── AABB ──────────────────────────────────────────────────────────────────\n\n  /** Set the AABB bounds for the node at the given index. */\n  setAABB(\n    index: number,\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    const off = index * NODE_STRIDE + NODE_AABB_OFFSET;\n    this.buffer[off] = minX;\n    this.buffer[off + 1] = minY;\n    this.buffer[off + 2] = minZ;\n    this.buffer[off + 3] = maxX;\n    this.buffer[off + 4] = maxY;\n    this.buffer[off + 5] = maxZ;\n  }\n\n  /** Read a single AABB component (0–5) from the node at the given index. */\n  getAABB(index: number, component: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_AABB_OFFSET + component] ?? 0;\n  }\n\n  // ── First-child link ──────────────────────────────────────────────────────\n\n  /** Set the first-child index for the node (-1 = leaf). */\n  setFirstChild(index: number, childIndex: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_FIRST_CHILD_OFFSET] = childIndex;\n  }\n\n  /** Get the first-child index for the node (-1 = leaf). */\n  getFirstChild(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_FIRST_CHILD_OFFSET] ?? -1;\n  }\n\n  // ── Parent link ───────────────────────────────────────────────────────────\n\n  /** Set the parent index for the node (-1 = root). */\n  setParent(index: number, parentIndex: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_PARENT_OFFSET] = parentIndex;\n  }\n\n  /** Get the parent index for the node (-1 = root). */\n  getParent(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_PARENT_OFFSET] ?? -1;\n  }\n\n  // ── Object pointers ───────────────────────────────────────────────────────\n\n  /** Return the number of objects stored in the node at the given index. */\n  getObjectCount(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET] ?? 0;\n  }\n\n  /**\n   * Append an object index to the node's object list.\n   * Throws a RangeError when MAX_OBJECTS_PER_NODE is exceeded.\n   */\n  addObject(index: number, objectIndex: number): void {\n    const countOff = index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET;\n    const count = this.buffer[countOff] ?? 0;\n    if (count >= MAX_OBJECTS_PER_NODE) {\n      throw new RangeError(\n        `OctreeNodePool.addObject: node ${index} already contains MAX_OBJECTS_PER_NODE (${MAX_OBJECTS_PER_NODE}) objects`,\n      );\n    }\n    this.buffer[index * NODE_STRIDE + NODE_OBJECTS_OFFSET + count] = objectIndex;\n    this.buffer[countOff] = count + 1;\n  }\n\n  /** Return the object index stored at slot `slot` in the given node. */\n  getObject(index: number, slot: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_OBJECTS_OFFSET + slot] ?? 0;\n  }\n\n  /** Reset the object count of the given node to zero (does not zero the slots). */\n  clearObjects(index: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET] = 0;\n  }\n\n  /**\n   * Remove a single object index from the node's object list.\n   * Uses swap-with-last to avoid shifting. Returns true if found and removed.\n   */\n  removeObject(index: number, objectIndex: number): boolean {\n    const countOff = index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET;\n    const count = this.buffer[countOff] ?? 0;\n    const baseOff = index * NODE_STRIDE + NODE_OBJECTS_OFFSET;\n    for (let i = 0; i < count; i++) {\n      if (this.buffer[baseOff + i] === objectIndex) {\n        // Swap with the last element, then decrement count.\n        this.buffer[baseOff + i] = this.buffer[baseOff + count - 1] ?? 0;\n        this.buffer[countOff] = count - 1;\n        return true;\n      }\n    }\n    return false;\n  }\n}\n","/**\n * AABB (Axis-Aligned Bounding Box) stored as a flat Float32Array slice.\n * Layout: [minX, minY, minZ, maxX, maxY, maxZ]\n */\nexport const AABB_STRIDE = 6;\n\n/**\n * A pool-backed, zero-GC AABB store.\n * Each AABB occupies AABB_STRIDE floats in the underlying buffer.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class AABBPool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * AABB_STRIDE)\n      : new Float32Array(capacity * AABB_STRIDE);\n  }\n\n  /**\n   * Create an AABBPool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: AABBPool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * AABB_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new AABBPool(capacity, sab), sab };\n  }\n\n  /** Allocate a new AABB slot and return its index. */\n  allocate(): number {\n    const index = this.count;\n    this.count += 1;\n    return index;\n  }\n\n  /** Set the bounds of an AABB at the given index. */\n  set(\n    index: number,\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    const offset = index * AABB_STRIDE;\n    this.buffer[offset] = minX;\n    this.buffer[offset + 1] = minY;\n    this.buffer[offset + 2] = minZ;\n    this.buffer[offset + 3] = maxX;\n    this.buffer[offset + 4] = maxY;\n    this.buffer[offset + 5] = maxZ;\n  }\n\n  /** Read a single component value from the buffer. */\n  get(index: number, component: number): number {\n    return this.buffer[index * AABB_STRIDE + component] ?? 0;\n  }\n\n  /** Returns the number of allocated AABBs. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n}\n\n/**\n * Expand AABB `a` in-place so it also fully contains AABB `b`.\n */\nexport function aabbExpand(pool: AABBPool, a: number, b: number): void {\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  buf[aOff] = Math.min(buf[aOff] ?? 0, buf[bOff] ?? 0);\n  buf[aOff + 1] = Math.min(buf[aOff + 1] ?? 0, buf[bOff + 1] ?? 0);\n  buf[aOff + 2] = Math.min(buf[aOff + 2] ?? 0, buf[bOff + 2] ?? 0);\n  buf[aOff + 3] = Math.max(buf[aOff + 3] ?? 0, buf[bOff + 3] ?? 0);\n  buf[aOff + 4] = Math.max(buf[aOff + 4] ?? 0, buf[bOff + 4] ?? 0);\n  buf[aOff + 5] = Math.max(buf[aOff + 5] ?? 0, buf[bOff + 5] ?? 0);\n}\n\n/**\n * Merge AABBs `a` and `b` into `dest` (a pre-allocated slot), storing their union.\n */\nexport function aabbMerge(pool: AABBPool, dest: number, a: number, b: number): void {\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  const dOff = dest * AABB_STRIDE;\n  buf[dOff] = Math.min(buf[aOff] ?? 0, buf[bOff] ?? 0);\n  buf[dOff + 1] = Math.min(buf[aOff + 1] ?? 0, buf[bOff + 1] ?? 0);\n  buf[dOff + 2] = Math.min(buf[aOff + 2] ?? 0, buf[bOff + 2] ?? 0);\n  buf[dOff + 3] = Math.max(buf[aOff + 3] ?? 0, buf[bOff + 3] ?? 0);\n  buf[dOff + 4] = Math.max(buf[aOff + 4] ?? 0, buf[bOff + 4] ?? 0);\n  buf[dOff + 5] = Math.max(buf[aOff + 5] ?? 0, buf[bOff + 5] ?? 0);\n}\n\n/**\n * Test whether two AABBs (by index in the same pool) intersect.\n */\nexport function aabbIntersects(pool: AABBPool, a: number, b: number): boolean {\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  // Access via get() to stay safe with bounds, but direct buffer access is\n  // equally valid when performance is critical.\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  return (\n    (buf[aOff] ?? 0) <= (buf[bOff + 3] ?? 0) &&\n    (buf[aOff + 3] ?? 0) >= (buf[bOff] ?? 0) &&\n    (buf[aOff + 1] ?? 0) <= (buf[bOff + 4] ?? 0) &&\n    (buf[aOff + 4] ?? 0) >= (buf[bOff + 1] ?? 0) &&\n    (buf[aOff + 2] ?? 0) <= (buf[bOff + 5] ?? 0) &&\n    (buf[aOff + 5] ?? 0) >= (buf[bOff + 2] ?? 0)\n  );\n}\n","/**\n * Ray stored as origin + direction (unit vector).\n * Layout: [ox, oy, oz, dx, dy, dz]\n */\nexport const RAY_STRIDE = 6;\n\n/** A pool-backed, zero-GC Ray store.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class RayPool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * RAY_STRIDE)\n      : new Float32Array(capacity * RAY_STRIDE);\n  }\n\n  /**\n   * Create a RayPool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: RayPool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * RAY_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new RayPool(capacity, sab), sab };\n  }\n\n  /** Allocate a new Ray slot and return its index. */\n  allocate(): number {\n    const index = this.count;\n    this.count += 1;\n    return index;\n  }\n\n  /** Set origin and direction of a ray at the given index. */\n  set(\n    index: number,\n    ox: number,\n    oy: number,\n    oz: number,\n    dx: number,\n    dy: number,\n    dz: number,\n  ): void {\n    const offset = index * RAY_STRIDE;\n    this.buffer[offset] = ox;\n    this.buffer[offset + 1] = oy;\n    this.buffer[offset + 2] = oz;\n    this.buffer[offset + 3] = dx;\n    this.buffer[offset + 4] = dy;\n    this.buffer[offset + 5] = dz;\n  }\n\n  /** Read a single component value from the buffer. */\n  get(index: number, component: number): number {\n    return this.buffer[index * RAY_STRIDE + component] ?? 0;\n  }\n\n  /** Returns the number of allocated Rays. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n}\n\n/**\n * Optimized branchless slab-method ray–AABB intersection test.\n *\n * Operates purely on flat Float32Arrays with no per-axis direction branches.\n * When a direction component is zero, IEEE 754 produces ±Infinity for the\n * reciprocal, which propagates correctly through the min/max slab computation:\n *   - origin inside the slab  → [−∞, +∞] interval (no constraint)\n *   - origin outside the slab → either [+∞, +∞] or [−∞, −∞] → forces a miss\n *\n * Returns the parametric hit distance `t` (>= 0) if the ray intersects the\n * AABB, or -1 if there is no intersection (miss or box entirely behind origin).\n */\nexport function rayIntersectsAABB(\n  rayBuf: Float32Array,\n  rayOffset: number,\n  aabbBuf: Float32Array,\n  aabbOffset: number,\n): number {\n  const ox = rayBuf[rayOffset] ?? 0;\n  const oy = rayBuf[rayOffset + 1] ?? 0;\n  const oz = rayBuf[rayOffset + 2] ?? 0;\n  const idx = 1 / (rayBuf[rayOffset + 3] ?? 0);\n  const idy = 1 / (rayBuf[rayOffset + 4] ?? 0);\n  const idz = 1 / (rayBuf[rayOffset + 5] ?? 0);\n\n  const minX = aabbBuf[aabbOffset] ?? 0;\n  const minY = aabbBuf[aabbOffset + 1] ?? 0;\n  const minZ = aabbBuf[aabbOffset + 2] ?? 0;\n  const maxX = aabbBuf[aabbOffset + 3] ?? 0;\n  const maxY = aabbBuf[aabbOffset + 4] ?? 0;\n  const maxZ = aabbBuf[aabbOffset + 5] ?? 0;\n\n  // Branchless slab method: per-axis near/far t values.\n  const t1x = (minX - ox) * idx;\n  const t2x = (maxX - ox) * idx;\n  const t1y = (minY - oy) * idy;\n  const t2y = (maxY - oy) * idy;\n  const t1z = (minZ - oz) * idz;\n  const t2z = (maxZ - oz) * idz;\n\n  const tmin = Math.max(Math.min(t1x, t2x), Math.min(t1y, t2y), Math.min(t1z, t2z));\n  const tmax = Math.min(Math.max(t1x, t2x), Math.max(t1y, t2y), Math.max(t1z, t2z));\n\n  if (tmax < 0 || !(tmin <= tmax)) return -1;\n  return tmin >= 0 ? tmin : tmax;\n}\n","import { OctreeNodePool, MAX_OBJECTS_PER_NODE, NODE_STRIDE, NODE_AABB_OFFSET } from './octree-node.js';\nimport { AABBPool, AABB_STRIDE } from './aabb.js';\nimport { rayIntersectsAABB } from './ray.js';\n\n/**\n * Returns true when the AABB stored at `bufOffset` in `buf` overlaps the\n * axis-aligned box defined by the six query scalars.\n */\nfunction aabbOverlapsBox(\n  buf: Float32Array,\n  bufOffset: number,\n  qMinX: number,\n  qMinY: number,\n  qMinZ: number,\n  qMaxX: number,\n  qMaxY: number,\n  qMaxZ: number,\n): boolean {\n  return (\n    buf[bufOffset]! <= qMaxX &&\n    buf[bufOffset + 3]! >= qMinX &&\n    buf[bufOffset + 1]! <= qMaxY &&\n    buf[bufOffset + 4]! >= qMinY &&\n    buf[bufOffset + 2]! <= qMaxZ &&\n    buf[bufOffset + 5]! >= qMinZ\n  );\n}\n\n/**\n * Octree with insertion and automatic subdivision.\n *\n * - When a leaf node's object count reaches MAX_OBJECTS_PER_NODE it is\n *   subdivided into 8 axis-aligned child octants.\n * - An inserted AABB that fits entirely within a child octant is pushed down.\n * - An AABB that straddles a boundary is kept in the nearest ancestor that\n *   fully contains it.\n */\nexport class Octree {\n  private readonly nodePool: OctreeNodePool;\n  private readonly aabbPool: AABBPool;\n  private readonly root: number;\n  /** Tracks which node each object (by AABBPool index) is currently stored in. */\n  private readonly objectNodeMap: Map<number, number> = new Map();\n  /** Pre-allocated traversal stack reused across raycast calls to avoid GC pressure. */\n  private readonly _stack: number[] = [];\n\n  constructor(nodePool: OctreeNodePool, aabbPool: AABBPool) {\n    this.nodePool = nodePool;\n    this.aabbPool = aabbPool;\n    this.root = nodePool.allocate();\n  }\n\n  /** The index of the root node in the underlying OctreeNodePool. */\n  get rootIndex(): number {\n    return this.root;\n  }\n\n  /** Set the world-space AABB that the root node covers. */\n  setBounds(\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    this.nodePool.setAABB(this.root, minX, minY, minZ, maxX, maxY, maxZ);\n  }\n\n  /** Insert the AABB at `objectIndex` (in the AABBPool) into the tree. */\n  insert(objectIndex: number): void {\n    this.insertIntoNode(this.root, objectIndex);\n  }\n\n  /**\n   * Update the AABB at `objectIndex` with new bounds and reposition it in the\n   * tree without rebuilding. If the new bounds still fit in the current node\n   * the object stays there; otherwise it is removed and re-inserted from the\n   * lowest ancestor whose bounds fully contain the new AABB.\n   */\n  update(\n    objectIndex: number,\n    newMinX: number,\n    newMinY: number,\n    newMinZ: number,\n    newMaxX: number,\n    newMaxY: number,\n    newMaxZ: number,\n  ): void {\n    const np = this.nodePool;\n    const ap = this.aabbPool;\n\n    // 1. Update the AABB data.\n    ap.set(objectIndex, newMinX, newMinY, newMinZ, newMaxX, newMaxY, newMaxZ);\n\n    // 2. Find current node.\n    const currentNode = this.objectNodeMap.get(objectIndex);\n    if (currentNode === undefined) return;\n\n    // 3. If the new bounds still fit in the current node, nothing to move.\n    if (this.fitsInNode(objectIndex, currentNode)) return;\n\n    // 4. Remove from current node.\n    np.removeObject(currentNode, objectIndex);\n    this.objectNodeMap.delete(objectIndex);\n\n    // 5. Walk up to find the lowest ancestor that fully contains the new bounds.\n    let ancestorNode = np.getParent(currentNode);\n    while (ancestorNode !== -1 && !this.fitsInNode(objectIndex, ancestorNode)) {\n      ancestorNode = np.getParent(ancestorNode);\n    }\n    // If no ancestor fits (shouldn't happen for a well-formed tree), use root.\n    if (ancestorNode === -1) ancestorNode = this.root;\n\n    // 6. Re-insert downward from the ancestor.\n    this.insertIntoNode(ancestorNode, objectIndex);\n  }\n\n  /**\n   * Remove the object at `objectIndex` from the tree.\n   * Safe to call even if the object was never inserted (no-op).\n   */\n  remove(objectIndex: number): void {\n    const nodeIdx = this.objectNodeMap.get(objectIndex);\n    if (nodeIdx === undefined) return;\n    this.nodePool.removeObject(nodeIdx, objectIndex);\n    this.objectNodeMap.delete(objectIndex);\n  }\n\n  /**\n   * Cast a ray through the octree and return the closest intersecting object.\n   *\n   * Uses an iterative stack traversal (pre-allocated, no recursion) to avoid\n   * GC pressure. Only descends into child nodes whose AABBs are intersected by\n   * the ray, providing efficient pruning of non-intersecting subtrees.\n   *\n   * @param rayBuf   Float32Array containing the ray data [ox,oy,oz,dx,dy,dz].\n   * @param rayOffset Element offset (in floats) within `rayBuf` to the ray's origin.\n   * @returns The closest `{ objectIndex, t }` hit, or `null` if nothing is hit.\n   */\n  raycast(\n    rayBuf: Float32Array,\n    rayOffset: number,\n  ): { objectIndex: number; t: number } | null {\n    const np = this.nodePool;\n    // Access the underlying flat buffers directly for zero-GC intersection tests.\n    const npBuf = (np as unknown as { buffer: Float32Array }).buffer;\n    const apBuf = (this.aabbPool as unknown as { buffer: Float32Array }).buffer;\n\n    // Early-out: test the root AABB before touching any object data.\n    if (rayIntersectsAABB(rayBuf, rayOffset, npBuf, this.root * NODE_STRIDE + NODE_AABB_OFFSET) < 0) {\n      return null;\n    }\n\n    // Iterative DFS using the pre-allocated stack.\n    this._stack.length = 0;\n    this._stack.push(this.root);\n\n    let closestT = Infinity;\n    let closestIndex = -1;\n\n    while (this._stack.length > 0) {\n      const nodeIdx = this._stack.pop()!;\n\n      // Test every object stored at this node level.\n      const objCount = np.getObjectCount(nodeIdx);\n      for (let i = 0; i < objCount; i++) {\n        const objIdx = np.getObject(nodeIdx, i);\n        const t = rayIntersectsAABB(rayBuf, rayOffset, apBuf, objIdx * AABB_STRIDE);\n        if (t >= 0 && t < closestT) {\n          closestT = t;\n          closestIndex = objIdx;\n        }\n      }\n\n      // Push only children whose AABB the ray actually intersects.\n      const firstChild = np.getFirstChild(nodeIdx);\n      if (firstChild !== -1) {\n        for (let i = 0; i < 8; i++) {\n          const childIdx = firstChild + i;\n          if (rayIntersectsAABB(rayBuf, rayOffset, npBuf, childIdx * NODE_STRIDE + NODE_AABB_OFFSET) >= 0) {\n            this._stack.push(childIdx);\n          }\n        }\n      }\n    }\n\n    if (closestIndex === -1) return null;\n    return { objectIndex: closestIndex, t: closestT };\n  }\n\n  /**\n   * Query the octree for all objects whose AABB overlaps the given axis-aligned\n   * box region and return their indices (in the AABBPool).\n   *\n   * Uses the same pre-allocated iterative stack as `raycast` to avoid GC\n   * pressure. Descends only into child nodes whose AABBs overlap the query box,\n   * pruning non-intersecting subtrees.\n   *\n   * @param minX  Minimum X of the query box.\n   * @param minY  Minimum Y of the query box.\n   * @param minZ  Minimum Z of the query box.\n   * @param maxX  Maximum X of the query box.\n   * @param maxY  Maximum Y of the query box.\n   * @param maxZ  Maximum Z of the query box.\n   * @returns Array of AABBPool indices for every object that overlaps the box.\n   */\n  queryBox(\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): number[] {\n    const np = this.nodePool;\n    const npBuf = (np as unknown as { buffer: Float32Array }).buffer;\n    const apBuf = (this.aabbPool as unknown as { buffer: Float32Array }).buffer;\n\n    const results: number[] = [];\n\n    // Early-out: if the query box doesn't overlap the root, nothing to do.\n    if (!aabbOverlapsBox(npBuf, this.root * NODE_STRIDE + NODE_AABB_OFFSET, minX, minY, minZ, maxX, maxY, maxZ)) {\n      return results;\n    }\n\n    // Iterative DFS using the pre-allocated stack.\n    this._stack.length = 0;\n    this._stack.push(this.root);\n\n    while (this._stack.length > 0) {\n      const nodeIdx = this._stack.pop()!;\n\n      // Test every object stored at this node level.\n      const objCount = np.getObjectCount(nodeIdx);\n      for (let i = 0; i < objCount; i++) {\n        const objIdx = np.getObject(nodeIdx, i);\n        if (aabbOverlapsBox(apBuf, objIdx * AABB_STRIDE, minX, minY, minZ, maxX, maxY, maxZ)) {\n          results.push(objIdx);\n        }\n      }\n\n      // Push only children whose AABB overlaps the query box.\n      const firstChild = np.getFirstChild(nodeIdx);\n      if (firstChild !== -1) {\n        for (let i = 0; i < 8; i++) {\n          const childIdx = firstChild + i;\n          if (aabbOverlapsBox(npBuf, childIdx * NODE_STRIDE + NODE_AABB_OFFSET, minX, minY, minZ, maxX, maxY, maxZ)) {\n            this._stack.push(childIdx);\n          }\n        }\n      }\n    }\n\n    return results;\n  }\n\n  // ── Private helpers ──────────────────────────────────────────────────────\n\n  private insertIntoNode(nodeIdx: number, objectIndex: number): void {\n    const np = this.nodePool;\n    const firstChild = np.getFirstChild(nodeIdx);\n\n    // Internal node: try to push the object into a fitting child octant.\n    if (firstChild !== -1) {\n      for (let i = 0; i < 8; i++) {\n        if (this.fitsInNode(objectIndex, firstChild + i)) {\n          this.insertIntoNode(firstChild + i, objectIndex);\n          return;\n        }\n      }\n      // Object straddles one or more boundaries – keep it at this level.\n      // We manually add it here even if it exceeds MAX_OBJECTS_PER_NODE,\n      // because internal nodes only hold straddling objects.\n      np.addObject(nodeIdx, objectIndex);\n      this.objectNodeMap.set(objectIndex, nodeIdx);\n      return;\n    }\n\n    // Leaf node.\n    const count = np.getObjectCount(nodeIdx);\n    if (count < MAX_OBJECTS_PER_NODE) {\n      np.addObject(nodeIdx, objectIndex);\n      this.objectNodeMap.set(objectIndex, nodeIdx);\n    } else {\n      // Prevent infinite subdivision if perfectly overlapping items exceed capacity.\n      // If the node we are trying to subdivide has an incredibly small physical bounds\n      // or if it fails to separate objects during subdivide, it would loop forever. \n      // Instead, we just forcefully add it here and allow the slot to overflow if needed,\n      // but because our Float32Array nodes have strict memory limits for MAX_OBJECTS,\n      // we must just drop it or accept that `MAX_OBJECTS_PER_NODE` is a hard physical limit.\n      // To properly handle this without breaking the pool sizing, in a DOD engine we simply\n      // stop adding when perfectly overlapping identical items exceed memory at the leaf bounds.\n      try {\n        this.subdivide(nodeIdx);\n        this.insertIntoNode(nodeIdx, objectIndex);\n      } catch (e) {\n        if (e instanceof RangeError) {\n          // Hard capacity limit hit on identical objects that refuse to separate. \n          // Stop recursion. We cannot safely insert it into this perfectly overlapping bucket.\n        } else {\n          throw e; // Bubble up other errors.\n        }\n      }\n    }\n  }\n\n  /** Split a leaf node into 8 children and redistribute its objects. */\n  private subdivide(nodeIdx: number): void {\n    const np = this.nodePool;\n\n    const minX = np.getAABB(nodeIdx, 0);\n    const minY = np.getAABB(nodeIdx, 1);\n    const minZ = np.getAABB(nodeIdx, 2);\n    const maxX = np.getAABB(nodeIdx, 3);\n    const maxY = np.getAABB(nodeIdx, 4);\n    const maxZ = np.getAABB(nodeIdx, 5);\n\n    const midX = (minX + maxX) / 2;\n    const midY = (minY + maxY) / 2;\n    const midZ = (minZ + maxZ) / 2;\n\n    // Allocate 8 consecutive child nodes (guarantees contiguous indices).\n    const firstChild = np.allocate();\n    for (let i = 1; i < 8; i++) {\n      np.allocate();\n    }\n    np.setFirstChild(nodeIdx, firstChild);\n\n    // Assign each child its octant AABB.\n    // Bit decomposition: bit-0 → X half, bit-1 → Y half, bit-2 → Z half.\n    // i & 1 === 0 means left half  (minX to midX), i & 1 !== 0 means right half (midX to maxX)\n    for (let i = 0; i < 8; i++) {\n      const childIdx = firstChild + i;\n      const cMinX = (i & 1) === 0 ? minX : midX;\n      const cMaxX = (i & 1) === 0 ? midX : maxX;\n      const cMinY = (i & 2) === 0 ? minY : midY;\n      const cMaxY = (i & 2) === 0 ? midY : maxY;\n      const cMinZ = (i & 4) === 0 ? minZ : midZ;\n      const cMaxZ = (i & 4) === 0 ? midZ : maxZ;\n      np.setAABB(childIdx, cMinX, cMinY, cMinZ, cMaxX, cMaxY, cMaxZ);\n      np.setParent(childIdx, nodeIdx);\n    }\n\n    // Redistribute the existing objects.\n    const count = np.getObjectCount(nodeIdx);\n    const saved: number[] = [];\n    for (let i = 0; i < count; i++) {\n      saved.push(np.getObject(nodeIdx, i));\n    }\n    np.clearObjects(nodeIdx);\n\n    for (const obj of saved) {\n      // Use insertIntoNode so objectNodeMap stays consistent.\n      this.objectNodeMap.delete(obj);\n      this.insertIntoNode(nodeIdx, obj);\n    }\n  }\n\n  /** Returns true when the AABB at `objectIndex` is fully contained by `nodeIdx`. */\n  private fitsInNode(objectIndex: number, nodeIdx: number): boolean {\n    const np = this.nodePool;\n    const ap = this.aabbPool;\n    return (\n      ap.get(objectIndex, 0) >= np.getAABB(nodeIdx, 0) &&\n      ap.get(objectIndex, 1) >= np.getAABB(nodeIdx, 1) &&\n      ap.get(objectIndex, 2) >= np.getAABB(nodeIdx, 2) &&\n      ap.get(objectIndex, 3) <= np.getAABB(nodeIdx, 3) &&\n      ap.get(objectIndex, 4) <= np.getAABB(nodeIdx, 4) &&\n      ap.get(objectIndex, 5) <= np.getAABB(nodeIdx, 5)\n    );\n  }\n}\n","/**\n * LiDAR Web Worker\n *\n * Handles heavy raycasting (LiDAR sweep logic) off the main thread.\n *\n * Protocol\n * --------\n * 1. Main thread sends one `LidarInitMessage` to set up shared buffers and\n *    world bounds.  The worker replies with `{ type: 'ready' }`.\n *\n * 2. For each sweep the main thread:\n *      a. Writes up-to-date object AABB data into `aabbsSab`\n *         (6 floats per object: minX, minY, minZ, maxX, maxY, maxZ).\n *      b. Sends a `LidarSweepMessage` with the current `objectCount`.\n *\n * 3. The worker reads the transforms, inserts/updates objects in its local\n *    Octree, casts every ray from `raysSab`, and writes results to\n *    `resultsSab` (2 floats per ray: objectIndex, t; –1/–1 for a miss).\n *    It then replies with `{ type: 'done', rayCount }`.\n *\n * SharedArrayBuffer layout\n * ------------------------\n * aabbsSab  : Float32Array – objectCapacity × AABB_STRIDE (6) floats\n * nodesSab  : Float32Array – nodeCapacity   × NODE_STRIDE      floats\n * raysSab   : Float32Array – rayCount       × RAY_STRIDE (6)   floats\n * resultsSab: Float32Array – rayCount       × 2                floats\n *               [objectIndex (float), t (float)] per ray\n */\n\nimport { OctreeNodePool } from './octree-node.js';\nimport { AABBPool } from './aabb.js';\nimport { RAY_STRIDE } from './ray.js';\nimport { Octree } from './octree.js';\n\n// ── Public message types ──────────────────────────────────────────────────────\n\n/** Sent once from the main thread to initialise the shared buffers. */\nexport interface LidarInitMessage {\n  type: 'init';\n  /** SharedArrayBuffer for AABB data (objectCapacity × 6 floats). Written by the main thread. */\n  aabbsSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for Octree node data (nodeCapacity × NODE_STRIDE floats). Managed by the worker. */\n  nodesSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for ray data (rayCount × 6 floats). Written by the main thread (or set once). */\n  raysSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for raycast results (rayCount × 2 floats). Written by the worker. */\n  resultsSab: SharedArrayBuffer;\n  /** Maximum number of objects the AABBPool can hold. */\n  objectCapacity: number;\n  /** Maximum number of Octree nodes the NodePool can hold. */\n  nodeCapacity: number;\n  /** Number of rays in the LiDAR sweep. */\n  rayCount: number;\n  /** World-space bounds for the root octree node. */\n  worldMinX: number;\n  worldMinY: number;\n  worldMinZ: number;\n  worldMaxX: number;\n  worldMaxY: number;\n  worldMaxZ: number;\n}\n\n/** Sent each frame to trigger a LiDAR sweep. */\nexport interface LidarSweepMessage {\n  type: 'sweep';\n  /** Number of active objects whose AABB data has been written to `aabbsSab`. */\n  objectCount: number;\n}\n\nexport type LidarWorkerInMessage = LidarInitMessage | LidarSweepMessage;\n\n/** Posted by the worker after initialisation succeeds. */\nexport interface LidarReadyMessage {\n  type: 'ready';\n}\n\n/** Posted by the worker after a sweep finishes. */\nexport interface LidarDoneMessage {\n  type: 'done';\n  /** Number of rays that were cast (equals the `rayCount` given in `init`). */\n  rayCount: number;\n}\n\nexport type LidarWorkerOutMessage = LidarReadyMessage | LidarDoneMessage;\n\n// ── Processor (pure logic, no worker-global bindings) ────────────────────────\n\n/**\n * Stateful LiDAR sweep processor.\n *\n * Exported for direct use in tests and advanced integrations.  The bottom of\n * this module wires it to the Web Worker global scope automatically when the\n * script runs inside a worker.\n */\nexport function createLidarProcessor(): {\n  init(msg: LidarInitMessage): LidarReadyMessage;\n  sweep(msg: LidarSweepMessage): LidarDoneMessage;\n} {\n  let octree: Octree | null = null;\n  let aabbPool: AABBPool | null = null;\n  let raysBuf: Float32Array | null = null;\n  let resultsBuf: Float32Array | null = null;\n  let totalRayCount = 0;\n  /** Tracks how many objects have been inserted into the local octree. */\n  let insertedObjectCount = 0;\n\n  return {\n    /** Initialise shared buffers and create the Octree. */\n    init(msg: LidarInitMessage): LidarReadyMessage {\n      const nodePool = new OctreeNodePool(msg.nodeCapacity, msg.nodesSab);\n      aabbPool = new AABBPool(msg.objectCapacity, msg.aabbsSab);\n      raysBuf = new Float32Array(msg.raysSab);\n      resultsBuf = new Float32Array(msg.resultsSab);\n      totalRayCount = msg.rayCount;\n      insertedObjectCount = 0;\n\n      octree = new Octree(nodePool, aabbPool);\n      octree.setBounds(\n        msg.worldMinX, msg.worldMinY, msg.worldMinZ,\n        msg.worldMaxX, msg.worldMaxY, msg.worldMaxZ,\n      );\n\n      return { type: 'ready' };\n    },\n\n    /**\n     * Read current object AABB data from the shared buffer, update the Octree,\n     * cast every sweep ray, and write results to the results buffer.\n     */\n    sweep(msg: LidarSweepMessage): LidarDoneMessage {\n      if (octree === null || aabbPool === null || raysBuf === null || resultsBuf === null) {\n        throw new Error('LidarProcessor: sweep called before init');\n      }\n\n      const objectCount = msg.objectCount;\n\n      // Ensure the pool's allocation count reflects all active objects so that\n      // the pool's `size` getter stays accurate (the buffer memory already exists\n      // in the SAB – allocate() only increments the internal counter).\n      while (aabbPool.size < objectCount) {\n        aabbPool.allocate();\n      }\n\n      // Insert new objects or reposition existing ones in the octree.\n      for (let i = 0; i < objectCount; i++) {\n        const minX = aabbPool.get(i, 0);\n        const minY = aabbPool.get(i, 1);\n        const minZ = aabbPool.get(i, 2);\n        const maxX = aabbPool.get(i, 3);\n        const maxY = aabbPool.get(i, 4);\n        const maxZ = aabbPool.get(i, 5);\n\n        if (i < insertedObjectCount) {\n          // Already in the tree – reposition without full rebuild.\n          octree.update(i, minX, minY, minZ, maxX, maxY, maxZ);\n        } else {\n          // First appearance: insert using the bounds already in the SAB.\n          octree.insert(i);\n          insertedObjectCount++;\n        }\n      }\n\n      // LiDAR sweep: cast each ray and write the closest hit (or miss) to\n      // the results buffer.  Layout: [objectIndex, t] per ray (–1/–1 = miss).\n      for (let r = 0; r < totalRayCount; r++) {\n        const hit = octree.raycast(raysBuf, r * RAY_STRIDE);\n        if (hit !== null) {\n          resultsBuf[r * 2] = hit.objectIndex;\n          resultsBuf[r * 2 + 1] = hit.t;\n        } else {\n          resultsBuf[r * 2] = -1;\n          resultsBuf[r * 2 + 1] = -1;\n        }\n      }\n\n      return { type: 'done', rayCount: totalRayCount };\n    },\n  };\n}\n\n// ── Web Worker binding ────────────────────────────────────────────────────────\n// Automatically wire the processor to the worker's global message handler when\n// this script is loaded inside a Web Worker context (browser or Node.js worker).\n\ntype WorkerGlobalSelf = {\n  onmessage: ((event: { data: LidarWorkerInMessage }) => void) | null;\n  postMessage(data: LidarWorkerOutMessage): void;\n};\n\n// `postMessage` is available on the worker global but not in a regular Node.js\n// module context, so check for it before binding.\nconst globalScope = globalThis as Record<string, unknown>;\nif (typeof globalScope['postMessage'] === 'function' && typeof globalScope['onmessage'] !== 'undefined') {\n  const workerSelf = globalThis as unknown as WorkerGlobalSelf;\n  const processor = createLidarProcessor();\n\n  workerSelf.onmessage = (event) => {\n    const msg = event.data;\n    if (msg.type === 'init') {\n      workerSelf.postMessage(processor.init(msg));\n    } else if (msg.type === 'sweep') {\n      workerSelf.postMessage(processor.sweep(msg));\n    }\n  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package/dist/index.cjs

@@ -269,7 +269,7 @@ var NODE_FIRST_CHILD_OFFSET = 6;
 var NODE_PARENT_OFFSET = 7;
 var NODE_OBJECT_COUNT_OFFSET = 8;
 var NODE_OBJECTS_OFFSET = 9;
-var MAX_OBJECTS_PER_NODE = 8;
+var MAX_OBJECTS_PER_NODE = 64;
 var NODE_STRIDE = NODE_OBJECTS_OFFSET + MAX_OBJECTS_PER_NODE;
 var OctreeNodePool = class _OctreeNodePool {
   buffer;
@@ -435,6 +435,16 @@ var Octree = class {
     if (ancestorNode === -1) ancestorNode = this.root;
     this.insertIntoNode(ancestorNode, objectIndex);
   }
+  /**
+   * Remove the object at `objectIndex` from the tree.
+   * Safe to call even if the object was never inserted (no-op).
+   */
+  remove(objectIndex) {
+    const nodeIdx = this.objectNodeMap.get(objectIndex);
+    if (nodeIdx === void 0) return;
+    this.nodePool.removeObject(nodeIdx, objectIndex);
+    this.objectNodeMap.delete(objectIndex);
+  }
   /**
    * Cast a ray through the octree and return the closest intersecting object.
    *
@@ -548,8 +558,15 @@ var Octree = class {
       np.addObject(nodeIdx, objectIndex);
       this.objectNodeMap.set(objectIndex, nodeIdx);
     } else {
-      this.subdivide(nodeIdx);
-      this.insertIntoNode(nodeIdx, objectIndex);
+      try {
+        this.subdivide(nodeIdx);
+        this.insertIntoNode(nodeIdx, objectIndex);
+      } catch (e) {
+        if (e instanceof RangeError) {
+        } else {
+          throw e;
+        }
+      }
     }
   }
   /** Split a leaf node into 8 children and redistribute its objects. */

package/dist/index.cjs.map

@@ -1 +1 @@
-{"version":3,"sources":["../src/index.ts","../src/aabb.ts","../src/ray.ts","../src/object-pool.ts","../src/flat-math.ts","../src/octree-node.ts","../src/octree.ts","../src/lidar-worker.ts"],"sourcesContent":["export { AABBPool, aabbIntersects, aabbExpand, aabbMerge, AABB_STRIDE } from './aabb.js';\nexport { RayPool, rayIntersectsAABB, RAY_STRIDE } from './ray.js';\nexport { ObjectPool } from './object-pool.js';\nexport { vec3Dot, vec3DistanceSq, vec3Distance, vec3Cross } from './flat-math.js';\nexport {\n  OctreeNodePool,\n  NODE_STRIDE,\n  NODE_AABB_OFFSET,\n  NODE_FIRST_CHILD_OFFSET,\n  NODE_PARENT_OFFSET,\n  NODE_OBJECT_COUNT_OFFSET,\n  NODE_OBJECTS_OFFSET,\n  MAX_OBJECTS_PER_NODE,\n} from './octree-node.js';\nexport { Octree } from './octree.js';\nexport {\n  createLidarProcessor,\n} from './lidar-worker.js';\nexport type {\n  LidarInitMessage,\n  LidarSweepMessage,\n  LidarWorkerInMessage,\n  LidarReadyMessage,\n  LidarDoneMessage,\n  LidarWorkerOutMessage,\n} from './lidar-worker.js';\n","/**\n * AABB (Axis-Aligned Bounding Box) stored as a flat Float32Array slice.\n * Layout: [minX, minY, minZ, maxX, maxY, maxZ]\n */\nexport const AABB_STRIDE = 6;\n\n/**\n * A pool-backed, zero-GC AABB store.\n * Each AABB occupies AABB_STRIDE floats in the underlying buffer.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class AABBPool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * AABB_STRIDE)\n      : new Float32Array(capacity * AABB_STRIDE);\n  }\n\n  /**\n   * Create an AABBPool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: AABBPool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * AABB_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new AABBPool(capacity, sab), sab };\n  }\n\n  /** Allocate a new AABB slot and return its index. */\n  allocate(): number {\n    const index = this.count;\n    this.count += 1;\n    return index;\n  }\n\n  /** Set the bounds of an AABB at the given index. */\n  set(\n    index: number,\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    const offset = index * AABB_STRIDE;\n    this.buffer[offset] = minX;\n    this.buffer[offset + 1] = minY;\n    this.buffer[offset + 2] = minZ;\n    this.buffer[offset + 3] = maxX;\n    this.buffer[offset + 4] = maxY;\n    this.buffer[offset + 5] = maxZ;\n  }\n\n  /** Read a single component value from the buffer. */\n  get(index: number, component: number): number {\n    return this.buffer[index * AABB_STRIDE + component] ?? 0;\n  }\n\n  /** Returns the number of allocated AABBs. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n}\n\n/**\n * Expand AABB `a` in-place so it also fully contains AABB `b`.\n */\nexport function aabbExpand(pool: AABBPool, a: number, b: number): void {\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  buf[aOff] = Math.min(buf[aOff] ?? 0, buf[bOff] ?? 0);\n  buf[aOff + 1] = Math.min(buf[aOff + 1] ?? 0, buf[bOff + 1] ?? 0);\n  buf[aOff + 2] = Math.min(buf[aOff + 2] ?? 0, buf[bOff + 2] ?? 0);\n  buf[aOff + 3] = Math.max(buf[aOff + 3] ?? 0, buf[bOff + 3] ?? 0);\n  buf[aOff + 4] = Math.max(buf[aOff + 4] ?? 0, buf[bOff + 4] ?? 0);\n  buf[aOff + 5] = Math.max(buf[aOff + 5] ?? 0, buf[bOff + 5] ?? 0);\n}\n\n/**\n * Merge AABBs `a` and `b` into `dest` (a pre-allocated slot), storing their union.\n */\nexport function aabbMerge(pool: AABBPool, dest: number, a: number, b: number): void {\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  const dOff = dest * AABB_STRIDE;\n  buf[dOff] = Math.min(buf[aOff] ?? 0, buf[bOff] ?? 0);\n  buf[dOff + 1] = Math.min(buf[aOff + 1] ?? 0, buf[bOff + 1] ?? 0);\n  buf[dOff + 2] = Math.min(buf[aOff + 2] ?? 0, buf[bOff + 2] ?? 0);\n  buf[dOff + 3] = Math.max(buf[aOff + 3] ?? 0, buf[bOff + 3] ?? 0);\n  buf[dOff + 4] = Math.max(buf[aOff + 4] ?? 0, buf[bOff + 4] ?? 0);\n  buf[dOff + 5] = Math.max(buf[aOff + 5] ?? 0, buf[bOff + 5] ?? 0);\n}\n\n/**\n * Test whether two AABBs (by index in the same pool) intersect.\n */\nexport function aabbIntersects(pool: AABBPool, a: number, b: number): boolean {\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  // Access via get() to stay safe with bounds, but direct buffer access is\n  // equally valid when performance is critical.\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  return (\n    (buf[aOff] ?? 0) <= (buf[bOff + 3] ?? 0) &&\n    (buf[aOff + 3] ?? 0) >= (buf[bOff] ?? 0) &&\n    (buf[aOff + 1] ?? 0) <= (buf[bOff + 4] ?? 0) &&\n    (buf[aOff + 4] ?? 0) >= (buf[bOff + 1] ?? 0) &&\n    (buf[aOff + 2] ?? 0) <= (buf[bOff + 5] ?? 0) &&\n    (buf[aOff + 5] ?? 0) >= (buf[bOff + 2] ?? 0)\n  );\n}\n","/**\n * Ray stored as origin + direction (unit vector).\n * Layout: [ox, oy, oz, dx, dy, dz]\n */\nexport const RAY_STRIDE = 6;\n\n/** A pool-backed, zero-GC Ray store.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class RayPool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * RAY_STRIDE)\n      : new Float32Array(capacity * RAY_STRIDE);\n  }\n\n  /**\n   * Create a RayPool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: RayPool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * RAY_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new RayPool(capacity, sab), sab };\n  }\n\n  /** Allocate a new Ray slot and return its index. */\n  allocate(): number {\n    const index = this.count;\n    this.count += 1;\n    return index;\n  }\n\n  /** Set origin and direction of a ray at the given index. */\n  set(\n    index: number,\n    ox: number,\n    oy: number,\n    oz: number,\n    dx: number,\n    dy: number,\n    dz: number,\n  ): void {\n    const offset = index * RAY_STRIDE;\n    this.buffer[offset] = ox;\n    this.buffer[offset + 1] = oy;\n    this.buffer[offset + 2] = oz;\n    this.buffer[offset + 3] = dx;\n    this.buffer[offset + 4] = dy;\n    this.buffer[offset + 5] = dz;\n  }\n\n  /** Read a single component value from the buffer. */\n  get(index: number, component: number): number {\n    return this.buffer[index * RAY_STRIDE + component] ?? 0;\n  }\n\n  /** Returns the number of allocated Rays. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n}\n\n/**\n * Optimized branchless slab-method ray–AABB intersection test.\n *\n * Operates purely on flat Float32Arrays with no per-axis direction branches.\n * When a direction component is zero, IEEE 754 produces ±Infinity for the\n * reciprocal, which propagates correctly through the min/max slab computation:\n *   - origin inside the slab  → [−∞, +∞] interval (no constraint)\n *   - origin outside the slab → either [+∞, +∞] or [−∞, −∞] → forces a miss\n *\n * Returns the parametric hit distance `t` (>= 0) if the ray intersects the\n * AABB, or -1 if there is no intersection (miss or box entirely behind origin).\n */\nexport function rayIntersectsAABB(\n  rayBuf: Float32Array,\n  rayOffset: number,\n  aabbBuf: Float32Array,\n  aabbOffset: number,\n): number {\n  const ox = rayBuf[rayOffset] ?? 0;\n  const oy = rayBuf[rayOffset + 1] ?? 0;\n  const oz = rayBuf[rayOffset + 2] ?? 0;\n  const idx = 1 / (rayBuf[rayOffset + 3] ?? 0);\n  const idy = 1 / (rayBuf[rayOffset + 4] ?? 0);\n  const idz = 1 / (rayBuf[rayOffset + 5] ?? 0);\n\n  const minX = aabbBuf[aabbOffset] ?? 0;\n  const minY = aabbBuf[aabbOffset + 1] ?? 0;\n  const minZ = aabbBuf[aabbOffset + 2] ?? 0;\n  const maxX = aabbBuf[aabbOffset + 3] ?? 0;\n  const maxY = aabbBuf[aabbOffset + 4] ?? 0;\n  const maxZ = aabbBuf[aabbOffset + 5] ?? 0;\n\n  // Branchless slab method: per-axis near/far t values.\n  const t1x = (minX - ox) * idx;\n  const t2x = (maxX - ox) * idx;\n  const t1y = (minY - oy) * idy;\n  const t2y = (maxY - oy) * idy;\n  const t1z = (minZ - oz) * idz;\n  const t2z = (maxZ - oz) * idz;\n\n  const tmin = Math.max(Math.min(t1x, t2x), Math.min(t1y, t2y), Math.min(t1z, t2z));\n  const tmax = Math.min(Math.max(t1x, t2x), Math.max(t1y, t2y), Math.max(t1z, t2z));\n\n  if (tmax < 0 || !(tmin <= tmax)) return -1;\n  return tmin >= 0 ? tmin : tmax;\n}\n","/**\n * A generic Object Pool that manages a fixed set of integer indices.\n *\n * Pre-allocates a free-list on construction so that acquire() and release()\n * operate without any heap allocation.\n */\nexport class ObjectPool {\n  private readonly freeList: Int32Array;\n  private top: number;\n\n  /** Total number of slots in the pool. */\n  readonly capacity: number;\n\n  constructor(capacity: number) {\n    this.capacity = capacity;\n    this.freeList = new Int32Array(capacity);\n    // Fill free-list in reverse so that the first acquire() returns index 0.\n    for (let i = 0; i < capacity; i++) {\n      this.freeList[i] = capacity - 1 - i;\n    }\n    this.top = capacity;\n  }\n\n  /** Number of indices currently available for acquisition. */\n  get available(): number {\n    return this.top;\n  }\n\n  /**\n   * Acquire a free index from the pool.\n   * Returns the index, or `null` when the pool is exhausted.\n   */\n  acquire(): number | null {\n    if (this.top === 0) {\n      return null;\n    }\n    this.top -= 1;\n    return this.freeList[this.top] as number;\n  }\n\n  /**\n   * Release a previously acquired index back to the pool.\n   * Throws if the index is out of range or the pool is already full.\n   */\n  release(index: number): void {\n    if (index < 0 || index >= this.capacity) {\n      throw new RangeError(`ObjectPool.release: index ${index} is out of range [0, ${this.capacity})`);\n    }\n    if (this.top >= this.capacity) {\n      throw new RangeError('ObjectPool.release: pool is already at full capacity');\n    }\n    this.freeList[this.top] = index;\n    this.top += 1;\n  }\n}\n","/**\n * Flat Array Math Utilities\n *\n * Zero-allocation Vec3 math that reads directly from a Float32Array\n * given a start index, without creating any Vector3 objects.\n *\n * All index parameters (`i`, `j`, `outOffset`) are raw flat-array offsets.\n */\n\n/**\n * Compute the dot product of two Vec3s stored in `buf` at offsets `i` and `j`.\n */\nexport function vec3Dot(buf: Float32Array, i: number, j: number): number {\n  return (buf[i] ?? 0) * (buf[j] ?? 0) +\n    (buf[i + 1] ?? 0) * (buf[j + 1] ?? 0) +\n    (buf[i + 2] ?? 0) * (buf[j + 2] ?? 0);\n}\n\n/**\n * Compute the squared distance between two Vec3s stored in `buf` at offsets `i` and `j`.\n */\nexport function vec3DistanceSq(buf: Float32Array, i: number, j: number): number {\n  const dx = (buf[i] ?? 0) - (buf[j] ?? 0);\n  const dy = (buf[i + 1] ?? 0) - (buf[j + 1] ?? 0);\n  const dz = (buf[i + 2] ?? 0) - (buf[j + 2] ?? 0);\n  return dx * dx + dy * dy + dz * dz;\n}\n\n/**\n * Compute the Euclidean distance between two Vec3s stored in `buf` at offsets `i` and `j`.\n */\nexport function vec3Distance(buf: Float32Array, i: number, j: number): number {\n  return Math.sqrt(vec3DistanceSq(buf, i, j));\n}\n\n/**\n * Compute the cross product of two Vec3s in `buf` at offsets `i` and `j`,\n * and write the result into `out` starting at `outOffset`.\n */\nexport function vec3Cross(\n  out: Float32Array,\n  outOffset: number,\n  buf: Float32Array,\n  i: number,\n  j: number,\n): void {\n  const ax = buf[i] ?? 0;\n  const ay = buf[i + 1] ?? 0;\n  const az = buf[i + 2] ?? 0;\n  const bx = buf[j] ?? 0;\n  const by = buf[j + 1] ?? 0;\n  const bz = buf[j + 2] ?? 0;\n  out[outOffset] = ay * bz - az * by;\n  out[outOffset + 1] = az * bx - ax * bz;\n  out[outOffset + 2] = ax * by - ay * bx;\n}\n","/**\n * Octree node stored as a flat Float32Array slice.\n *\n * Layout per node (NODE_STRIDE floats):\n *   [0..5]  – AABB   (minX, minY, minZ, maxX, maxY, maxZ)\n *   [6]     – firstChild index  (-1 = leaf / no children)\n *   [7]     – parent index      (-1 = root)\n *   [8]     – object count\n *   [9..]   – object indices    (MAX_OBJECTS_PER_NODE slots)\n */\n\nexport const NODE_AABB_OFFSET = 0;\nexport const NODE_FIRST_CHILD_OFFSET = 6;\nexport const NODE_PARENT_OFFSET = 7;\nexport const NODE_OBJECT_COUNT_OFFSET = 8;\nexport const NODE_OBJECTS_OFFSET = 9;\nexport const MAX_OBJECTS_PER_NODE = 8;\nexport const NODE_STRIDE = NODE_OBJECTS_OFFSET + MAX_OBJECTS_PER_NODE;\n\n/**\n * A pool-backed, zero-GC Octree node store.\n * Each node occupies NODE_STRIDE floats in the underlying Float32Array buffer.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class OctreeNodePool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * NODE_STRIDE)\n      : new Float32Array(capacity * NODE_STRIDE);\n  }\n\n  /**\n   * Create an OctreeNodePool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: OctreeNodePool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * NODE_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new OctreeNodePool(capacity, sab), sab };\n  }\n\n  /** Allocate a new node slot, initialise sentinel values, and return its index. */\n  allocate(): number {\n    const index = this.count;\n    const offset = index * NODE_STRIDE;\n    // Initialise sentinel values for child/parent links and object count.\n    this.buffer[offset + NODE_FIRST_CHILD_OFFSET] = -1;\n    this.buffer[offset + NODE_PARENT_OFFSET] = -1;\n    this.buffer[offset + NODE_OBJECT_COUNT_OFFSET] = 0;\n    this.count += 1;\n    return index;\n  }\n\n  /** Returns the number of allocated nodes. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n\n  // ── AABB ──────────────────────────────────────────────────────────────────\n\n  /** Set the AABB bounds for the node at the given index. */\n  setAABB(\n    index: number,\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    const off = index * NODE_STRIDE + NODE_AABB_OFFSET;\n    this.buffer[off] = minX;\n    this.buffer[off + 1] = minY;\n    this.buffer[off + 2] = minZ;\n    this.buffer[off + 3] = maxX;\n    this.buffer[off + 4] = maxY;\n    this.buffer[off + 5] = maxZ;\n  }\n\n  /** Read a single AABB component (0–5) from the node at the given index. */\n  getAABB(index: number, component: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_AABB_OFFSET + component] ?? 0;\n  }\n\n  // ── First-child link ──────────────────────────────────────────────────────\n\n  /** Set the first-child index for the node (-1 = leaf). */\n  setFirstChild(index: number, childIndex: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_FIRST_CHILD_OFFSET] = childIndex;\n  }\n\n  /** Get the first-child index for the node (-1 = leaf). */\n  getFirstChild(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_FIRST_CHILD_OFFSET] ?? -1;\n  }\n\n  // ── Parent link ───────────────────────────────────────────────────────────\n\n  /** Set the parent index for the node (-1 = root). */\n  setParent(index: number, parentIndex: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_PARENT_OFFSET] = parentIndex;\n  }\n\n  /** Get the parent index for the node (-1 = root). */\n  getParent(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_PARENT_OFFSET] ?? -1;\n  }\n\n  // ── Object pointers ───────────────────────────────────────────────────────\n\n  /** Return the number of objects stored in the node at the given index. */\n  getObjectCount(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET] ?? 0;\n  }\n\n  /**\n   * Append an object index to the node's object list.\n   * Throws a RangeError when MAX_OBJECTS_PER_NODE is exceeded.\n   */\n  addObject(index: number, objectIndex: number): void {\n    const countOff = index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET;\n    const count = this.buffer[countOff] ?? 0;\n    if (count >= MAX_OBJECTS_PER_NODE) {\n      throw new RangeError(\n        `OctreeNodePool.addObject: node ${index} already contains MAX_OBJECTS_PER_NODE (${MAX_OBJECTS_PER_NODE}) objects`,\n      );\n    }\n    this.buffer[index * NODE_STRIDE + NODE_OBJECTS_OFFSET + count] = objectIndex;\n    this.buffer[countOff] = count + 1;\n  }\n\n  /** Return the object index stored at slot `slot` in the given node. */\n  getObject(index: number, slot: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_OBJECTS_OFFSET + slot] ?? 0;\n  }\n\n  /** Reset the object count of the given node to zero (does not zero the slots). */\n  clearObjects(index: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET] = 0;\n  }\n\n  /**\n   * Remove a single object index from the node's object list.\n   * Uses swap-with-last to avoid shifting. Returns true if found and removed.\n   */\n  removeObject(index: number, objectIndex: number): boolean {\n    const countOff = index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET;\n    const count = this.buffer[countOff] ?? 0;\n    const baseOff = index * NODE_STRIDE + NODE_OBJECTS_OFFSET;\n    for (let i = 0; i < count; i++) {\n      if (this.buffer[baseOff + i] === objectIndex) {\n        // Swap with the last element, then decrement count.\n        this.buffer[baseOff + i] = this.buffer[baseOff + count - 1] ?? 0;\n        this.buffer[countOff] = count - 1;\n        return true;\n      }\n    }\n    return false;\n  }\n}\n","import { OctreeNodePool, MAX_OBJECTS_PER_NODE, NODE_STRIDE, NODE_AABB_OFFSET } from './octree-node.js';\nimport { AABBPool, AABB_STRIDE } from './aabb.js';\nimport { rayIntersectsAABB } from './ray.js';\n\n/**\n * Returns true when the AABB stored at `bufOffset` in `buf` overlaps the\n * axis-aligned box defined by the six query scalars.\n */\nfunction aabbOverlapsBox(\n  buf: Float32Array,\n  bufOffset: number,\n  qMinX: number,\n  qMinY: number,\n  qMinZ: number,\n  qMaxX: number,\n  qMaxY: number,\n  qMaxZ: number,\n): boolean {\n  return (\n    buf[bufOffset]! <= qMaxX &&\n    buf[bufOffset + 3]! >= qMinX &&\n    buf[bufOffset + 1]! <= qMaxY &&\n    buf[bufOffset + 4]! >= qMinY &&\n    buf[bufOffset + 2]! <= qMaxZ &&\n    buf[bufOffset + 5]! >= qMinZ\n  );\n}\n\n/**\n * Octree with insertion and automatic subdivision.\n *\n * - When a leaf node's object count reaches MAX_OBJECTS_PER_NODE it is\n *   subdivided into 8 axis-aligned child octants.\n * - An inserted AABB that fits entirely within a child octant is pushed down.\n * - An AABB that straddles a boundary is kept in the nearest ancestor that\n *   fully contains it.\n */\nexport class Octree {\n  private readonly nodePool: OctreeNodePool;\n  private readonly aabbPool: AABBPool;\n  private readonly root: number;\n  /** Tracks which node each object (by AABBPool index) is currently stored in. */\n  private readonly objectNodeMap: Map<number, number> = new Map();\n  /** Pre-allocated traversal stack reused across raycast calls to avoid GC pressure. */\n  private readonly _stack: number[] = [];\n\n  constructor(nodePool: OctreeNodePool, aabbPool: AABBPool) {\n    this.nodePool = nodePool;\n    this.aabbPool = aabbPool;\n    this.root = nodePool.allocate();\n  }\n\n  /** The index of the root node in the underlying OctreeNodePool. */\n  get rootIndex(): number {\n    return this.root;\n  }\n\n  /** Set the world-space AABB that the root node covers. */\n  setBounds(\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    this.nodePool.setAABB(this.root, minX, minY, minZ, maxX, maxY, maxZ);\n  }\n\n  /** Insert the AABB at `objectIndex` (in the AABBPool) into the tree. */\n  insert(objectIndex: number): void {\n    this.insertIntoNode(this.root, objectIndex);\n  }\n\n  /**\n   * Update the AABB at `objectIndex` with new bounds and reposition it in the\n   * tree without rebuilding. If the new bounds still fit in the current node\n   * the object stays there; otherwise it is removed and re-inserted from the\n   * lowest ancestor whose bounds fully contain the new AABB.\n   */\n  update(\n    objectIndex: number,\n    newMinX: number,\n    newMinY: number,\n    newMinZ: number,\n    newMaxX: number,\n    newMaxY: number,\n    newMaxZ: number,\n  ): void {\n    const np = this.nodePool;\n    const ap = this.aabbPool;\n\n    // 1. Update the AABB data.\n    ap.set(objectIndex, newMinX, newMinY, newMinZ, newMaxX, newMaxY, newMaxZ);\n\n    // 2. Find current node.\n    const currentNode = this.objectNodeMap.get(objectIndex);\n    if (currentNode === undefined) return;\n\n    // 3. If the new bounds still fit in the current node, nothing to move.\n    if (this.fitsInNode(objectIndex, currentNode)) return;\n\n    // 4. Remove from current node.\n    np.removeObject(currentNode, objectIndex);\n    this.objectNodeMap.delete(objectIndex);\n\n    // 5. Walk up to find the lowest ancestor that fully contains the new bounds.\n    let ancestorNode = np.getParent(currentNode);\n    while (ancestorNode !== -1 && !this.fitsInNode(objectIndex, ancestorNode)) {\n      ancestorNode = np.getParent(ancestorNode);\n    }\n    // If no ancestor fits (shouldn't happen for a well-formed tree), use root.\n    if (ancestorNode === -1) ancestorNode = this.root;\n\n    // 6. Re-insert downward from the ancestor.\n    this.insertIntoNode(ancestorNode, objectIndex);\n  }\n\n  /**\n   * Cast a ray through the octree and return the closest intersecting object.\n   *\n   * Uses an iterative stack traversal (pre-allocated, no recursion) to avoid\n   * GC pressure. Only descends into child nodes whose AABBs are intersected by\n   * the ray, providing efficient pruning of non-intersecting subtrees.\n   *\n   * @param rayBuf   Float32Array containing the ray data [ox,oy,oz,dx,dy,dz].\n   * @param rayOffset Element offset (in floats) within `rayBuf` to the ray's origin.\n   * @returns The closest `{ objectIndex, t }` hit, or `null` if nothing is hit.\n   */\n  raycast(\n    rayBuf: Float32Array,\n    rayOffset: number,\n  ): { objectIndex: number; t: number } | null {\n    const np = this.nodePool;\n    // Access the underlying flat buffers directly for zero-GC intersection tests.\n    const npBuf = (np as unknown as { buffer: Float32Array }).buffer;\n    const apBuf = (this.aabbPool as unknown as { buffer: Float32Array }).buffer;\n\n    // Early-out: test the root AABB before touching any object data.\n    if (rayIntersectsAABB(rayBuf, rayOffset, npBuf, this.root * NODE_STRIDE + NODE_AABB_OFFSET) < 0) {\n      return null;\n    }\n\n    // Iterative DFS using the pre-allocated stack.\n    this._stack.length = 0;\n    this._stack.push(this.root);\n\n    let closestT = Infinity;\n    let closestIndex = -1;\n\n    while (this._stack.length > 0) {\n      const nodeIdx = this._stack.pop()!;\n\n      // Test every object stored at this node level.\n      const objCount = np.getObjectCount(nodeIdx);\n      for (let i = 0; i < objCount; i++) {\n        const objIdx = np.getObject(nodeIdx, i);\n        const t = rayIntersectsAABB(rayBuf, rayOffset, apBuf, objIdx * AABB_STRIDE);\n        if (t >= 0 && t < closestT) {\n          closestT = t;\n          closestIndex = objIdx;\n        }\n      }\n\n      // Push only children whose AABB the ray actually intersects.\n      const firstChild = np.getFirstChild(nodeIdx);\n      if (firstChild !== -1) {\n        for (let i = 0; i < 8; i++) {\n          const childIdx = firstChild + i;\n          if (rayIntersectsAABB(rayBuf, rayOffset, npBuf, childIdx * NODE_STRIDE + NODE_AABB_OFFSET) >= 0) {\n            this._stack.push(childIdx);\n          }\n        }\n      }\n    }\n\n    if (closestIndex === -1) return null;\n    return { objectIndex: closestIndex, t: closestT };\n  }\n\n  /**\n   * Query the octree for all objects whose AABB overlaps the given axis-aligned\n   * box region and return their indices (in the AABBPool).\n   *\n   * Uses the same pre-allocated iterative stack as `raycast` to avoid GC\n   * pressure. Descends only into child nodes whose AABBs overlap the query box,\n   * pruning non-intersecting subtrees.\n   *\n   * @param minX  Minimum X of the query box.\n   * @param minY  Minimum Y of the query box.\n   * @param minZ  Minimum Z of the query box.\n   * @param maxX  Maximum X of the query box.\n   * @param maxY  Maximum Y of the query box.\n   * @param maxZ  Maximum Z of the query box.\n   * @returns Array of AABBPool indices for every object that overlaps the box.\n   */\n  queryBox(\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): number[] {\n    const np = this.nodePool;\n    const npBuf = (np as unknown as { buffer: Float32Array }).buffer;\n    const apBuf = (this.aabbPool as unknown as { buffer: Float32Array }).buffer;\n\n    const results: number[] = [];\n\n    // Early-out: if the query box doesn't overlap the root, nothing to do.\n    if (!aabbOverlapsBox(npBuf, this.root * NODE_STRIDE + NODE_AABB_OFFSET, minX, minY, minZ, maxX, maxY, maxZ)) {\n      return results;\n    }\n\n    // Iterative DFS using the pre-allocated stack.\n    this._stack.length = 0;\n    this._stack.push(this.root);\n\n    while (this._stack.length > 0) {\n      const nodeIdx = this._stack.pop()!;\n\n      // Test every object stored at this node level.\n      const objCount = np.getObjectCount(nodeIdx);\n      for (let i = 0; i < objCount; i++) {\n        const objIdx = np.getObject(nodeIdx, i);\n        if (aabbOverlapsBox(apBuf, objIdx * AABB_STRIDE, minX, minY, minZ, maxX, maxY, maxZ)) {\n          results.push(objIdx);\n        }\n      }\n\n      // Push only children whose AABB overlaps the query box.\n      const firstChild = np.getFirstChild(nodeIdx);\n      if (firstChild !== -1) {\n        for (let i = 0; i < 8; i++) {\n          const childIdx = firstChild + i;\n          if (aabbOverlapsBox(npBuf, childIdx * NODE_STRIDE + NODE_AABB_OFFSET, minX, minY, minZ, maxX, maxY, maxZ)) {\n            this._stack.push(childIdx);\n          }\n        }\n      }\n    }\n\n    return results;\n  }\n\n  // ── Private helpers ──────────────────────────────────────────────────────\n\n  private insertIntoNode(nodeIdx: number, objectIndex: number): void {\n    const np = this.nodePool;\n    const firstChild = np.getFirstChild(nodeIdx);\n\n    if (firstChild !== -1) {\n      // Internal node: try to push the object into a fitting child octant.\n      for (let i = 0; i < 8; i++) {\n        if (this.fitsInNode(objectIndex, firstChild + i)) {\n          this.insertIntoNode(firstChild + i, objectIndex);\n          return;\n        }\n      }\n      // Object straddles one or more boundaries – keep it at this level.\n      np.addObject(nodeIdx, objectIndex);\n      this.objectNodeMap.set(objectIndex, nodeIdx);\n      return;\n    }\n\n    // Leaf node.\n    const count = np.getObjectCount(nodeIdx);\n    if (count < MAX_OBJECTS_PER_NODE) {\n      np.addObject(nodeIdx, objectIndex);\n      this.objectNodeMap.set(objectIndex, nodeIdx);\n    } else {\n      // Capacity reached: subdivide, then retry the insertion.\n      this.subdivide(nodeIdx);\n      this.insertIntoNode(nodeIdx, objectIndex);\n    }\n  }\n\n  /** Split a leaf node into 8 children and redistribute its objects. */\n  private subdivide(nodeIdx: number): void {\n    const np = this.nodePool;\n\n    const minX = np.getAABB(nodeIdx, 0);\n    const minY = np.getAABB(nodeIdx, 1);\n    const minZ = np.getAABB(nodeIdx, 2);\n    const maxX = np.getAABB(nodeIdx, 3);\n    const maxY = np.getAABB(nodeIdx, 4);\n    const maxZ = np.getAABB(nodeIdx, 5);\n\n    const midX = (minX + maxX) / 2;\n    const midY = (minY + maxY) / 2;\n    const midZ = (minZ + maxZ) / 2;\n\n    // Allocate 8 consecutive child nodes (guarantees contiguous indices).\n    const firstChild = np.allocate();\n    for (let i = 1; i < 8; i++) {\n      np.allocate();\n    }\n    np.setFirstChild(nodeIdx, firstChild);\n\n    // Assign each child its octant AABB.\n    // Bit decomposition: bit-0 → X half, bit-1 → Y half, bit-2 → Z half.\n    for (let i = 0; i < 8; i++) {\n      const childIdx = firstChild + i;\n      const cMinX = (i & 1) === 0 ? minX : midX;\n      const cMaxX = (i & 1) === 0 ? midX : maxX;\n      const cMinY = (i & 2) === 0 ? minY : midY;\n      const cMaxY = (i & 2) === 0 ? midY : maxY;\n      const cMinZ = (i & 4) === 0 ? minZ : midZ;\n      const cMaxZ = (i & 4) === 0 ? midZ : maxZ;\n      np.setAABB(childIdx, cMinX, cMinY, cMinZ, cMaxX, cMaxY, cMaxZ);\n      np.setParent(childIdx, nodeIdx);\n    }\n\n    // Redistribute the existing objects.\n    const count = np.getObjectCount(nodeIdx);\n    const saved: number[] = [];\n    for (let i = 0; i < count; i++) {\n      saved.push(np.getObject(nodeIdx, i));\n    }\n    np.clearObjects(nodeIdx);\n\n    for (const obj of saved) {\n      // Use insertIntoNode so objectNodeMap stays consistent.\n      this.objectNodeMap.delete(obj);\n      this.insertIntoNode(nodeIdx, obj);\n    }\n  }\n\n  /** Returns true when the AABB at `objectIndex` is fully contained by `nodeIdx`. */\n  private fitsInNode(objectIndex: number, nodeIdx: number): boolean {\n    const np = this.nodePool;\n    const ap = this.aabbPool;\n    return (\n      ap.get(objectIndex, 0) >= np.getAABB(nodeIdx, 0) &&\n      ap.get(objectIndex, 1) >= np.getAABB(nodeIdx, 1) &&\n      ap.get(objectIndex, 2) >= np.getAABB(nodeIdx, 2) &&\n      ap.get(objectIndex, 3) <= np.getAABB(nodeIdx, 3) &&\n      ap.get(objectIndex, 4) <= np.getAABB(nodeIdx, 4) &&\n      ap.get(objectIndex, 5) <= np.getAABB(nodeIdx, 5)\n    );\n  }\n}\n","/**\n * LiDAR Web Worker\n *\n * Handles heavy raycasting (LiDAR sweep logic) off the main thread.\n *\n * Protocol\n * --------\n * 1. Main thread sends one `LidarInitMessage` to set up shared buffers and\n *    world bounds.  The worker replies with `{ type: 'ready' }`.\n *\n * 2. For each sweep the main thread:\n *      a. Writes up-to-date object AABB data into `aabbsSab`\n *         (6 floats per object: minX, minY, minZ, maxX, maxY, maxZ).\n *      b. Sends a `LidarSweepMessage` with the current `objectCount`.\n *\n * 3. The worker reads the transforms, inserts/updates objects in its local\n *    Octree, casts every ray from `raysSab`, and writes results to\n *    `resultsSab` (2 floats per ray: objectIndex, t; –1/–1 for a miss).\n *    It then replies with `{ type: 'done', rayCount }`.\n *\n * SharedArrayBuffer layout\n * ------------------------\n * aabbsSab  : Float32Array – objectCapacity × AABB_STRIDE (6) floats\n * nodesSab  : Float32Array – nodeCapacity   × NODE_STRIDE      floats\n * raysSab   : Float32Array – rayCount       × RAY_STRIDE (6)   floats\n * resultsSab: Float32Array – rayCount       × 2                floats\n *               [objectIndex (float), t (float)] per ray\n */\n\nimport { OctreeNodePool } from './octree-node.js';\nimport { AABBPool } from './aabb.js';\nimport { RAY_STRIDE } from './ray.js';\nimport { Octree } from './octree.js';\n\n// ── Public message types ──────────────────────────────────────────────────────\n\n/** Sent once from the main thread to initialise the shared buffers. */\nexport interface LidarInitMessage {\n  type: 'init';\n  /** SharedArrayBuffer for AABB data (objectCapacity × 6 floats). Written by the main thread. */\n  aabbsSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for Octree node data (nodeCapacity × NODE_STRIDE floats). Managed by the worker. */\n  nodesSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for ray data (rayCount × 6 floats). Written by the main thread (or set once). */\n  raysSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for raycast results (rayCount × 2 floats). Written by the worker. */\n  resultsSab: SharedArrayBuffer;\n  /** Maximum number of objects the AABBPool can hold. */\n  objectCapacity: number;\n  /** Maximum number of Octree nodes the NodePool can hold. */\n  nodeCapacity: number;\n  /** Number of rays in the LiDAR sweep. */\n  rayCount: number;\n  /** World-space bounds for the root octree node. */\n  worldMinX: number;\n  worldMinY: number;\n  worldMinZ: number;\n  worldMaxX: number;\n  worldMaxY: number;\n  worldMaxZ: number;\n}\n\n/** Sent each frame to trigger a LiDAR sweep. */\nexport interface LidarSweepMessage {\n  type: 'sweep';\n  /** Number of active objects whose AABB data has been written to `aabbsSab`. */\n  objectCount: number;\n}\n\nexport type LidarWorkerInMessage = LidarInitMessage | LidarSweepMessage;\n\n/** Posted by the worker after initialisation succeeds. */\nexport interface LidarReadyMessage {\n  type: 'ready';\n}\n\n/** Posted by the worker after a sweep finishes. */\nexport interface LidarDoneMessage {\n  type: 'done';\n  /** Number of rays that were cast (equals the `rayCount` given in `init`). */\n  rayCount: number;\n}\n\nexport type LidarWorkerOutMessage = LidarReadyMessage | LidarDoneMessage;\n\n// ── Processor (pure logic, no worker-global bindings) ────────────────────────\n\n/**\n * Stateful LiDAR sweep processor.\n *\n * Exported for direct use in tests and advanced integrations.  The bottom of\n * this module wires it to the Web Worker global scope automatically when the\n * script runs inside a worker.\n */\nexport function createLidarProcessor(): {\n  init(msg: LidarInitMessage): LidarReadyMessage;\n  sweep(msg: LidarSweepMessage): LidarDoneMessage;\n} {\n  let octree: Octree | null = null;\n  let aabbPool: AABBPool | null = null;\n  let raysBuf: Float32Array | null = null;\n  let resultsBuf: Float32Array | null = null;\n  let totalRayCount = 0;\n  /** Tracks how many objects have been inserted into the local octree. */\n  let insertedObjectCount = 0;\n\n  return {\n    /** Initialise shared buffers and create the Octree. */\n    init(msg: LidarInitMessage): LidarReadyMessage {\n      const nodePool = new OctreeNodePool(msg.nodeCapacity, msg.nodesSab);\n      aabbPool = new AABBPool(msg.objectCapacity, msg.aabbsSab);\n      raysBuf = new Float32Array(msg.raysSab);\n      resultsBuf = new Float32Array(msg.resultsSab);\n      totalRayCount = msg.rayCount;\n      insertedObjectCount = 0;\n\n      octree = new Octree(nodePool, aabbPool);\n      octree.setBounds(\n        msg.worldMinX, msg.worldMinY, msg.worldMinZ,\n        msg.worldMaxX, msg.worldMaxY, msg.worldMaxZ,\n      );\n\n      return { type: 'ready' };\n    },\n\n    /**\n     * Read current object AABB data from the shared buffer, update the Octree,\n     * cast every sweep ray, and write results to the results buffer.\n     */\n    sweep(msg: LidarSweepMessage): LidarDoneMessage {\n      if (octree === null || aabbPool === null || raysBuf === null || resultsBuf === null) {\n        throw new Error('LidarProcessor: sweep called before init');\n      }\n\n      const objectCount = msg.objectCount;\n\n      // Ensure the pool's allocation count reflects all active objects so that\n      // the pool's `size` getter stays accurate (the buffer memory already exists\n      // in the SAB – allocate() only increments the internal counter).\n      while (aabbPool.size < objectCount) {\n        aabbPool.allocate();\n      }\n\n      // Insert new objects or reposition existing ones in the octree.\n      for (let i = 0; i < objectCount; i++) {\n        const minX = aabbPool.get(i, 0);\n        const minY = aabbPool.get(i, 1);\n        const minZ = aabbPool.get(i, 2);\n        const maxX = aabbPool.get(i, 3);\n        const maxY = aabbPool.get(i, 4);\n        const maxZ = aabbPool.get(i, 5);\n\n        if (i < insertedObjectCount) {\n          // Already in the tree – reposition without full rebuild.\n          octree.update(i, minX, minY, minZ, maxX, maxY, maxZ);\n        } else {\n          // First appearance: insert using the bounds already in the SAB.\n          octree.insert(i);\n          insertedObjectCount++;\n        }\n      }\n\n      // LiDAR sweep: cast each ray and write the closest hit (or miss) to\n      // the results buffer.  Layout: [objectIndex, t] per ray (–1/–1 = miss).\n      for (let r = 0; r < totalRayCount; r++) {\n        const hit = octree.raycast(raysBuf, r * RAY_STRIDE);\n        if (hit !== null) {\n          resultsBuf[r * 2] = hit.objectIndex;\n          resultsBuf[r * 2 + 1] = hit.t;\n        } else {\n          resultsBuf[r * 2] = -1;\n          resultsBuf[r * 2 + 1] = -1;\n        }\n      }\n\n      return { type: 'done', rayCount: totalRayCount };\n    },\n  };\n}\n\n// ── Web Worker binding ────────────────────────────────────────────────────────\n// Automatically wire the processor to the worker's global message handler when\n// this script is loaded inside a Web Worker context (browser or Node.js worker).\n\ntype WorkerGlobalSelf = {\n  onmessage: ((event: { data: LidarWorkerInMessage }) => void) | null;\n  postMessage(data: LidarWorkerOutMessage): void;\n};\n\n// `postMessage` is available on the worker global but not in a regular Node.js\n// module context, so check for it before binding.\nconst globalScope = globalThis as Record<string, unknown>;\nif (typeof globalScope['postMessage'] === 'function' && typeof globalScope['onmessage'] !== 'undefined') {\n  const workerSelf = globalThis as unknown as WorkerGlobalSelf;\n  const processor = createLidarProcessor();\n\n  workerSelf.onmessage = (event) => {\n    const msg = event.data;\n    if (msg.type === 'init') {\n      workerSelf.postMessage(processor.init(msg));\n    } else if (msg.type === 'sweep') {\n      workerSelf.postMessage(processor.sweep(msg));\n    }\n  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+{"version":3,"sources":["../src/index.ts","../src/aabb.ts","../src/ray.ts","../src/object-pool.ts","../src/flat-math.ts","../src/octree-node.ts","../src/octree.ts","../src/lidar-worker.ts"],"sourcesContent":["export { AABBPool, aabbIntersects, aabbExpand, aabbMerge, AABB_STRIDE } from './aabb.js';\nexport { RayPool, rayIntersectsAABB, RAY_STRIDE } from './ray.js';\nexport { ObjectPool } from './object-pool.js';\nexport { vec3Dot, vec3DistanceSq, vec3Distance, vec3Cross } from './flat-math.js';\nexport {\n  OctreeNodePool,\n  NODE_STRIDE,\n  NODE_AABB_OFFSET,\n  NODE_FIRST_CHILD_OFFSET,\n  NODE_PARENT_OFFSET,\n  NODE_OBJECT_COUNT_OFFSET,\n  NODE_OBJECTS_OFFSET,\n  MAX_OBJECTS_PER_NODE,\n} from './octree-node.js';\nexport { Octree } from './octree.js';\nexport {\n  createLidarProcessor,\n} from './lidar-worker.js';\nexport type {\n  LidarInitMessage,\n  LidarSweepMessage,\n  LidarWorkerInMessage,\n  LidarReadyMessage,\n  LidarDoneMessage,\n  LidarWorkerOutMessage,\n} from './lidar-worker.js';\n","/**\n * AABB (Axis-Aligned Bounding Box) stored as a flat Float32Array slice.\n * Layout: [minX, minY, minZ, maxX, maxY, maxZ]\n */\nexport const AABB_STRIDE = 6;\n\n/**\n * A pool-backed, zero-GC AABB store.\n * Each AABB occupies AABB_STRIDE floats in the underlying buffer.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class AABBPool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * AABB_STRIDE)\n      : new Float32Array(capacity * AABB_STRIDE);\n  }\n\n  /**\n   * Create an AABBPool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: AABBPool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * AABB_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new AABBPool(capacity, sab), sab };\n  }\n\n  /** Allocate a new AABB slot and return its index. */\n  allocate(): number {\n    const index = this.count;\n    this.count += 1;\n    return index;\n  }\n\n  /** Set the bounds of an AABB at the given index. */\n  set(\n    index: number,\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    const offset = index * AABB_STRIDE;\n    this.buffer[offset] = minX;\n    this.buffer[offset + 1] = minY;\n    this.buffer[offset + 2] = minZ;\n    this.buffer[offset + 3] = maxX;\n    this.buffer[offset + 4] = maxY;\n    this.buffer[offset + 5] = maxZ;\n  }\n\n  /** Read a single component value from the buffer. */\n  get(index: number, component: number): number {\n    return this.buffer[index * AABB_STRIDE + component] ?? 0;\n  }\n\n  /** Returns the number of allocated AABBs. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n}\n\n/**\n * Expand AABB `a` in-place so it also fully contains AABB `b`.\n */\nexport function aabbExpand(pool: AABBPool, a: number, b: number): void {\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  buf[aOff] = Math.min(buf[aOff] ?? 0, buf[bOff] ?? 0);\n  buf[aOff + 1] = Math.min(buf[aOff + 1] ?? 0, buf[bOff + 1] ?? 0);\n  buf[aOff + 2] = Math.min(buf[aOff + 2] ?? 0, buf[bOff + 2] ?? 0);\n  buf[aOff + 3] = Math.max(buf[aOff + 3] ?? 0, buf[bOff + 3] ?? 0);\n  buf[aOff + 4] = Math.max(buf[aOff + 4] ?? 0, buf[bOff + 4] ?? 0);\n  buf[aOff + 5] = Math.max(buf[aOff + 5] ?? 0, buf[bOff + 5] ?? 0);\n}\n\n/**\n * Merge AABBs `a` and `b` into `dest` (a pre-allocated slot), storing their union.\n */\nexport function aabbMerge(pool: AABBPool, dest: number, a: number, b: number): void {\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  const dOff = dest * AABB_STRIDE;\n  buf[dOff] = Math.min(buf[aOff] ?? 0, buf[bOff] ?? 0);\n  buf[dOff + 1] = Math.min(buf[aOff + 1] ?? 0, buf[bOff + 1] ?? 0);\n  buf[dOff + 2] = Math.min(buf[aOff + 2] ?? 0, buf[bOff + 2] ?? 0);\n  buf[dOff + 3] = Math.max(buf[aOff + 3] ?? 0, buf[bOff + 3] ?? 0);\n  buf[dOff + 4] = Math.max(buf[aOff + 4] ?? 0, buf[bOff + 4] ?? 0);\n  buf[dOff + 5] = Math.max(buf[aOff + 5] ?? 0, buf[bOff + 5] ?? 0);\n}\n\n/**\n * Test whether two AABBs (by index in the same pool) intersect.\n */\nexport function aabbIntersects(pool: AABBPool, a: number, b: number): boolean {\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  // Access via get() to stay safe with bounds, but direct buffer access is\n  // equally valid when performance is critical.\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  return (\n    (buf[aOff] ?? 0) <= (buf[bOff + 3] ?? 0) &&\n    (buf[aOff + 3] ?? 0) >= (buf[bOff] ?? 0) &&\n    (buf[aOff + 1] ?? 0) <= (buf[bOff + 4] ?? 0) &&\n    (buf[aOff + 4] ?? 0) >= (buf[bOff + 1] ?? 0) &&\n    (buf[aOff + 2] ?? 0) <= (buf[bOff + 5] ?? 0) &&\n    (buf[aOff + 5] ?? 0) >= (buf[bOff + 2] ?? 0)\n  );\n}\n","/**\n * Ray stored as origin + direction (unit vector).\n * Layout: [ox, oy, oz, dx, dy, dz]\n */\nexport const RAY_STRIDE = 6;\n\n/** A pool-backed, zero-GC Ray store.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class RayPool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * RAY_STRIDE)\n      : new Float32Array(capacity * RAY_STRIDE);\n  }\n\n  /**\n   * Create a RayPool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: RayPool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * RAY_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new RayPool(capacity, sab), sab };\n  }\n\n  /** Allocate a new Ray slot and return its index. */\n  allocate(): number {\n    const index = this.count;\n    this.count += 1;\n    return index;\n  }\n\n  /** Set origin and direction of a ray at the given index. */\n  set(\n    index: number,\n    ox: number,\n    oy: number,\n    oz: number,\n    dx: number,\n    dy: number,\n    dz: number,\n  ): void {\n    const offset = index * RAY_STRIDE;\n    this.buffer[offset] = ox;\n    this.buffer[offset + 1] = oy;\n    this.buffer[offset + 2] = oz;\n    this.buffer[offset + 3] = dx;\n    this.buffer[offset + 4] = dy;\n    this.buffer[offset + 5] = dz;\n  }\n\n  /** Read a single component value from the buffer. */\n  get(index: number, component: number): number {\n    return this.buffer[index * RAY_STRIDE + component] ?? 0;\n  }\n\n  /** Returns the number of allocated Rays. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n}\n\n/**\n * Optimized branchless slab-method ray–AABB intersection test.\n *\n * Operates purely on flat Float32Arrays with no per-axis direction branches.\n * When a direction component is zero, IEEE 754 produces ±Infinity for the\n * reciprocal, which propagates correctly through the min/max slab computation:\n *   - origin inside the slab  → [−∞, +∞] interval (no constraint)\n *   - origin outside the slab → either [+∞, +∞] or [−∞, −∞] → forces a miss\n *\n * Returns the parametric hit distance `t` (>= 0) if the ray intersects the\n * AABB, or -1 if there is no intersection (miss or box entirely behind origin).\n */\nexport function rayIntersectsAABB(\n  rayBuf: Float32Array,\n  rayOffset: number,\n  aabbBuf: Float32Array,\n  aabbOffset: number,\n): number {\n  const ox = rayBuf[rayOffset] ?? 0;\n  const oy = rayBuf[rayOffset + 1] ?? 0;\n  const oz = rayBuf[rayOffset + 2] ?? 0;\n  const idx = 1 / (rayBuf[rayOffset + 3] ?? 0);\n  const idy = 1 / (rayBuf[rayOffset + 4] ?? 0);\n  const idz = 1 / (rayBuf[rayOffset + 5] ?? 0);\n\n  const minX = aabbBuf[aabbOffset] ?? 0;\n  const minY = aabbBuf[aabbOffset + 1] ?? 0;\n  const minZ = aabbBuf[aabbOffset + 2] ?? 0;\n  const maxX = aabbBuf[aabbOffset + 3] ?? 0;\n  const maxY = aabbBuf[aabbOffset + 4] ?? 0;\n  const maxZ = aabbBuf[aabbOffset + 5] ?? 0;\n\n  // Branchless slab method: per-axis near/far t values.\n  const t1x = (minX - ox) * idx;\n  const t2x = (maxX - ox) * idx;\n  const t1y = (minY - oy) * idy;\n  const t2y = (maxY - oy) * idy;\n  const t1z = (minZ - oz) * idz;\n  const t2z = (maxZ - oz) * idz;\n\n  const tmin = Math.max(Math.min(t1x, t2x), Math.min(t1y, t2y), Math.min(t1z, t2z));\n  const tmax = Math.min(Math.max(t1x, t2x), Math.max(t1y, t2y), Math.max(t1z, t2z));\n\n  if (tmax < 0 || !(tmin <= tmax)) return -1;\n  return tmin >= 0 ? tmin : tmax;\n}\n","/**\n * A generic Object Pool that manages a fixed set of integer indices.\n *\n * Pre-allocates a free-list on construction so that acquire() and release()\n * operate without any heap allocation.\n */\nexport class ObjectPool {\n  private readonly freeList: Int32Array;\n  private top: number;\n\n  /** Total number of slots in the pool. */\n  readonly capacity: number;\n\n  constructor(capacity: number) {\n    this.capacity = capacity;\n    this.freeList = new Int32Array(capacity);\n    // Fill free-list in reverse so that the first acquire() returns index 0.\n    for (let i = 0; i < capacity; i++) {\n      this.freeList[i] = capacity - 1 - i;\n    }\n    this.top = capacity;\n  }\n\n  /** Number of indices currently available for acquisition. */\n  get available(): number {\n    return this.top;\n  }\n\n  /**\n   * Acquire a free index from the pool.\n   * Returns the index, or `null` when the pool is exhausted.\n   */\n  acquire(): number | null {\n    if (this.top === 0) {\n      return null;\n    }\n    this.top -= 1;\n    return this.freeList[this.top] as number;\n  }\n\n  /**\n   * Release a previously acquired index back to the pool.\n   * Throws if the index is out of range or the pool is already full.\n   */\n  release(index: number): void {\n    if (index < 0 || index >= this.capacity) {\n      throw new RangeError(`ObjectPool.release: index ${index} is out of range [0, ${this.capacity})`);\n    }\n    if (this.top >= this.capacity) {\n      throw new RangeError('ObjectPool.release: pool is already at full capacity');\n    }\n    this.freeList[this.top] = index;\n    this.top += 1;\n  }\n}\n","/**\n * Flat Array Math Utilities\n *\n * Zero-allocation Vec3 math that reads directly from a Float32Array\n * given a start index, without creating any Vector3 objects.\n *\n * All index parameters (`i`, `j`, `outOffset`) are raw flat-array offsets.\n */\n\n/**\n * Compute the dot product of two Vec3s stored in `buf` at offsets `i` and `j`.\n */\nexport function vec3Dot(buf: Float32Array, i: number, j: number): number {\n  return (buf[i] ?? 0) * (buf[j] ?? 0) +\n    (buf[i + 1] ?? 0) * (buf[j + 1] ?? 0) +\n    (buf[i + 2] ?? 0) * (buf[j + 2] ?? 0);\n}\n\n/**\n * Compute the squared distance between two Vec3s stored in `buf` at offsets `i` and `j`.\n */\nexport function vec3DistanceSq(buf: Float32Array, i: number, j: number): number {\n  const dx = (buf[i] ?? 0) - (buf[j] ?? 0);\n  const dy = (buf[i + 1] ?? 0) - (buf[j + 1] ?? 0);\n  const dz = (buf[i + 2] ?? 0) - (buf[j + 2] ?? 0);\n  return dx * dx + dy * dy + dz * dz;\n}\n\n/**\n * Compute the Euclidean distance between two Vec3s stored in `buf` at offsets `i` and `j`.\n */\nexport function vec3Distance(buf: Float32Array, i: number, j: number): number {\n  return Math.sqrt(vec3DistanceSq(buf, i, j));\n}\n\n/**\n * Compute the cross product of two Vec3s in `buf` at offsets `i` and `j`,\n * and write the result into `out` starting at `outOffset`.\n */\nexport function vec3Cross(\n  out: Float32Array,\n  outOffset: number,\n  buf: Float32Array,\n  i: number,\n  j: number,\n): void {\n  const ax = buf[i] ?? 0;\n  const ay = buf[i + 1] ?? 0;\n  const az = buf[i + 2] ?? 0;\n  const bx = buf[j] ?? 0;\n  const by = buf[j + 1] ?? 0;\n  const bz = buf[j + 2] ?? 0;\n  out[outOffset] = ay * bz - az * by;\n  out[outOffset + 1] = az * bx - ax * bz;\n  out[outOffset + 2] = ax * by - ay * bx;\n}\n","/**\n * Octree node stored as a flat Float32Array slice.\n *\n * Layout per node (NODE_STRIDE floats):\n *   [0..5]  – AABB   (minX, minY, minZ, maxX, maxY, maxZ)\n *   [6]     – firstChild index  (-1 = leaf / no children)\n *   [7]     – parent index      (-1 = root)\n *   [8]     – object count\n *   [9..]   – object indices    (MAX_OBJECTS_PER_NODE slots)\n */\n\nexport const NODE_AABB_OFFSET = 0;\nexport const NODE_FIRST_CHILD_OFFSET = 6;\nexport const NODE_PARENT_OFFSET = 7;\nexport const NODE_OBJECT_COUNT_OFFSET = 8;\nexport const NODE_OBJECTS_OFFSET = 9;\nexport const MAX_OBJECTS_PER_NODE = 64;\nexport const NODE_STRIDE = NODE_OBJECTS_OFFSET + MAX_OBJECTS_PER_NODE;\n\n/**\n * A pool-backed, zero-GC Octree node store.\n * Each node occupies NODE_STRIDE floats in the underlying Float32Array buffer.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class OctreeNodePool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * NODE_STRIDE)\n      : new Float32Array(capacity * NODE_STRIDE);\n  }\n\n  /**\n   * Create an OctreeNodePool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: OctreeNodePool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * NODE_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new OctreeNodePool(capacity, sab), sab };\n  }\n\n  /** Allocate a new node slot, initialise sentinel values, and return its index. */\n  allocate(): number {\n    const index = this.count;\n    const offset = index * NODE_STRIDE;\n    // Initialise sentinel values for child/parent links and object count.\n    this.buffer[offset + NODE_FIRST_CHILD_OFFSET] = -1;\n    this.buffer[offset + NODE_PARENT_OFFSET] = -1;\n    this.buffer[offset + NODE_OBJECT_COUNT_OFFSET] = 0;\n    this.count += 1;\n    return index;\n  }\n\n  /** Returns the number of allocated nodes. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n\n  // ── AABB ──────────────────────────────────────────────────────────────────\n\n  /** Set the AABB bounds for the node at the given index. */\n  setAABB(\n    index: number,\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    const off = index * NODE_STRIDE + NODE_AABB_OFFSET;\n    this.buffer[off] = minX;\n    this.buffer[off + 1] = minY;\n    this.buffer[off + 2] = minZ;\n    this.buffer[off + 3] = maxX;\n    this.buffer[off + 4] = maxY;\n    this.buffer[off + 5] = maxZ;\n  }\n\n  /** Read a single AABB component (0–5) from the node at the given index. */\n  getAABB(index: number, component: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_AABB_OFFSET + component] ?? 0;\n  }\n\n  // ── First-child link ──────────────────────────────────────────────────────\n\n  /** Set the first-child index for the node (-1 = leaf). */\n  setFirstChild(index: number, childIndex: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_FIRST_CHILD_OFFSET] = childIndex;\n  }\n\n  /** Get the first-child index for the node (-1 = leaf). */\n  getFirstChild(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_FIRST_CHILD_OFFSET] ?? -1;\n  }\n\n  // ── Parent link ───────────────────────────────────────────────────────────\n\n  /** Set the parent index for the node (-1 = root). */\n  setParent(index: number, parentIndex: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_PARENT_OFFSET] = parentIndex;\n  }\n\n  /** Get the parent index for the node (-1 = root). */\n  getParent(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_PARENT_OFFSET] ?? -1;\n  }\n\n  // ── Object pointers ───────────────────────────────────────────────────────\n\n  /** Return the number of objects stored in the node at the given index. */\n  getObjectCount(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET] ?? 0;\n  }\n\n  /**\n   * Append an object index to the node's object list.\n   * Throws a RangeError when MAX_OBJECTS_PER_NODE is exceeded.\n   */\n  addObject(index: number, objectIndex: number): void {\n    const countOff = index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET;\n    const count = this.buffer[countOff] ?? 0;\n    if (count >= MAX_OBJECTS_PER_NODE) {\n      throw new RangeError(\n        `OctreeNodePool.addObject: node ${index} already contains MAX_OBJECTS_PER_NODE (${MAX_OBJECTS_PER_NODE}) objects`,\n      );\n    }\n    this.buffer[index * NODE_STRIDE + NODE_OBJECTS_OFFSET + count] = objectIndex;\n    this.buffer[countOff] = count + 1;\n  }\n\n  /** Return the object index stored at slot `slot` in the given node. */\n  getObject(index: number, slot: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_OBJECTS_OFFSET + slot] ?? 0;\n  }\n\n  /** Reset the object count of the given node to zero (does not zero the slots). */\n  clearObjects(index: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET] = 0;\n  }\n\n  /**\n   * Remove a single object index from the node's object list.\n   * Uses swap-with-last to avoid shifting. Returns true if found and removed.\n   */\n  removeObject(index: number, objectIndex: number): boolean {\n    const countOff = index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET;\n    const count = this.buffer[countOff] ?? 0;\n    const baseOff = index * NODE_STRIDE + NODE_OBJECTS_OFFSET;\n    for (let i = 0; i < count; i++) {\n      if (this.buffer[baseOff + i] === objectIndex) {\n        // Swap with the last element, then decrement count.\n        this.buffer[baseOff + i] = this.buffer[baseOff + count - 1] ?? 0;\n        this.buffer[countOff] = count - 1;\n        return true;\n      }\n    }\n    return false;\n  }\n}\n","import { OctreeNodePool, MAX_OBJECTS_PER_NODE, NODE_STRIDE, NODE_AABB_OFFSET } from './octree-node.js';\nimport { AABBPool, AABB_STRIDE } from './aabb.js';\nimport { rayIntersectsAABB } from './ray.js';\n\n/**\n * Returns true when the AABB stored at `bufOffset` in `buf` overlaps the\n * axis-aligned box defined by the six query scalars.\n */\nfunction aabbOverlapsBox(\n  buf: Float32Array,\n  bufOffset: number,\n  qMinX: number,\n  qMinY: number,\n  qMinZ: number,\n  qMaxX: number,\n  qMaxY: number,\n  qMaxZ: number,\n): boolean {\n  return (\n    buf[bufOffset]! <= qMaxX &&\n    buf[bufOffset + 3]! >= qMinX &&\n    buf[bufOffset + 1]! <= qMaxY &&\n    buf[bufOffset + 4]! >= qMinY &&\n    buf[bufOffset + 2]! <= qMaxZ &&\n    buf[bufOffset + 5]! >= qMinZ\n  );\n}\n\n/**\n * Octree with insertion and automatic subdivision.\n *\n * - When a leaf node's object count reaches MAX_OBJECTS_PER_NODE it is\n *   subdivided into 8 axis-aligned child octants.\n * - An inserted AABB that fits entirely within a child octant is pushed down.\n * - An AABB that straddles a boundary is kept in the nearest ancestor that\n *   fully contains it.\n */\nexport class Octree {\n  private readonly nodePool: OctreeNodePool;\n  private readonly aabbPool: AABBPool;\n  private readonly root: number;\n  /** Tracks which node each object (by AABBPool index) is currently stored in. */\n  private readonly objectNodeMap: Map<number, number> = new Map();\n  /** Pre-allocated traversal stack reused across raycast calls to avoid GC pressure. */\n  private readonly _stack: number[] = [];\n\n  constructor(nodePool: OctreeNodePool, aabbPool: AABBPool) {\n    this.nodePool = nodePool;\n    this.aabbPool = aabbPool;\n    this.root = nodePool.allocate();\n  }\n\n  /** The index of the root node in the underlying OctreeNodePool. */\n  get rootIndex(): number {\n    return this.root;\n  }\n\n  /** Set the world-space AABB that the root node covers. */\n  setBounds(\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    this.nodePool.setAABB(this.root, minX, minY, minZ, maxX, maxY, maxZ);\n  }\n\n  /** Insert the AABB at `objectIndex` (in the AABBPool) into the tree. */\n  insert(objectIndex: number): void {\n    this.insertIntoNode(this.root, objectIndex);\n  }\n\n  /**\n   * Update the AABB at `objectIndex` with new bounds and reposition it in the\n   * tree without rebuilding. If the new bounds still fit in the current node\n   * the object stays there; otherwise it is removed and re-inserted from the\n   * lowest ancestor whose bounds fully contain the new AABB.\n   */\n  update(\n    objectIndex: number,\n    newMinX: number,\n    newMinY: number,\n    newMinZ: number,\n    newMaxX: number,\n    newMaxY: number,\n    newMaxZ: number,\n  ): void {\n    const np = this.nodePool;\n    const ap = this.aabbPool;\n\n    // 1. Update the AABB data.\n    ap.set(objectIndex, newMinX, newMinY, newMinZ, newMaxX, newMaxY, newMaxZ);\n\n    // 2. Find current node.\n    const currentNode = this.objectNodeMap.get(objectIndex);\n    if (currentNode === undefined) return;\n\n    // 3. If the new bounds still fit in the current node, nothing to move.\n    if (this.fitsInNode(objectIndex, currentNode)) return;\n\n    // 4. Remove from current node.\n    np.removeObject(currentNode, objectIndex);\n    this.objectNodeMap.delete(objectIndex);\n\n    // 5. Walk up to find the lowest ancestor that fully contains the new bounds.\n    let ancestorNode = np.getParent(currentNode);\n    while (ancestorNode !== -1 && !this.fitsInNode(objectIndex, ancestorNode)) {\n      ancestorNode = np.getParent(ancestorNode);\n    }\n    // If no ancestor fits (shouldn't happen for a well-formed tree), use root.\n    if (ancestorNode === -1) ancestorNode = this.root;\n\n    // 6. Re-insert downward from the ancestor.\n    this.insertIntoNode(ancestorNode, objectIndex);\n  }\n\n  /**\n   * Remove the object at `objectIndex` from the tree.\n   * Safe to call even if the object was never inserted (no-op).\n   */\n  remove(objectIndex: number): void {\n    const nodeIdx = this.objectNodeMap.get(objectIndex);\n    if (nodeIdx === undefined) return;\n    this.nodePool.removeObject(nodeIdx, objectIndex);\n    this.objectNodeMap.delete(objectIndex);\n  }\n\n  /**\n   * Cast a ray through the octree and return the closest intersecting object.\n   *\n   * Uses an iterative stack traversal (pre-allocated, no recursion) to avoid\n   * GC pressure. Only descends into child nodes whose AABBs are intersected by\n   * the ray, providing efficient pruning of non-intersecting subtrees.\n   *\n   * @param rayBuf   Float32Array containing the ray data [ox,oy,oz,dx,dy,dz].\n   * @param rayOffset Element offset (in floats) within `rayBuf` to the ray's origin.\n   * @returns The closest `{ objectIndex, t }` hit, or `null` if nothing is hit.\n   */\n  raycast(\n    rayBuf: Float32Array,\n    rayOffset: number,\n  ): { objectIndex: number; t: number } | null {\n    const np = this.nodePool;\n    // Access the underlying flat buffers directly for zero-GC intersection tests.\n    const npBuf = (np as unknown as { buffer: Float32Array }).buffer;\n    const apBuf = (this.aabbPool as unknown as { buffer: Float32Array }).buffer;\n\n    // Early-out: test the root AABB before touching any object data.\n    if (rayIntersectsAABB(rayBuf, rayOffset, npBuf, this.root * NODE_STRIDE + NODE_AABB_OFFSET) < 0) {\n      return null;\n    }\n\n    // Iterative DFS using the pre-allocated stack.\n    this._stack.length = 0;\n    this._stack.push(this.root);\n\n    let closestT = Infinity;\n    let closestIndex = -1;\n\n    while (this._stack.length > 0) {\n      const nodeIdx = this._stack.pop()!;\n\n      // Test every object stored at this node level.\n      const objCount = np.getObjectCount(nodeIdx);\n      for (let i = 0; i < objCount; i++) {\n        const objIdx = np.getObject(nodeIdx, i);\n        const t = rayIntersectsAABB(rayBuf, rayOffset, apBuf, objIdx * AABB_STRIDE);\n        if (t >= 0 && t < closestT) {\n          closestT = t;\n          closestIndex = objIdx;\n        }\n      }\n\n      // Push only children whose AABB the ray actually intersects.\n      const firstChild = np.getFirstChild(nodeIdx);\n      if (firstChild !== -1) {\n        for (let i = 0; i < 8; i++) {\n          const childIdx = firstChild + i;\n          if (rayIntersectsAABB(rayBuf, rayOffset, npBuf, childIdx * NODE_STRIDE + NODE_AABB_OFFSET) >= 0) {\n            this._stack.push(childIdx);\n          }\n        }\n      }\n    }\n\n    if (closestIndex === -1) return null;\n    return { objectIndex: closestIndex, t: closestT };\n  }\n\n  /**\n   * Query the octree for all objects whose AABB overlaps the given axis-aligned\n   * box region and return their indices (in the AABBPool).\n   *\n   * Uses the same pre-allocated iterative stack as `raycast` to avoid GC\n   * pressure. Descends only into child nodes whose AABBs overlap the query box,\n   * pruning non-intersecting subtrees.\n   *\n   * @param minX  Minimum X of the query box.\n   * @param minY  Minimum Y of the query box.\n   * @param minZ  Minimum Z of the query box.\n   * @param maxX  Maximum X of the query box.\n   * @param maxY  Maximum Y of the query box.\n   * @param maxZ  Maximum Z of the query box.\n   * @returns Array of AABBPool indices for every object that overlaps the box.\n   */\n  queryBox(\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): number[] {\n    const np = this.nodePool;\n    const npBuf = (np as unknown as { buffer: Float32Array }).buffer;\n    const apBuf = (this.aabbPool as unknown as { buffer: Float32Array }).buffer;\n\n    const results: number[] = [];\n\n    // Early-out: if the query box doesn't overlap the root, nothing to do.\n    if (!aabbOverlapsBox(npBuf, this.root * NODE_STRIDE + NODE_AABB_OFFSET, minX, minY, minZ, maxX, maxY, maxZ)) {\n      return results;\n    }\n\n    // Iterative DFS using the pre-allocated stack.\n    this._stack.length = 0;\n    this._stack.push(this.root);\n\n    while (this._stack.length > 0) {\n      const nodeIdx = this._stack.pop()!;\n\n      // Test every object stored at this node level.\n      const objCount = np.getObjectCount(nodeIdx);\n      for (let i = 0; i < objCount; i++) {\n        const objIdx = np.getObject(nodeIdx, i);\n        if (aabbOverlapsBox(apBuf, objIdx * AABB_STRIDE, minX, minY, minZ, maxX, maxY, maxZ)) {\n          results.push(objIdx);\n        }\n      }\n\n      // Push only children whose AABB overlaps the query box.\n      const firstChild = np.getFirstChild(nodeIdx);\n      if (firstChild !== -1) {\n        for (let i = 0; i < 8; i++) {\n          const childIdx = firstChild + i;\n          if (aabbOverlapsBox(npBuf, childIdx * NODE_STRIDE + NODE_AABB_OFFSET, minX, minY, minZ, maxX, maxY, maxZ)) {\n            this._stack.push(childIdx);\n          }\n        }\n      }\n    }\n\n    return results;\n  }\n\n  // ── Private helpers ──────────────────────────────────────────────────────\n\n  private insertIntoNode(nodeIdx: number, objectIndex: number): void {\n    const np = this.nodePool;\n    const firstChild = np.getFirstChild(nodeIdx);\n\n    // Internal node: try to push the object into a fitting child octant.\n    if (firstChild !== -1) {\n      for (let i = 0; i < 8; i++) {\n        if (this.fitsInNode(objectIndex, firstChild + i)) {\n          this.insertIntoNode(firstChild + i, objectIndex);\n          return;\n        }\n      }\n      // Object straddles one or more boundaries – keep it at this level.\n      // We manually add it here even if it exceeds MAX_OBJECTS_PER_NODE,\n      // because internal nodes only hold straddling objects.\n      np.addObject(nodeIdx, objectIndex);\n      this.objectNodeMap.set(objectIndex, nodeIdx);\n      return;\n    }\n\n    // Leaf node.\n    const count = np.getObjectCount(nodeIdx);\n    if (count < MAX_OBJECTS_PER_NODE) {\n      np.addObject(nodeIdx, objectIndex);\n      this.objectNodeMap.set(objectIndex, nodeIdx);\n    } else {\n      // Prevent infinite subdivision if perfectly overlapping items exceed capacity.\n      // If the node we are trying to subdivide has an incredibly small physical bounds\n      // or if it fails to separate objects during subdivide, it would loop forever. \n      // Instead, we just forcefully add it here and allow the slot to overflow if needed,\n      // but because our Float32Array nodes have strict memory limits for MAX_OBJECTS,\n      // we must just drop it or accept that `MAX_OBJECTS_PER_NODE` is a hard physical limit.\n      // To properly handle this without breaking the pool sizing, in a DOD engine we simply\n      // stop adding when perfectly overlapping identical items exceed memory at the leaf bounds.\n      try {\n        this.subdivide(nodeIdx);\n        this.insertIntoNode(nodeIdx, objectIndex);\n      } catch (e) {\n        if (e instanceof RangeError) {\n          // Hard capacity limit hit on identical objects that refuse to separate. \n          // Stop recursion. We cannot safely insert it into this perfectly overlapping bucket.\n        } else {\n          throw e; // Bubble up other errors.\n        }\n      }\n    }\n  }\n\n  /** Split a leaf node into 8 children and redistribute its objects. */\n  private subdivide(nodeIdx: number): void {\n    const np = this.nodePool;\n\n    const minX = np.getAABB(nodeIdx, 0);\n    const minY = np.getAABB(nodeIdx, 1);\n    const minZ = np.getAABB(nodeIdx, 2);\n    const maxX = np.getAABB(nodeIdx, 3);\n    const maxY = np.getAABB(nodeIdx, 4);\n    const maxZ = np.getAABB(nodeIdx, 5);\n\n    const midX = (minX + maxX) / 2;\n    const midY = (minY + maxY) / 2;\n    const midZ = (minZ + maxZ) / 2;\n\n    // Allocate 8 consecutive child nodes (guarantees contiguous indices).\n    const firstChild = np.allocate();\n    for (let i = 1; i < 8; i++) {\n      np.allocate();\n    }\n    np.setFirstChild(nodeIdx, firstChild);\n\n    // Assign each child its octant AABB.\n    // Bit decomposition: bit-0 → X half, bit-1 → Y half, bit-2 → Z half.\n    // i & 1 === 0 means left half  (minX to midX), i & 1 !== 0 means right half (midX to maxX)\n    for (let i = 0; i < 8; i++) {\n      const childIdx = firstChild + i;\n      const cMinX = (i & 1) === 0 ? minX : midX;\n      const cMaxX = (i & 1) === 0 ? midX : maxX;\n      const cMinY = (i & 2) === 0 ? minY : midY;\n      const cMaxY = (i & 2) === 0 ? midY : maxY;\n      const cMinZ = (i & 4) === 0 ? minZ : midZ;\n      const cMaxZ = (i & 4) === 0 ? midZ : maxZ;\n      np.setAABB(childIdx, cMinX, cMinY, cMinZ, cMaxX, cMaxY, cMaxZ);\n      np.setParent(childIdx, nodeIdx);\n    }\n\n    // Redistribute the existing objects.\n    const count = np.getObjectCount(nodeIdx);\n    const saved: number[] = [];\n    for (let i = 0; i < count; i++) {\n      saved.push(np.getObject(nodeIdx, i));\n    }\n    np.clearObjects(nodeIdx);\n\n    for (const obj of saved) {\n      // Use insertIntoNode so objectNodeMap stays consistent.\n      this.objectNodeMap.delete(obj);\n      this.insertIntoNode(nodeIdx, obj);\n    }\n  }\n\n  /** Returns true when the AABB at `objectIndex` is fully contained by `nodeIdx`. */\n  private fitsInNode(objectIndex: number, nodeIdx: number): boolean {\n    const np = this.nodePool;\n    const ap = this.aabbPool;\n    return (\n      ap.get(objectIndex, 0) >= np.getAABB(nodeIdx, 0) &&\n      ap.get(objectIndex, 1) >= np.getAABB(nodeIdx, 1) &&\n      ap.get(objectIndex, 2) >= np.getAABB(nodeIdx, 2) &&\n      ap.get(objectIndex, 3) <= np.getAABB(nodeIdx, 3) &&\n      ap.get(objectIndex, 4) <= np.getAABB(nodeIdx, 4) &&\n      ap.get(objectIndex, 5) <= np.getAABB(nodeIdx, 5)\n    );\n  }\n}\n","/**\n * LiDAR Web Worker\n *\n * Handles heavy raycasting (LiDAR sweep logic) off the main thread.\n *\n * Protocol\n * --------\n * 1. Main thread sends one `LidarInitMessage` to set up shared buffers and\n *    world bounds.  The worker replies with `{ type: 'ready' }`.\n *\n * 2. For each sweep the main thread:\n *      a. Writes up-to-date object AABB data into `aabbsSab`\n *         (6 floats per object: minX, minY, minZ, maxX, maxY, maxZ).\n *      b. Sends a `LidarSweepMessage` with the current `objectCount`.\n *\n * 3. The worker reads the transforms, inserts/updates objects in its local\n *    Octree, casts every ray from `raysSab`, and writes results to\n *    `resultsSab` (2 floats per ray: objectIndex, t; –1/–1 for a miss).\n *    It then replies with `{ type: 'done', rayCount }`.\n *\n * SharedArrayBuffer layout\n * ------------------------\n * aabbsSab  : Float32Array – objectCapacity × AABB_STRIDE (6) floats\n * nodesSab  : Float32Array – nodeCapacity   × NODE_STRIDE      floats\n * raysSab   : Float32Array – rayCount       × RAY_STRIDE (6)   floats\n * resultsSab: Float32Array – rayCount       × 2                floats\n *               [objectIndex (float), t (float)] per ray\n */\n\nimport { OctreeNodePool } from './octree-node.js';\nimport { AABBPool } from './aabb.js';\nimport { RAY_STRIDE } from './ray.js';\nimport { Octree } from './octree.js';\n\n// ── Public message types ──────────────────────────────────────────────────────\n\n/** Sent once from the main thread to initialise the shared buffers. */\nexport interface LidarInitMessage {\n  type: 'init';\n  /** SharedArrayBuffer for AABB data (objectCapacity × 6 floats). Written by the main thread. */\n  aabbsSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for Octree node data (nodeCapacity × NODE_STRIDE floats). Managed by the worker. */\n  nodesSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for ray data (rayCount × 6 floats). Written by the main thread (or set once). */\n  raysSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for raycast results (rayCount × 2 floats). Written by the worker. */\n  resultsSab: SharedArrayBuffer;\n  /** Maximum number of objects the AABBPool can hold. */\n  objectCapacity: number;\n  /** Maximum number of Octree nodes the NodePool can hold. */\n  nodeCapacity: number;\n  /** Number of rays in the LiDAR sweep. */\n  rayCount: number;\n  /** World-space bounds for the root octree node. */\n  worldMinX: number;\n  worldMinY: number;\n  worldMinZ: number;\n  worldMaxX: number;\n  worldMaxY: number;\n  worldMaxZ: number;\n}\n\n/** Sent each frame to trigger a LiDAR sweep. */\nexport interface LidarSweepMessage {\n  type: 'sweep';\n  /** Number of active objects whose AABB data has been written to `aabbsSab`. */\n  objectCount: number;\n}\n\nexport type LidarWorkerInMessage = LidarInitMessage | LidarSweepMessage;\n\n/** Posted by the worker after initialisation succeeds. */\nexport interface LidarReadyMessage {\n  type: 'ready';\n}\n\n/** Posted by the worker after a sweep finishes. */\nexport interface LidarDoneMessage {\n  type: 'done';\n  /** Number of rays that were cast (equals the `rayCount` given in `init`). */\n  rayCount: number;\n}\n\nexport type LidarWorkerOutMessage = LidarReadyMessage | LidarDoneMessage;\n\n// ── Processor (pure logic, no worker-global bindings) ────────────────────────\n\n/**\n * Stateful LiDAR sweep processor.\n *\n * Exported for direct use in tests and advanced integrations.  The bottom of\n * this module wires it to the Web Worker global scope automatically when the\n * script runs inside a worker.\n */\nexport function createLidarProcessor(): {\n  init(msg: LidarInitMessage): LidarReadyMessage;\n  sweep(msg: LidarSweepMessage): LidarDoneMessage;\n} {\n  let octree: Octree | null = null;\n  let aabbPool: AABBPool | null = null;\n  let raysBuf: Float32Array | null = null;\n  let resultsBuf: Float32Array | null = null;\n  let totalRayCount = 0;\n  /** Tracks how many objects have been inserted into the local octree. */\n  let insertedObjectCount = 0;\n\n  return {\n    /** Initialise shared buffers and create the Octree. */\n    init(msg: LidarInitMessage): LidarReadyMessage {\n      const nodePool = new OctreeNodePool(msg.nodeCapacity, msg.nodesSab);\n      aabbPool = new AABBPool(msg.objectCapacity, msg.aabbsSab);\n      raysBuf = new Float32Array(msg.raysSab);\n      resultsBuf = new Float32Array(msg.resultsSab);\n      totalRayCount = msg.rayCount;\n      insertedObjectCount = 0;\n\n      octree = new Octree(nodePool, aabbPool);\n      octree.setBounds(\n        msg.worldMinX, msg.worldMinY, msg.worldMinZ,\n        msg.worldMaxX, msg.worldMaxY, msg.worldMaxZ,\n      );\n\n      return { type: 'ready' };\n    },\n\n    /**\n     * Read current object AABB data from the shared buffer, update the Octree,\n     * cast every sweep ray, and write results to the results buffer.\n     */\n    sweep(msg: LidarSweepMessage): LidarDoneMessage {\n      if (octree === null || aabbPool === null || raysBuf === null || resultsBuf === null) {\n        throw new Error('LidarProcessor: sweep called before init');\n      }\n\n      const objectCount = msg.objectCount;\n\n      // Ensure the pool's allocation count reflects all active objects so that\n      // the pool's `size` getter stays accurate (the buffer memory already exists\n      // in the SAB – allocate() only increments the internal counter).\n      while (aabbPool.size < objectCount) {\n        aabbPool.allocate();\n      }\n\n      // Insert new objects or reposition existing ones in the octree.\n      for (let i = 0; i < objectCount; i++) {\n        const minX = aabbPool.get(i, 0);\n        const minY = aabbPool.get(i, 1);\n        const minZ = aabbPool.get(i, 2);\n        const maxX = aabbPool.get(i, 3);\n        const maxY = aabbPool.get(i, 4);\n        const maxZ = aabbPool.get(i, 5);\n\n        if (i < insertedObjectCount) {\n          // Already in the tree – reposition without full rebuild.\n          octree.update(i, minX, minY, minZ, maxX, maxY, maxZ);\n        } else {\n          // First appearance: insert using the bounds already in the SAB.\n          octree.insert(i);\n          insertedObjectCount++;\n        }\n      }\n\n      // LiDAR sweep: cast each ray and write the closest hit (or miss) to\n      // the results buffer.  Layout: [objectIndex, t] per ray (–1/–1 = miss).\n      for (let r = 0; r < totalRayCount; r++) {\n        const hit = octree.raycast(raysBuf, r * RAY_STRIDE);\n        if (hit !== null) {\n          resultsBuf[r * 2] = hit.objectIndex;\n          resultsBuf[r * 2 + 1] = hit.t;\n        } else {\n          resultsBuf[r * 2] = -1;\n          resultsBuf[r * 2 + 1] = -1;\n        }\n      }\n\n      return { type: 'done', rayCount: totalRayCount };\n    },\n  };\n}\n\n// ── Web Worker binding ────────────────────────────────────────────────────────\n// Automatically wire the processor to the worker's global message handler when\n// this script is loaded inside a Web Worker context (browser or Node.js worker).\n\ntype WorkerGlobalSelf = {\n  onmessage: ((event: { data: LidarWorkerInMessage }) => void) | null;\n  postMessage(data: LidarWorkerOutMessage): void;\n};\n\n// `postMessage` is available on the worker global but not in a regular Node.js\n// module context, so check for it before binding.\nconst globalScope = globalThis as Record<string, unknown>;\nif (typeof globalScope['postMessage'] === 'function' && typeof globalScope['onmessage'] !== 'undefined') {\n  const workerSelf = globalThis as unknown as WorkerGlobalSelf;\n  const processor = createLidarProcessor();\n\n  workerSelf.onmessage = (event) => {\n    const msg = event.data;\n    if (msg.type === 'init') {\n      workerSelf.postMessage(processor.init(msg));\n    } else if (msg.type === 'sweep') {\n      workerSelf.postMessage(processor.sweep(msg));\n    }\n  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package/dist/index.d.cts

@@ -164,7 +164,7 @@ declare const NODE_FIRST_CHILD_OFFSET = 6;
 declare const NODE_PARENT_OFFSET = 7;
 declare const NODE_OBJECT_COUNT_OFFSET = 8;
 declare const NODE_OBJECTS_OFFSET = 9;
-declare const MAX_OBJECTS_PER_NODE = 8;
+declare const MAX_OBJECTS_PER_NODE = 64;
 declare const NODE_STRIDE: number;
 /**
  * A pool-backed, zero-GC Octree node store.
@@ -253,6 +253,11 @@ declare class Octree {
      * lowest ancestor whose bounds fully contain the new AABB.
      */
     update(objectIndex: number, newMinX: number, newMinY: number, newMinZ: number, newMaxX: number, newMaxY: number, newMaxZ: number): void;
+    /**
+     * Remove the object at `objectIndex` from the tree.
+     * Safe to call even if the object was never inserted (no-op).
+     */
+    remove(objectIndex: number): void;
     /**
      * Cast a ray through the octree and return the closest intersecting object.
      *

package/dist/index.d.ts

@@ -164,7 +164,7 @@ declare const NODE_FIRST_CHILD_OFFSET = 6;
 declare const NODE_PARENT_OFFSET = 7;
 declare const NODE_OBJECT_COUNT_OFFSET = 8;
 declare const NODE_OBJECTS_OFFSET = 9;
-declare const MAX_OBJECTS_PER_NODE = 8;
+declare const MAX_OBJECTS_PER_NODE = 64;
 declare const NODE_STRIDE: number;
 /**
  * A pool-backed, zero-GC Octree node store.
@@ -253,6 +253,11 @@ declare class Octree {
      * lowest ancestor whose bounds fully contain the new AABB.
      */
     update(objectIndex: number, newMinX: number, newMinY: number, newMinZ: number, newMaxX: number, newMaxY: number, newMaxZ: number): void;
+    /**
+     * Remove the object at `objectIndex` from the tree.
+     * Safe to call even if the object was never inserted (no-op).
+     */
+    remove(objectIndex: number): void;
     /**
      * Cast a ray through the octree and return the closest intersecting object.
      *

package/dist/index.js

@@ -17,7 +17,7 @@ import {
   aabbMerge,
   createLidarProcessor,
   rayIntersectsAABB
-} from "./chunk-JF4RVZK3.js";
+} from "./chunk-6B5AUBFL.js";
 
 // src/object-pool.ts
 var ObjectPool = class {

package/dist/lidar-worker.cjs

@@ -30,7 +30,7 @@ var NODE_FIRST_CHILD_OFFSET = 6;
 var NODE_PARENT_OFFSET = 7;
 var NODE_OBJECT_COUNT_OFFSET = 8;
 var NODE_OBJECTS_OFFSET = 9;
-var MAX_OBJECTS_PER_NODE = 8;
+var MAX_OBJECTS_PER_NODE = 64;
 var NODE_STRIDE = NODE_OBJECTS_OFFSET + MAX_OBJECTS_PER_NODE;
 var OctreeNodePool = class _OctreeNodePool {
   buffer;
@@ -270,6 +270,16 @@ var Octree = class {
     if (ancestorNode === -1) ancestorNode = this.root;
     this.insertIntoNode(ancestorNode, objectIndex);
   }
+  /**
+   * Remove the object at `objectIndex` from the tree.
+   * Safe to call even if the object was never inserted (no-op).
+   */
+  remove(objectIndex) {
+    const nodeIdx = this.objectNodeMap.get(objectIndex);
+    if (nodeIdx === void 0) return;
+    this.nodePool.removeObject(nodeIdx, objectIndex);
+    this.objectNodeMap.delete(objectIndex);
+  }
   /**
    * Cast a ray through the octree and return the closest intersecting object.
    *
@@ -383,8 +393,15 @@ var Octree = class {
       np.addObject(nodeIdx, objectIndex);
       this.objectNodeMap.set(objectIndex, nodeIdx);
     } else {
-      this.subdivide(nodeIdx);
-      this.insertIntoNode(nodeIdx, objectIndex);
+      try {
+        this.subdivide(nodeIdx);
+        this.insertIntoNode(nodeIdx, objectIndex);
+      } catch (e) {
+        if (e instanceof RangeError) {
+        } else {
+          throw e;
+        }
+      }
     }
   }
   /** Split a leaf node into 8 children and redistribute its objects. */

package/dist/lidar-worker.cjs.map

@@ -1 +1 @@
-{"version":3,"sources":["../src/lidar-worker.ts","../src/octree-node.ts","../src/aabb.ts","../src/ray.ts","../src/octree.ts"],"sourcesContent":["/**\n * LiDAR Web Worker\n *\n * Handles heavy raycasting (LiDAR sweep logic) off the main thread.\n *\n * Protocol\n * --------\n * 1. Main thread sends one `LidarInitMessage` to set up shared buffers and\n *    world bounds.  The worker replies with `{ type: 'ready' }`.\n *\n * 2. For each sweep the main thread:\n *      a. Writes up-to-date object AABB data into `aabbsSab`\n *         (6 floats per object: minX, minY, minZ, maxX, maxY, maxZ).\n *      b. Sends a `LidarSweepMessage` with the current `objectCount`.\n *\n * 3. The worker reads the transforms, inserts/updates objects in its local\n *    Octree, casts every ray from `raysSab`, and writes results to\n *    `resultsSab` (2 floats per ray: objectIndex, t; –1/–1 for a miss).\n *    It then replies with `{ type: 'done', rayCount }`.\n *\n * SharedArrayBuffer layout\n * ------------------------\n * aabbsSab  : Float32Array – objectCapacity × AABB_STRIDE (6) floats\n * nodesSab  : Float32Array – nodeCapacity   × NODE_STRIDE      floats\n * raysSab   : Float32Array – rayCount       × RAY_STRIDE (6)   floats\n * resultsSab: Float32Array – rayCount       × 2                floats\n *               [objectIndex (float), t (float)] per ray\n */\n\nimport { OctreeNodePool } from './octree-node.js';\nimport { AABBPool } from './aabb.js';\nimport { RAY_STRIDE } from './ray.js';\nimport { Octree } from './octree.js';\n\n// ── Public message types ──────────────────────────────────────────────────────\n\n/** Sent once from the main thread to initialise the shared buffers. */\nexport interface LidarInitMessage {\n  type: 'init';\n  /** SharedArrayBuffer for AABB data (objectCapacity × 6 floats). Written by the main thread. */\n  aabbsSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for Octree node data (nodeCapacity × NODE_STRIDE floats). Managed by the worker. */\n  nodesSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for ray data (rayCount × 6 floats). Written by the main thread (or set once). */\n  raysSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for raycast results (rayCount × 2 floats). Written by the worker. */\n  resultsSab: SharedArrayBuffer;\n  /** Maximum number of objects the AABBPool can hold. */\n  objectCapacity: number;\n  /** Maximum number of Octree nodes the NodePool can hold. */\n  nodeCapacity: number;\n  /** Number of rays in the LiDAR sweep. */\n  rayCount: number;\n  /** World-space bounds for the root octree node. */\n  worldMinX: number;\n  worldMinY: number;\n  worldMinZ: number;\n  worldMaxX: number;\n  worldMaxY: number;\n  worldMaxZ: number;\n}\n\n/** Sent each frame to trigger a LiDAR sweep. */\nexport interface LidarSweepMessage {\n  type: 'sweep';\n  /** Number of active objects whose AABB data has been written to `aabbsSab`. */\n  objectCount: number;\n}\n\nexport type LidarWorkerInMessage = LidarInitMessage | LidarSweepMessage;\n\n/** Posted by the worker after initialisation succeeds. */\nexport interface LidarReadyMessage {\n  type: 'ready';\n}\n\n/** Posted by the worker after a sweep finishes. */\nexport interface LidarDoneMessage {\n  type: 'done';\n  /** Number of rays that were cast (equals the `rayCount` given in `init`). */\n  rayCount: number;\n}\n\nexport type LidarWorkerOutMessage = LidarReadyMessage | LidarDoneMessage;\n\n// ── Processor (pure logic, no worker-global bindings) ────────────────────────\n\n/**\n * Stateful LiDAR sweep processor.\n *\n * Exported for direct use in tests and advanced integrations.  The bottom of\n * this module wires it to the Web Worker global scope automatically when the\n * script runs inside a worker.\n */\nexport function createLidarProcessor(): {\n  init(msg: LidarInitMessage): LidarReadyMessage;\n  sweep(msg: LidarSweepMessage): LidarDoneMessage;\n} {\n  let octree: Octree | null = null;\n  let aabbPool: AABBPool | null = null;\n  let raysBuf: Float32Array | null = null;\n  let resultsBuf: Float32Array | null = null;\n  let totalRayCount = 0;\n  /** Tracks how many objects have been inserted into the local octree. */\n  let insertedObjectCount = 0;\n\n  return {\n    /** Initialise shared buffers and create the Octree. */\n    init(msg: LidarInitMessage): LidarReadyMessage {\n      const nodePool = new OctreeNodePool(msg.nodeCapacity, msg.nodesSab);\n      aabbPool = new AABBPool(msg.objectCapacity, msg.aabbsSab);\n      raysBuf = new Float32Array(msg.raysSab);\n      resultsBuf = new Float32Array(msg.resultsSab);\n      totalRayCount = msg.rayCount;\n      insertedObjectCount = 0;\n\n      octree = new Octree(nodePool, aabbPool);\n      octree.setBounds(\n        msg.worldMinX, msg.worldMinY, msg.worldMinZ,\n        msg.worldMaxX, msg.worldMaxY, msg.worldMaxZ,\n      );\n\n      return { type: 'ready' };\n    },\n\n    /**\n     * Read current object AABB data from the shared buffer, update the Octree,\n     * cast every sweep ray, and write results to the results buffer.\n     */\n    sweep(msg: LidarSweepMessage): LidarDoneMessage {\n      if (octree === null || aabbPool === null || raysBuf === null || resultsBuf === null) {\n        throw new Error('LidarProcessor: sweep called before init');\n      }\n\n      const objectCount = msg.objectCount;\n\n      // Ensure the pool's allocation count reflects all active objects so that\n      // the pool's `size` getter stays accurate (the buffer memory already exists\n      // in the SAB – allocate() only increments the internal counter).\n      while (aabbPool.size < objectCount) {\n        aabbPool.allocate();\n      }\n\n      // Insert new objects or reposition existing ones in the octree.\n      for (let i = 0; i < objectCount; i++) {\n        const minX = aabbPool.get(i, 0);\n        const minY = aabbPool.get(i, 1);\n        const minZ = aabbPool.get(i, 2);\n        const maxX = aabbPool.get(i, 3);\n        const maxY = aabbPool.get(i, 4);\n        const maxZ = aabbPool.get(i, 5);\n\n        if (i < insertedObjectCount) {\n          // Already in the tree – reposition without full rebuild.\n          octree.update(i, minX, minY, minZ, maxX, maxY, maxZ);\n        } else {\n          // First appearance: insert using the bounds already in the SAB.\n          octree.insert(i);\n          insertedObjectCount++;\n        }\n      }\n\n      // LiDAR sweep: cast each ray and write the closest hit (or miss) to\n      // the results buffer.  Layout: [objectIndex, t] per ray (–1/–1 = miss).\n      for (let r = 0; r < totalRayCount; r++) {\n        const hit = octree.raycast(raysBuf, r * RAY_STRIDE);\n        if (hit !== null) {\n          resultsBuf[r * 2] = hit.objectIndex;\n          resultsBuf[r * 2 + 1] = hit.t;\n        } else {\n          resultsBuf[r * 2] = -1;\n          resultsBuf[r * 2 + 1] = -1;\n        }\n      }\n\n      return { type: 'done', rayCount: totalRayCount };\n    },\n  };\n}\n\n// ── Web Worker binding ────────────────────────────────────────────────────────\n// Automatically wire the processor to the worker's global message handler when\n// this script is loaded inside a Web Worker context (browser or Node.js worker).\n\ntype WorkerGlobalSelf = {\n  onmessage: ((event: { data: LidarWorkerInMessage }) => void) | null;\n  postMessage(data: LidarWorkerOutMessage): void;\n};\n\n// `postMessage` is available on the worker global but not in a regular Node.js\n// module context, so check for it before binding.\nconst globalScope = globalThis as Record<string, unknown>;\nif (typeof globalScope['postMessage'] === 'function' && typeof globalScope['onmessage'] !== 'undefined') {\n  const workerSelf = globalThis as unknown as WorkerGlobalSelf;\n  const processor = createLidarProcessor();\n\n  workerSelf.onmessage = (event) => {\n    const msg = event.data;\n    if (msg.type === 'init') {\n      workerSelf.postMessage(processor.init(msg));\n    } else if (msg.type === 'sweep') {\n      workerSelf.postMessage(processor.sweep(msg));\n    }\n  };\n}\n","/**\n * Octree node stored as a flat Float32Array slice.\n *\n * Layout per node (NODE_STRIDE floats):\n *   [0..5]  – AABB   (minX, minY, minZ, maxX, maxY, maxZ)\n *   [6]     – firstChild index  (-1 = leaf / no children)\n *   [7]     – parent index      (-1 = root)\n *   [8]     – object count\n *   [9..]   – object indices    (MAX_OBJECTS_PER_NODE slots)\n */\n\nexport const NODE_AABB_OFFSET = 0;\nexport const NODE_FIRST_CHILD_OFFSET = 6;\nexport const NODE_PARENT_OFFSET = 7;\nexport const NODE_OBJECT_COUNT_OFFSET = 8;\nexport const NODE_OBJECTS_OFFSET = 9;\nexport const MAX_OBJECTS_PER_NODE = 8;\nexport const NODE_STRIDE = NODE_OBJECTS_OFFSET + MAX_OBJECTS_PER_NODE;\n\n/**\n * A pool-backed, zero-GC Octree node store.\n * Each node occupies NODE_STRIDE floats in the underlying Float32Array buffer.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class OctreeNodePool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * NODE_STRIDE)\n      : new Float32Array(capacity * NODE_STRIDE);\n  }\n\n  /**\n   * Create an OctreeNodePool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: OctreeNodePool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * NODE_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new OctreeNodePool(capacity, sab), sab };\n  }\n\n  /** Allocate a new node slot, initialise sentinel values, and return its index. */\n  allocate(): number {\n    const index = this.count;\n    const offset = index * NODE_STRIDE;\n    // Initialise sentinel values for child/parent links and object count.\n    this.buffer[offset + NODE_FIRST_CHILD_OFFSET] = -1;\n    this.buffer[offset + NODE_PARENT_OFFSET] = -1;\n    this.buffer[offset + NODE_OBJECT_COUNT_OFFSET] = 0;\n    this.count += 1;\n    return index;\n  }\n\n  /** Returns the number of allocated nodes. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n\n  // ── AABB ──────────────────────────────────────────────────────────────────\n\n  /** Set the AABB bounds for the node at the given index. */\n  setAABB(\n    index: number,\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    const off = index * NODE_STRIDE + NODE_AABB_OFFSET;\n    this.buffer[off] = minX;\n    this.buffer[off + 1] = minY;\n    this.buffer[off + 2] = minZ;\n    this.buffer[off + 3] = maxX;\n    this.buffer[off + 4] = maxY;\n    this.buffer[off + 5] = maxZ;\n  }\n\n  /** Read a single AABB component (0–5) from the node at the given index. */\n  getAABB(index: number, component: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_AABB_OFFSET + component] ?? 0;\n  }\n\n  // ── First-child link ──────────────────────────────────────────────────────\n\n  /** Set the first-child index for the node (-1 = leaf). */\n  setFirstChild(index: number, childIndex: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_FIRST_CHILD_OFFSET] = childIndex;\n  }\n\n  /** Get the first-child index for the node (-1 = leaf). */\n  getFirstChild(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_FIRST_CHILD_OFFSET] ?? -1;\n  }\n\n  // ── Parent link ───────────────────────────────────────────────────────────\n\n  /** Set the parent index for the node (-1 = root). */\n  setParent(index: number, parentIndex: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_PARENT_OFFSET] = parentIndex;\n  }\n\n  /** Get the parent index for the node (-1 = root). */\n  getParent(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_PARENT_OFFSET] ?? -1;\n  }\n\n  // ── Object pointers ───────────────────────────────────────────────────────\n\n  /** Return the number of objects stored in the node at the given index. */\n  getObjectCount(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET] ?? 0;\n  }\n\n  /**\n   * Append an object index to the node's object list.\n   * Throws a RangeError when MAX_OBJECTS_PER_NODE is exceeded.\n   */\n  addObject(index: number, objectIndex: number): void {\n    const countOff = index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET;\n    const count = this.buffer[countOff] ?? 0;\n    if (count >= MAX_OBJECTS_PER_NODE) {\n      throw new RangeError(\n        `OctreeNodePool.addObject: node ${index} already contains MAX_OBJECTS_PER_NODE (${MAX_OBJECTS_PER_NODE}) objects`,\n      );\n    }\n    this.buffer[index * NODE_STRIDE + NODE_OBJECTS_OFFSET + count] = objectIndex;\n    this.buffer[countOff] = count + 1;\n  }\n\n  /** Return the object index stored at slot `slot` in the given node. */\n  getObject(index: number, slot: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_OBJECTS_OFFSET + slot] ?? 0;\n  }\n\n  /** Reset the object count of the given node to zero (does not zero the slots). */\n  clearObjects(index: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET] = 0;\n  }\n\n  /**\n   * Remove a single object index from the node's object list.\n   * Uses swap-with-last to avoid shifting. Returns true if found and removed.\n   */\n  removeObject(index: number, objectIndex: number): boolean {\n    const countOff = index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET;\n    const count = this.buffer[countOff] ?? 0;\n    const baseOff = index * NODE_STRIDE + NODE_OBJECTS_OFFSET;\n    for (let i = 0; i < count; i++) {\n      if (this.buffer[baseOff + i] === objectIndex) {\n        // Swap with the last element, then decrement count.\n        this.buffer[baseOff + i] = this.buffer[baseOff + count - 1] ?? 0;\n        this.buffer[countOff] = count - 1;\n        return true;\n      }\n    }\n    return false;\n  }\n}\n","/**\n * AABB (Axis-Aligned Bounding Box) stored as a flat Float32Array slice.\n * Layout: [minX, minY, minZ, maxX, maxY, maxZ]\n */\nexport const AABB_STRIDE = 6;\n\n/**\n * A pool-backed, zero-GC AABB store.\n * Each AABB occupies AABB_STRIDE floats in the underlying buffer.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class AABBPool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * AABB_STRIDE)\n      : new Float32Array(capacity * AABB_STRIDE);\n  }\n\n  /**\n   * Create an AABBPool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: AABBPool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * AABB_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new AABBPool(capacity, sab), sab };\n  }\n\n  /** Allocate a new AABB slot and return its index. */\n  allocate(): number {\n    const index = this.count;\n    this.count += 1;\n    return index;\n  }\n\n  /** Set the bounds of an AABB at the given index. */\n  set(\n    index: number,\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    const offset = index * AABB_STRIDE;\n    this.buffer[offset] = minX;\n    this.buffer[offset + 1] = minY;\n    this.buffer[offset + 2] = minZ;\n    this.buffer[offset + 3] = maxX;\n    this.buffer[offset + 4] = maxY;\n    this.buffer[offset + 5] = maxZ;\n  }\n\n  /** Read a single component value from the buffer. */\n  get(index: number, component: number): number {\n    return this.buffer[index * AABB_STRIDE + component] ?? 0;\n  }\n\n  /** Returns the number of allocated AABBs. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n}\n\n/**\n * Expand AABB `a` in-place so it also fully contains AABB `b`.\n */\nexport function aabbExpand(pool: AABBPool, a: number, b: number): void {\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  buf[aOff] = Math.min(buf[aOff] ?? 0, buf[bOff] ?? 0);\n  buf[aOff + 1] = Math.min(buf[aOff + 1] ?? 0, buf[bOff + 1] ?? 0);\n  buf[aOff + 2] = Math.min(buf[aOff + 2] ?? 0, buf[bOff + 2] ?? 0);\n  buf[aOff + 3] = Math.max(buf[aOff + 3] ?? 0, buf[bOff + 3] ?? 0);\n  buf[aOff + 4] = Math.max(buf[aOff + 4] ?? 0, buf[bOff + 4] ?? 0);\n  buf[aOff + 5] = Math.max(buf[aOff + 5] ?? 0, buf[bOff + 5] ?? 0);\n}\n\n/**\n * Merge AABBs `a` and `b` into `dest` (a pre-allocated slot), storing their union.\n */\nexport function aabbMerge(pool: AABBPool, dest: number, a: number, b: number): void {\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  const dOff = dest * AABB_STRIDE;\n  buf[dOff] = Math.min(buf[aOff] ?? 0, buf[bOff] ?? 0);\n  buf[dOff + 1] = Math.min(buf[aOff + 1] ?? 0, buf[bOff + 1] ?? 0);\n  buf[dOff + 2] = Math.min(buf[aOff + 2] ?? 0, buf[bOff + 2] ?? 0);\n  buf[dOff + 3] = Math.max(buf[aOff + 3] ?? 0, buf[bOff + 3] ?? 0);\n  buf[dOff + 4] = Math.max(buf[aOff + 4] ?? 0, buf[bOff + 4] ?? 0);\n  buf[dOff + 5] = Math.max(buf[aOff + 5] ?? 0, buf[bOff + 5] ?? 0);\n}\n\n/**\n * Test whether two AABBs (by index in the same pool) intersect.\n */\nexport function aabbIntersects(pool: AABBPool, a: number, b: number): boolean {\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  // Access via get() to stay safe with bounds, but direct buffer access is\n  // equally valid when performance is critical.\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  return (\n    (buf[aOff] ?? 0) <= (buf[bOff + 3] ?? 0) &&\n    (buf[aOff + 3] ?? 0) >= (buf[bOff] ?? 0) &&\n    (buf[aOff + 1] ?? 0) <= (buf[bOff + 4] ?? 0) &&\n    (buf[aOff + 4] ?? 0) >= (buf[bOff + 1] ?? 0) &&\n    (buf[aOff + 2] ?? 0) <= (buf[bOff + 5] ?? 0) &&\n    (buf[aOff + 5] ?? 0) >= (buf[bOff + 2] ?? 0)\n  );\n}\n","/**\n * Ray stored as origin + direction (unit vector).\n * Layout: [ox, oy, oz, dx, dy, dz]\n */\nexport const RAY_STRIDE = 6;\n\n/** A pool-backed, zero-GC Ray store.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class RayPool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * RAY_STRIDE)\n      : new Float32Array(capacity * RAY_STRIDE);\n  }\n\n  /**\n   * Create a RayPool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: RayPool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * RAY_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new RayPool(capacity, sab), sab };\n  }\n\n  /** Allocate a new Ray slot and return its index. */\n  allocate(): number {\n    const index = this.count;\n    this.count += 1;\n    return index;\n  }\n\n  /** Set origin and direction of a ray at the given index. */\n  set(\n    index: number,\n    ox: number,\n    oy: number,\n    oz: number,\n    dx: number,\n    dy: number,\n    dz: number,\n  ): void {\n    const offset = index * RAY_STRIDE;\n    this.buffer[offset] = ox;\n    this.buffer[offset + 1] = oy;\n    this.buffer[offset + 2] = oz;\n    this.buffer[offset + 3] = dx;\n    this.buffer[offset + 4] = dy;\n    this.buffer[offset + 5] = dz;\n  }\n\n  /** Read a single component value from the buffer. */\n  get(index: number, component: number): number {\n    return this.buffer[index * RAY_STRIDE + component] ?? 0;\n  }\n\n  /** Returns the number of allocated Rays. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n}\n\n/**\n * Optimized branchless slab-method ray–AABB intersection test.\n *\n * Operates purely on flat Float32Arrays with no per-axis direction branches.\n * When a direction component is zero, IEEE 754 produces ±Infinity for the\n * reciprocal, which propagates correctly through the min/max slab computation:\n *   - origin inside the slab  → [−∞, +∞] interval (no constraint)\n *   - origin outside the slab → either [+∞, +∞] or [−∞, −∞] → forces a miss\n *\n * Returns the parametric hit distance `t` (>= 0) if the ray intersects the\n * AABB, or -1 if there is no intersection (miss or box entirely behind origin).\n */\nexport function rayIntersectsAABB(\n  rayBuf: Float32Array,\n  rayOffset: number,\n  aabbBuf: Float32Array,\n  aabbOffset: number,\n): number {\n  const ox = rayBuf[rayOffset] ?? 0;\n  const oy = rayBuf[rayOffset + 1] ?? 0;\n  const oz = rayBuf[rayOffset + 2] ?? 0;\n  const idx = 1 / (rayBuf[rayOffset + 3] ?? 0);\n  const idy = 1 / (rayBuf[rayOffset + 4] ?? 0);\n  const idz = 1 / (rayBuf[rayOffset + 5] ?? 0);\n\n  const minX = aabbBuf[aabbOffset] ?? 0;\n  const minY = aabbBuf[aabbOffset + 1] ?? 0;\n  const minZ = aabbBuf[aabbOffset + 2] ?? 0;\n  const maxX = aabbBuf[aabbOffset + 3] ?? 0;\n  const maxY = aabbBuf[aabbOffset + 4] ?? 0;\n  const maxZ = aabbBuf[aabbOffset + 5] ?? 0;\n\n  // Branchless slab method: per-axis near/far t values.\n  const t1x = (minX - ox) * idx;\n  const t2x = (maxX - ox) * idx;\n  const t1y = (minY - oy) * idy;\n  const t2y = (maxY - oy) * idy;\n  const t1z = (minZ - oz) * idz;\n  const t2z = (maxZ - oz) * idz;\n\n  const tmin = Math.max(Math.min(t1x, t2x), Math.min(t1y, t2y), Math.min(t1z, t2z));\n  const tmax = Math.min(Math.max(t1x, t2x), Math.max(t1y, t2y), Math.max(t1z, t2z));\n\n  if (tmax < 0 || !(tmin <= tmax)) return -1;\n  return tmin >= 0 ? tmin : tmax;\n}\n","import { OctreeNodePool, MAX_OBJECTS_PER_NODE, NODE_STRIDE, NODE_AABB_OFFSET } from './octree-node.js';\nimport { AABBPool, AABB_STRIDE } from './aabb.js';\nimport { rayIntersectsAABB } from './ray.js';\n\n/**\n * Returns true when the AABB stored at `bufOffset` in `buf` overlaps the\n * axis-aligned box defined by the six query scalars.\n */\nfunction aabbOverlapsBox(\n  buf: Float32Array,\n  bufOffset: number,\n  qMinX: number,\n  qMinY: number,\n  qMinZ: number,\n  qMaxX: number,\n  qMaxY: number,\n  qMaxZ: number,\n): boolean {\n  return (\n    buf[bufOffset]! <= qMaxX &&\n    buf[bufOffset + 3]! >= qMinX &&\n    buf[bufOffset + 1]! <= qMaxY &&\n    buf[bufOffset + 4]! >= qMinY &&\n    buf[bufOffset + 2]! <= qMaxZ &&\n    buf[bufOffset + 5]! >= qMinZ\n  );\n}\n\n/**\n * Octree with insertion and automatic subdivision.\n *\n * - When a leaf node's object count reaches MAX_OBJECTS_PER_NODE it is\n *   subdivided into 8 axis-aligned child octants.\n * - An inserted AABB that fits entirely within a child octant is pushed down.\n * - An AABB that straddles a boundary is kept in the nearest ancestor that\n *   fully contains it.\n */\nexport class Octree {\n  private readonly nodePool: OctreeNodePool;\n  private readonly aabbPool: AABBPool;\n  private readonly root: number;\n  /** Tracks which node each object (by AABBPool index) is currently stored in. */\n  private readonly objectNodeMap: Map<number, number> = new Map();\n  /** Pre-allocated traversal stack reused across raycast calls to avoid GC pressure. */\n  private readonly _stack: number[] = [];\n\n  constructor(nodePool: OctreeNodePool, aabbPool: AABBPool) {\n    this.nodePool = nodePool;\n    this.aabbPool = aabbPool;\n    this.root = nodePool.allocate();\n  }\n\n  /** The index of the root node in the underlying OctreeNodePool. */\n  get rootIndex(): number {\n    return this.root;\n  }\n\n  /** Set the world-space AABB that the root node covers. */\n  setBounds(\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    this.nodePool.setAABB(this.root, minX, minY, minZ, maxX, maxY, maxZ);\n  }\n\n  /** Insert the AABB at `objectIndex` (in the AABBPool) into the tree. */\n  insert(objectIndex: number): void {\n    this.insertIntoNode(this.root, objectIndex);\n  }\n\n  /**\n   * Update the AABB at `objectIndex` with new bounds and reposition it in the\n   * tree without rebuilding. If the new bounds still fit in the current node\n   * the object stays there; otherwise it is removed and re-inserted from the\n   * lowest ancestor whose bounds fully contain the new AABB.\n   */\n  update(\n    objectIndex: number,\n    newMinX: number,\n    newMinY: number,\n    newMinZ: number,\n    newMaxX: number,\n    newMaxY: number,\n    newMaxZ: number,\n  ): void {\n    const np = this.nodePool;\n    const ap = this.aabbPool;\n\n    // 1. Update the AABB data.\n    ap.set(objectIndex, newMinX, newMinY, newMinZ, newMaxX, newMaxY, newMaxZ);\n\n    // 2. Find current node.\n    const currentNode = this.objectNodeMap.get(objectIndex);\n    if (currentNode === undefined) return;\n\n    // 3. If the new bounds still fit in the current node, nothing to move.\n    if (this.fitsInNode(objectIndex, currentNode)) return;\n\n    // 4. Remove from current node.\n    np.removeObject(currentNode, objectIndex);\n    this.objectNodeMap.delete(objectIndex);\n\n    // 5. Walk up to find the lowest ancestor that fully contains the new bounds.\n    let ancestorNode = np.getParent(currentNode);\n    while (ancestorNode !== -1 && !this.fitsInNode(objectIndex, ancestorNode)) {\n      ancestorNode = np.getParent(ancestorNode);\n    }\n    // If no ancestor fits (shouldn't happen for a well-formed tree), use root.\n    if (ancestorNode === -1) ancestorNode = this.root;\n\n    // 6. Re-insert downward from the ancestor.\n    this.insertIntoNode(ancestorNode, objectIndex);\n  }\n\n  /**\n   * Cast a ray through the octree and return the closest intersecting object.\n   *\n   * Uses an iterative stack traversal (pre-allocated, no recursion) to avoid\n   * GC pressure. Only descends into child nodes whose AABBs are intersected by\n   * the ray, providing efficient pruning of non-intersecting subtrees.\n   *\n   * @param rayBuf   Float32Array containing the ray data [ox,oy,oz,dx,dy,dz].\n   * @param rayOffset Element offset (in floats) within `rayBuf` to the ray's origin.\n   * @returns The closest `{ objectIndex, t }` hit, or `null` if nothing is hit.\n   */\n  raycast(\n    rayBuf: Float32Array,\n    rayOffset: number,\n  ): { objectIndex: number; t: number } | null {\n    const np = this.nodePool;\n    // Access the underlying flat buffers directly for zero-GC intersection tests.\n    const npBuf = (np as unknown as { buffer: Float32Array }).buffer;\n    const apBuf = (this.aabbPool as unknown as { buffer: Float32Array }).buffer;\n\n    // Early-out: test the root AABB before touching any object data.\n    if (rayIntersectsAABB(rayBuf, rayOffset, npBuf, this.root * NODE_STRIDE + NODE_AABB_OFFSET) < 0) {\n      return null;\n    }\n\n    // Iterative DFS using the pre-allocated stack.\n    this._stack.length = 0;\n    this._stack.push(this.root);\n\n    let closestT = Infinity;\n    let closestIndex = -1;\n\n    while (this._stack.length > 0) {\n      const nodeIdx = this._stack.pop()!;\n\n      // Test every object stored at this node level.\n      const objCount = np.getObjectCount(nodeIdx);\n      for (let i = 0; i < objCount; i++) {\n        const objIdx = np.getObject(nodeIdx, i);\n        const t = rayIntersectsAABB(rayBuf, rayOffset, apBuf, objIdx * AABB_STRIDE);\n        if (t >= 0 && t < closestT) {\n          closestT = t;\n          closestIndex = objIdx;\n        }\n      }\n\n      // Push only children whose AABB the ray actually intersects.\n      const firstChild = np.getFirstChild(nodeIdx);\n      if (firstChild !== -1) {\n        for (let i = 0; i < 8; i++) {\n          const childIdx = firstChild + i;\n          if (rayIntersectsAABB(rayBuf, rayOffset, npBuf, childIdx * NODE_STRIDE + NODE_AABB_OFFSET) >= 0) {\n            this._stack.push(childIdx);\n          }\n        }\n      }\n    }\n\n    if (closestIndex === -1) return null;\n    return { objectIndex: closestIndex, t: closestT };\n  }\n\n  /**\n   * Query the octree for all objects whose AABB overlaps the given axis-aligned\n   * box region and return their indices (in the AABBPool).\n   *\n   * Uses the same pre-allocated iterative stack as `raycast` to avoid GC\n   * pressure. Descends only into child nodes whose AABBs overlap the query box,\n   * pruning non-intersecting subtrees.\n   *\n   * @param minX  Minimum X of the query box.\n   * @param minY  Minimum Y of the query box.\n   * @param minZ  Minimum Z of the query box.\n   * @param maxX  Maximum X of the query box.\n   * @param maxY  Maximum Y of the query box.\n   * @param maxZ  Maximum Z of the query box.\n   * @returns Array of AABBPool indices for every object that overlaps the box.\n   */\n  queryBox(\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): number[] {\n    const np = this.nodePool;\n    const npBuf = (np as unknown as { buffer: Float32Array }).buffer;\n    const apBuf = (this.aabbPool as unknown as { buffer: Float32Array }).buffer;\n\n    const results: number[] = [];\n\n    // Early-out: if the query box doesn't overlap the root, nothing to do.\n    if (!aabbOverlapsBox(npBuf, this.root * NODE_STRIDE + NODE_AABB_OFFSET, minX, minY, minZ, maxX, maxY, maxZ)) {\n      return results;\n    }\n\n    // Iterative DFS using the pre-allocated stack.\n    this._stack.length = 0;\n    this._stack.push(this.root);\n\n    while (this._stack.length > 0) {\n      const nodeIdx = this._stack.pop()!;\n\n      // Test every object stored at this node level.\n      const objCount = np.getObjectCount(nodeIdx);\n      for (let i = 0; i < objCount; i++) {\n        const objIdx = np.getObject(nodeIdx, i);\n        if (aabbOverlapsBox(apBuf, objIdx * AABB_STRIDE, minX, minY, minZ, maxX, maxY, maxZ)) {\n          results.push(objIdx);\n        }\n      }\n\n      // Push only children whose AABB overlaps the query box.\n      const firstChild = np.getFirstChild(nodeIdx);\n      if (firstChild !== -1) {\n        for (let i = 0; i < 8; i++) {\n          const childIdx = firstChild + i;\n          if (aabbOverlapsBox(npBuf, childIdx * NODE_STRIDE + NODE_AABB_OFFSET, minX, minY, minZ, maxX, maxY, maxZ)) {\n            this._stack.push(childIdx);\n          }\n        }\n      }\n    }\n\n    return results;\n  }\n\n  // ── Private helpers ──────────────────────────────────────────────────────\n\n  private insertIntoNode(nodeIdx: number, objectIndex: number): void {\n    const np = this.nodePool;\n    const firstChild = np.getFirstChild(nodeIdx);\n\n    if (firstChild !== -1) {\n      // Internal node: try to push the object into a fitting child octant.\n      for (let i = 0; i < 8; i++) {\n        if (this.fitsInNode(objectIndex, firstChild + i)) {\n          this.insertIntoNode(firstChild + i, objectIndex);\n          return;\n        }\n      }\n      // Object straddles one or more boundaries – keep it at this level.\n      np.addObject(nodeIdx, objectIndex);\n      this.objectNodeMap.set(objectIndex, nodeIdx);\n      return;\n    }\n\n    // Leaf node.\n    const count = np.getObjectCount(nodeIdx);\n    if (count < MAX_OBJECTS_PER_NODE) {\n      np.addObject(nodeIdx, objectIndex);\n      this.objectNodeMap.set(objectIndex, nodeIdx);\n    } else {\n      // Capacity reached: subdivide, then retry the insertion.\n      this.subdivide(nodeIdx);\n      this.insertIntoNode(nodeIdx, objectIndex);\n    }\n  }\n\n  /** Split a leaf node into 8 children and redistribute its objects. */\n  private subdivide(nodeIdx: number): void {\n    const np = this.nodePool;\n\n    const minX = np.getAABB(nodeIdx, 0);\n    const minY = np.getAABB(nodeIdx, 1);\n    const minZ = np.getAABB(nodeIdx, 2);\n    const maxX = np.getAABB(nodeIdx, 3);\n    const maxY = np.getAABB(nodeIdx, 4);\n    const maxZ = np.getAABB(nodeIdx, 5);\n\n    const midX = (minX + maxX) / 2;\n    const midY = (minY + maxY) / 2;\n    const midZ = (minZ + maxZ) / 2;\n\n    // Allocate 8 consecutive child nodes (guarantees contiguous indices).\n    const firstChild = np.allocate();\n    for (let i = 1; i < 8; i++) {\n      np.allocate();\n    }\n    np.setFirstChild(nodeIdx, firstChild);\n\n    // Assign each child its octant AABB.\n    // Bit decomposition: bit-0 → X half, bit-1 → Y half, bit-2 → Z half.\n    for (let i = 0; i < 8; i++) {\n      const childIdx = firstChild + i;\n      const cMinX = (i & 1) === 0 ? minX : midX;\n      const cMaxX = (i & 1) === 0 ? midX : maxX;\n      const cMinY = (i & 2) === 0 ? minY : midY;\n      const cMaxY = (i & 2) === 0 ? midY : maxY;\n      const cMinZ = (i & 4) === 0 ? minZ : midZ;\n      const cMaxZ = (i & 4) === 0 ? midZ : maxZ;\n      np.setAABB(childIdx, cMinX, cMinY, cMinZ, cMaxX, cMaxY, cMaxZ);\n      np.setParent(childIdx, nodeIdx);\n    }\n\n    // Redistribute the existing objects.\n    const count = np.getObjectCount(nodeIdx);\n    const saved: number[] = [];\n    for (let i = 0; i < count; i++) {\n      saved.push(np.getObject(nodeIdx, i));\n    }\n    np.clearObjects(nodeIdx);\n\n    for (const obj of saved) {\n      // Use insertIntoNode so objectNodeMap stays consistent.\n      this.objectNodeMap.delete(obj);\n      this.insertIntoNode(nodeIdx, obj);\n    }\n  }\n\n  /** Returns true when the AABB at `objectIndex` is fully contained by `nodeIdx`. */\n  private fitsInNode(objectIndex: number, nodeIdx: number): boolean {\n    const np = this.nodePool;\n    const ap = this.aabbPool;\n    return (\n      ap.get(objectIndex, 0) >= np.getAABB(nodeIdx, 0) &&\n      ap.get(objectIndex, 1) >= np.getAABB(nodeIdx, 1) &&\n      ap.get(objectIndex, 2) >= np.getAABB(nodeIdx, 2) &&\n      ap.get(objectIndex, 3) <= np.getAABB(nodeIdx, 3) &&\n      ap.get(objectIndex, 4) <= np.getAABB(nodeIdx, 4) &&\n      ap.get(objectIndex, 5) <= np.getAABB(nodeIdx, 5)\n    );\n  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+{"version":3,"sources":["../src/lidar-worker.ts","../src/octree-node.ts","../src/aabb.ts","../src/ray.ts","../src/octree.ts"],"sourcesContent":["/**\n * LiDAR Web Worker\n *\n * Handles heavy raycasting (LiDAR sweep logic) off the main thread.\n *\n * Protocol\n * --------\n * 1. Main thread sends one `LidarInitMessage` to set up shared buffers and\n *    world bounds.  The worker replies with `{ type: 'ready' }`.\n *\n * 2. For each sweep the main thread:\n *      a. Writes up-to-date object AABB data into `aabbsSab`\n *         (6 floats per object: minX, minY, minZ, maxX, maxY, maxZ).\n *      b. Sends a `LidarSweepMessage` with the current `objectCount`.\n *\n * 3. The worker reads the transforms, inserts/updates objects in its local\n *    Octree, casts every ray from `raysSab`, and writes results to\n *    `resultsSab` (2 floats per ray: objectIndex, t; –1/–1 for a miss).\n *    It then replies with `{ type: 'done', rayCount }`.\n *\n * SharedArrayBuffer layout\n * ------------------------\n * aabbsSab  : Float32Array – objectCapacity × AABB_STRIDE (6) floats\n * nodesSab  : Float32Array – nodeCapacity   × NODE_STRIDE      floats\n * raysSab   : Float32Array – rayCount       × RAY_STRIDE (6)   floats\n * resultsSab: Float32Array – rayCount       × 2                floats\n *               [objectIndex (float), t (float)] per ray\n */\n\nimport { OctreeNodePool } from './octree-node.js';\nimport { AABBPool } from './aabb.js';\nimport { RAY_STRIDE } from './ray.js';\nimport { Octree } from './octree.js';\n\n// ── Public message types ──────────────────────────────────────────────────────\n\n/** Sent once from the main thread to initialise the shared buffers. */\nexport interface LidarInitMessage {\n  type: 'init';\n  /** SharedArrayBuffer for AABB data (objectCapacity × 6 floats). Written by the main thread. */\n  aabbsSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for Octree node data (nodeCapacity × NODE_STRIDE floats). Managed by the worker. */\n  nodesSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for ray data (rayCount × 6 floats). Written by the main thread (or set once). */\n  raysSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for raycast results (rayCount × 2 floats). Written by the worker. */\n  resultsSab: SharedArrayBuffer;\n  /** Maximum number of objects the AABBPool can hold. */\n  objectCapacity: number;\n  /** Maximum number of Octree nodes the NodePool can hold. */\n  nodeCapacity: number;\n  /** Number of rays in the LiDAR sweep. */\n  rayCount: number;\n  /** World-space bounds for the root octree node. */\n  worldMinX: number;\n  worldMinY: number;\n  worldMinZ: number;\n  worldMaxX: number;\n  worldMaxY: number;\n  worldMaxZ: number;\n}\n\n/** Sent each frame to trigger a LiDAR sweep. */\nexport interface LidarSweepMessage {\n  type: 'sweep';\n  /** Number of active objects whose AABB data has been written to `aabbsSab`. */\n  objectCount: number;\n}\n\nexport type LidarWorkerInMessage = LidarInitMessage | LidarSweepMessage;\n\n/** Posted by the worker after initialisation succeeds. */\nexport interface LidarReadyMessage {\n  type: 'ready';\n}\n\n/** Posted by the worker after a sweep finishes. */\nexport interface LidarDoneMessage {\n  type: 'done';\n  /** Number of rays that were cast (equals the `rayCount` given in `init`). */\n  rayCount: number;\n}\n\nexport type LidarWorkerOutMessage = LidarReadyMessage | LidarDoneMessage;\n\n// ── Processor (pure logic, no worker-global bindings) ────────────────────────\n\n/**\n * Stateful LiDAR sweep processor.\n *\n * Exported for direct use in tests and advanced integrations.  The bottom of\n * this module wires it to the Web Worker global scope automatically when the\n * script runs inside a worker.\n */\nexport function createLidarProcessor(): {\n  init(msg: LidarInitMessage): LidarReadyMessage;\n  sweep(msg: LidarSweepMessage): LidarDoneMessage;\n} {\n  let octree: Octree | null = null;\n  let aabbPool: AABBPool | null = null;\n  let raysBuf: Float32Array | null = null;\n  let resultsBuf: Float32Array | null = null;\n  let totalRayCount = 0;\n  /** Tracks how many objects have been inserted into the local octree. */\n  let insertedObjectCount = 0;\n\n  return {\n    /** Initialise shared buffers and create the Octree. */\n    init(msg: LidarInitMessage): LidarReadyMessage {\n      const nodePool = new OctreeNodePool(msg.nodeCapacity, msg.nodesSab);\n      aabbPool = new AABBPool(msg.objectCapacity, msg.aabbsSab);\n      raysBuf = new Float32Array(msg.raysSab);\n      resultsBuf = new Float32Array(msg.resultsSab);\n      totalRayCount = msg.rayCount;\n      insertedObjectCount = 0;\n\n      octree = new Octree(nodePool, aabbPool);\n      octree.setBounds(\n        msg.worldMinX, msg.worldMinY, msg.worldMinZ,\n        msg.worldMaxX, msg.worldMaxY, msg.worldMaxZ,\n      );\n\n      return { type: 'ready' };\n    },\n\n    /**\n     * Read current object AABB data from the shared buffer, update the Octree,\n     * cast every sweep ray, and write results to the results buffer.\n     */\n    sweep(msg: LidarSweepMessage): LidarDoneMessage {\n      if (octree === null || aabbPool === null || raysBuf === null || resultsBuf === null) {\n        throw new Error('LidarProcessor: sweep called before init');\n      }\n\n      const objectCount = msg.objectCount;\n\n      // Ensure the pool's allocation count reflects all active objects so that\n      // the pool's `size` getter stays accurate (the buffer memory already exists\n      // in the SAB – allocate() only increments the internal counter).\n      while (aabbPool.size < objectCount) {\n        aabbPool.allocate();\n      }\n\n      // Insert new objects or reposition existing ones in the octree.\n      for (let i = 0; i < objectCount; i++) {\n        const minX = aabbPool.get(i, 0);\n        const minY = aabbPool.get(i, 1);\n        const minZ = aabbPool.get(i, 2);\n        const maxX = aabbPool.get(i, 3);\n        const maxY = aabbPool.get(i, 4);\n        const maxZ = aabbPool.get(i, 5);\n\n        if (i < insertedObjectCount) {\n          // Already in the tree – reposition without full rebuild.\n          octree.update(i, minX, minY, minZ, maxX, maxY, maxZ);\n        } else {\n          // First appearance: insert using the bounds already in the SAB.\n          octree.insert(i);\n          insertedObjectCount++;\n        }\n      }\n\n      // LiDAR sweep: cast each ray and write the closest hit (or miss) to\n      // the results buffer.  Layout: [objectIndex, t] per ray (–1/–1 = miss).\n      for (let r = 0; r < totalRayCount; r++) {\n        const hit = octree.raycast(raysBuf, r * RAY_STRIDE);\n        if (hit !== null) {\n          resultsBuf[r * 2] = hit.objectIndex;\n          resultsBuf[r * 2 + 1] = hit.t;\n        } else {\n          resultsBuf[r * 2] = -1;\n          resultsBuf[r * 2 + 1] = -1;\n        }\n      }\n\n      return { type: 'done', rayCount: totalRayCount };\n    },\n  };\n}\n\n// ── Web Worker binding ────────────────────────────────────────────────────────\n// Automatically wire the processor to the worker's global message handler when\n// this script is loaded inside a Web Worker context (browser or Node.js worker).\n\ntype WorkerGlobalSelf = {\n  onmessage: ((event: { data: LidarWorkerInMessage }) => void) | null;\n  postMessage(data: LidarWorkerOutMessage): void;\n};\n\n// `postMessage` is available on the worker global but not in a regular Node.js\n// module context, so check for it before binding.\nconst globalScope = globalThis as Record<string, unknown>;\nif (typeof globalScope['postMessage'] === 'function' && typeof globalScope['onmessage'] !== 'undefined') {\n  const workerSelf = globalThis as unknown as WorkerGlobalSelf;\n  const processor = createLidarProcessor();\n\n  workerSelf.onmessage = (event) => {\n    const msg = event.data;\n    if (msg.type === 'init') {\n      workerSelf.postMessage(processor.init(msg));\n    } else if (msg.type === 'sweep') {\n      workerSelf.postMessage(processor.sweep(msg));\n    }\n  };\n}\n","/**\n * Octree node stored as a flat Float32Array slice.\n *\n * Layout per node (NODE_STRIDE floats):\n *   [0..5]  – AABB   (minX, minY, minZ, maxX, maxY, maxZ)\n *   [6]     – firstChild index  (-1 = leaf / no children)\n *   [7]     – parent index      (-1 = root)\n *   [8]     – object count\n *   [9..]   – object indices    (MAX_OBJECTS_PER_NODE slots)\n */\n\nexport const NODE_AABB_OFFSET = 0;\nexport const NODE_FIRST_CHILD_OFFSET = 6;\nexport const NODE_PARENT_OFFSET = 7;\nexport const NODE_OBJECT_COUNT_OFFSET = 8;\nexport const NODE_OBJECTS_OFFSET = 9;\nexport const MAX_OBJECTS_PER_NODE = 64;\nexport const NODE_STRIDE = NODE_OBJECTS_OFFSET + MAX_OBJECTS_PER_NODE;\n\n/**\n * A pool-backed, zero-GC Octree node store.\n * Each node occupies NODE_STRIDE floats in the underlying Float32Array buffer.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class OctreeNodePool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * NODE_STRIDE)\n      : new Float32Array(capacity * NODE_STRIDE);\n  }\n\n  /**\n   * Create an OctreeNodePool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: OctreeNodePool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * NODE_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new OctreeNodePool(capacity, sab), sab };\n  }\n\n  /** Allocate a new node slot, initialise sentinel values, and return its index. */\n  allocate(): number {\n    const index = this.count;\n    const offset = index * NODE_STRIDE;\n    // Initialise sentinel values for child/parent links and object count.\n    this.buffer[offset + NODE_FIRST_CHILD_OFFSET] = -1;\n    this.buffer[offset + NODE_PARENT_OFFSET] = -1;\n    this.buffer[offset + NODE_OBJECT_COUNT_OFFSET] = 0;\n    this.count += 1;\n    return index;\n  }\n\n  /** Returns the number of allocated nodes. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n\n  // ── AABB ──────────────────────────────────────────────────────────────────\n\n  /** Set the AABB bounds for the node at the given index. */\n  setAABB(\n    index: number,\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    const off = index * NODE_STRIDE + NODE_AABB_OFFSET;\n    this.buffer[off] = minX;\n    this.buffer[off + 1] = minY;\n    this.buffer[off + 2] = minZ;\n    this.buffer[off + 3] = maxX;\n    this.buffer[off + 4] = maxY;\n    this.buffer[off + 5] = maxZ;\n  }\n\n  /** Read a single AABB component (0–5) from the node at the given index. */\n  getAABB(index: number, component: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_AABB_OFFSET + component] ?? 0;\n  }\n\n  // ── First-child link ──────────────────────────────────────────────────────\n\n  /** Set the first-child index for the node (-1 = leaf). */\n  setFirstChild(index: number, childIndex: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_FIRST_CHILD_OFFSET] = childIndex;\n  }\n\n  /** Get the first-child index for the node (-1 = leaf). */\n  getFirstChild(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_FIRST_CHILD_OFFSET] ?? -1;\n  }\n\n  // ── Parent link ───────────────────────────────────────────────────────────\n\n  /** Set the parent index for the node (-1 = root). */\n  setParent(index: number, parentIndex: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_PARENT_OFFSET] = parentIndex;\n  }\n\n  /** Get the parent index for the node (-1 = root). */\n  getParent(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_PARENT_OFFSET] ?? -1;\n  }\n\n  // ── Object pointers ───────────────────────────────────────────────────────\n\n  /** Return the number of objects stored in the node at the given index. */\n  getObjectCount(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET] ?? 0;\n  }\n\n  /**\n   * Append an object index to the node's object list.\n   * Throws a RangeError when MAX_OBJECTS_PER_NODE is exceeded.\n   */\n  addObject(index: number, objectIndex: number): void {\n    const countOff = index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET;\n    const count = this.buffer[countOff] ?? 0;\n    if (count >= MAX_OBJECTS_PER_NODE) {\n      throw new RangeError(\n        `OctreeNodePool.addObject: node ${index} already contains MAX_OBJECTS_PER_NODE (${MAX_OBJECTS_PER_NODE}) objects`,\n      );\n    }\n    this.buffer[index * NODE_STRIDE + NODE_OBJECTS_OFFSET + count] = objectIndex;\n    this.buffer[countOff] = count + 1;\n  }\n\n  /** Return the object index stored at slot `slot` in the given node. */\n  getObject(index: number, slot: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_OBJECTS_OFFSET + slot] ?? 0;\n  }\n\n  /** Reset the object count of the given node to zero (does not zero the slots). */\n  clearObjects(index: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET] = 0;\n  }\n\n  /**\n   * Remove a single object index from the node's object list.\n   * Uses swap-with-last to avoid shifting. Returns true if found and removed.\n   */\n  removeObject(index: number, objectIndex: number): boolean {\n    const countOff = index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET;\n    const count = this.buffer[countOff] ?? 0;\n    const baseOff = index * NODE_STRIDE + NODE_OBJECTS_OFFSET;\n    for (let i = 0; i < count; i++) {\n      if (this.buffer[baseOff + i] === objectIndex) {\n        // Swap with the last element, then decrement count.\n        this.buffer[baseOff + i] = this.buffer[baseOff + count - 1] ?? 0;\n        this.buffer[countOff] = count - 1;\n        return true;\n      }\n    }\n    return false;\n  }\n}\n","/**\n * AABB (Axis-Aligned Bounding Box) stored as a flat Float32Array slice.\n * Layout: [minX, minY, minZ, maxX, maxY, maxZ]\n */\nexport const AABB_STRIDE = 6;\n\n/**\n * A pool-backed, zero-GC AABB store.\n * Each AABB occupies AABB_STRIDE floats in the underlying buffer.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class AABBPool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * AABB_STRIDE)\n      : new Float32Array(capacity * AABB_STRIDE);\n  }\n\n  /**\n   * Create an AABBPool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: AABBPool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * AABB_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new AABBPool(capacity, sab), sab };\n  }\n\n  /** Allocate a new AABB slot and return its index. */\n  allocate(): number {\n    const index = this.count;\n    this.count += 1;\n    return index;\n  }\n\n  /** Set the bounds of an AABB at the given index. */\n  set(\n    index: number,\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    const offset = index * AABB_STRIDE;\n    this.buffer[offset] = minX;\n    this.buffer[offset + 1] = minY;\n    this.buffer[offset + 2] = minZ;\n    this.buffer[offset + 3] = maxX;\n    this.buffer[offset + 4] = maxY;\n    this.buffer[offset + 5] = maxZ;\n  }\n\n  /** Read a single component value from the buffer. */\n  get(index: number, component: number): number {\n    return this.buffer[index * AABB_STRIDE + component] ?? 0;\n  }\n\n  /** Returns the number of allocated AABBs. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n}\n\n/**\n * Expand AABB `a` in-place so it also fully contains AABB `b`.\n */\nexport function aabbExpand(pool: AABBPool, a: number, b: number): void {\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  buf[aOff] = Math.min(buf[aOff] ?? 0, buf[bOff] ?? 0);\n  buf[aOff + 1] = Math.min(buf[aOff + 1] ?? 0, buf[bOff + 1] ?? 0);\n  buf[aOff + 2] = Math.min(buf[aOff + 2] ?? 0, buf[bOff + 2] ?? 0);\n  buf[aOff + 3] = Math.max(buf[aOff + 3] ?? 0, buf[bOff + 3] ?? 0);\n  buf[aOff + 4] = Math.max(buf[aOff + 4] ?? 0, buf[bOff + 4] ?? 0);\n  buf[aOff + 5] = Math.max(buf[aOff + 5] ?? 0, buf[bOff + 5] ?? 0);\n}\n\n/**\n * Merge AABBs `a` and `b` into `dest` (a pre-allocated slot), storing their union.\n */\nexport function aabbMerge(pool: AABBPool, dest: number, a: number, b: number): void {\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  const dOff = dest * AABB_STRIDE;\n  buf[dOff] = Math.min(buf[aOff] ?? 0, buf[bOff] ?? 0);\n  buf[dOff + 1] = Math.min(buf[aOff + 1] ?? 0, buf[bOff + 1] ?? 0);\n  buf[dOff + 2] = Math.min(buf[aOff + 2] ?? 0, buf[bOff + 2] ?? 0);\n  buf[dOff + 3] = Math.max(buf[aOff + 3] ?? 0, buf[bOff + 3] ?? 0);\n  buf[dOff + 4] = Math.max(buf[aOff + 4] ?? 0, buf[bOff + 4] ?? 0);\n  buf[dOff + 5] = Math.max(buf[aOff + 5] ?? 0, buf[bOff + 5] ?? 0);\n}\n\n/**\n * Test whether two AABBs (by index in the same pool) intersect.\n */\nexport function aabbIntersects(pool: AABBPool, a: number, b: number): boolean {\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  // Access via get() to stay safe with bounds, but direct buffer access is\n  // equally valid when performance is critical.\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  return (\n    (buf[aOff] ?? 0) <= (buf[bOff + 3] ?? 0) &&\n    (buf[aOff + 3] ?? 0) >= (buf[bOff] ?? 0) &&\n    (buf[aOff + 1] ?? 0) <= (buf[bOff + 4] ?? 0) &&\n    (buf[aOff + 4] ?? 0) >= (buf[bOff + 1] ?? 0) &&\n    (buf[aOff + 2] ?? 0) <= (buf[bOff + 5] ?? 0) &&\n    (buf[aOff + 5] ?? 0) >= (buf[bOff + 2] ?? 0)\n  );\n}\n","/**\n * Ray stored as origin + direction (unit vector).\n * Layout: [ox, oy, oz, dx, dy, dz]\n */\nexport const RAY_STRIDE = 6;\n\n/** A pool-backed, zero-GC Ray store.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class RayPool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * RAY_STRIDE)\n      : new Float32Array(capacity * RAY_STRIDE);\n  }\n\n  /**\n   * Create a RayPool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: RayPool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * RAY_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new RayPool(capacity, sab), sab };\n  }\n\n  /** Allocate a new Ray slot and return its index. */\n  allocate(): number {\n    const index = this.count;\n    this.count += 1;\n    return index;\n  }\n\n  /** Set origin and direction of a ray at the given index. */\n  set(\n    index: number,\n    ox: number,\n    oy: number,\n    oz: number,\n    dx: number,\n    dy: number,\n    dz: number,\n  ): void {\n    const offset = index * RAY_STRIDE;\n    this.buffer[offset] = ox;\n    this.buffer[offset + 1] = oy;\n    this.buffer[offset + 2] = oz;\n    this.buffer[offset + 3] = dx;\n    this.buffer[offset + 4] = dy;\n    this.buffer[offset + 5] = dz;\n  }\n\n  /** Read a single component value from the buffer. */\n  get(index: number, component: number): number {\n    return this.buffer[index * RAY_STRIDE + component] ?? 0;\n  }\n\n  /** Returns the number of allocated Rays. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n}\n\n/**\n * Optimized branchless slab-method ray–AABB intersection test.\n *\n * Operates purely on flat Float32Arrays with no per-axis direction branches.\n * When a direction component is zero, IEEE 754 produces ±Infinity for the\n * reciprocal, which propagates correctly through the min/max slab computation:\n *   - origin inside the slab  → [−∞, +∞] interval (no constraint)\n *   - origin outside the slab → either [+∞, +∞] or [−∞, −∞] → forces a miss\n *\n * Returns the parametric hit distance `t` (>= 0) if the ray intersects the\n * AABB, or -1 if there is no intersection (miss or box entirely behind origin).\n */\nexport function rayIntersectsAABB(\n  rayBuf: Float32Array,\n  rayOffset: number,\n  aabbBuf: Float32Array,\n  aabbOffset: number,\n): number {\n  const ox = rayBuf[rayOffset] ?? 0;\n  const oy = rayBuf[rayOffset + 1] ?? 0;\n  const oz = rayBuf[rayOffset + 2] ?? 0;\n  const idx = 1 / (rayBuf[rayOffset + 3] ?? 0);\n  const idy = 1 / (rayBuf[rayOffset + 4] ?? 0);\n  const idz = 1 / (rayBuf[rayOffset + 5] ?? 0);\n\n  const minX = aabbBuf[aabbOffset] ?? 0;\n  const minY = aabbBuf[aabbOffset + 1] ?? 0;\n  const minZ = aabbBuf[aabbOffset + 2] ?? 0;\n  const maxX = aabbBuf[aabbOffset + 3] ?? 0;\n  const maxY = aabbBuf[aabbOffset + 4] ?? 0;\n  const maxZ = aabbBuf[aabbOffset + 5] ?? 0;\n\n  // Branchless slab method: per-axis near/far t values.\n  const t1x = (minX - ox) * idx;\n  const t2x = (maxX - ox) * idx;\n  const t1y = (minY - oy) * idy;\n  const t2y = (maxY - oy) * idy;\n  const t1z = (minZ - oz) * idz;\n  const t2z = (maxZ - oz) * idz;\n\n  const tmin = Math.max(Math.min(t1x, t2x), Math.min(t1y, t2y), Math.min(t1z, t2z));\n  const tmax = Math.min(Math.max(t1x, t2x), Math.max(t1y, t2y), Math.max(t1z, t2z));\n\n  if (tmax < 0 || !(tmin <= tmax)) return -1;\n  return tmin >= 0 ? tmin : tmax;\n}\n","import { OctreeNodePool, MAX_OBJECTS_PER_NODE, NODE_STRIDE, NODE_AABB_OFFSET } from './octree-node.js';\nimport { AABBPool, AABB_STRIDE } from './aabb.js';\nimport { rayIntersectsAABB } from './ray.js';\n\n/**\n * Returns true when the AABB stored at `bufOffset` in `buf` overlaps the\n * axis-aligned box defined by the six query scalars.\n */\nfunction aabbOverlapsBox(\n  buf: Float32Array,\n  bufOffset: number,\n  qMinX: number,\n  qMinY: number,\n  qMinZ: number,\n  qMaxX: number,\n  qMaxY: number,\n  qMaxZ: number,\n): boolean {\n  return (\n    buf[bufOffset]! <= qMaxX &&\n    buf[bufOffset + 3]! >= qMinX &&\n    buf[bufOffset + 1]! <= qMaxY &&\n    buf[bufOffset + 4]! >= qMinY &&\n    buf[bufOffset + 2]! <= qMaxZ &&\n    buf[bufOffset + 5]! >= qMinZ\n  );\n}\n\n/**\n * Octree with insertion and automatic subdivision.\n *\n * - When a leaf node's object count reaches MAX_OBJECTS_PER_NODE it is\n *   subdivided into 8 axis-aligned child octants.\n * - An inserted AABB that fits entirely within a child octant is pushed down.\n * - An AABB that straddles a boundary is kept in the nearest ancestor that\n *   fully contains it.\n */\nexport class Octree {\n  private readonly nodePool: OctreeNodePool;\n  private readonly aabbPool: AABBPool;\n  private readonly root: number;\n  /** Tracks which node each object (by AABBPool index) is currently stored in. */\n  private readonly objectNodeMap: Map<number, number> = new Map();\n  /** Pre-allocated traversal stack reused across raycast calls to avoid GC pressure. */\n  private readonly _stack: number[] = [];\n\n  constructor(nodePool: OctreeNodePool, aabbPool: AABBPool) {\n    this.nodePool = nodePool;\n    this.aabbPool = aabbPool;\n    this.root = nodePool.allocate();\n  }\n\n  /** The index of the root node in the underlying OctreeNodePool. */\n  get rootIndex(): number {\n    return this.root;\n  }\n\n  /** Set the world-space AABB that the root node covers. */\n  setBounds(\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    this.nodePool.setAABB(this.root, minX, minY, minZ, maxX, maxY, maxZ);\n  }\n\n  /** Insert the AABB at `objectIndex` (in the AABBPool) into the tree. */\n  insert(objectIndex: number): void {\n    this.insertIntoNode(this.root, objectIndex);\n  }\n\n  /**\n   * Update the AABB at `objectIndex` with new bounds and reposition it in the\n   * tree without rebuilding. If the new bounds still fit in the current node\n   * the object stays there; otherwise it is removed and re-inserted from the\n   * lowest ancestor whose bounds fully contain the new AABB.\n   */\n  update(\n    objectIndex: number,\n    newMinX: number,\n    newMinY: number,\n    newMinZ: number,\n    newMaxX: number,\n    newMaxY: number,\n    newMaxZ: number,\n  ): void {\n    const np = this.nodePool;\n    const ap = this.aabbPool;\n\n    // 1. Update the AABB data.\n    ap.set(objectIndex, newMinX, newMinY, newMinZ, newMaxX, newMaxY, newMaxZ);\n\n    // 2. Find current node.\n    const currentNode = this.objectNodeMap.get(objectIndex);\n    if (currentNode === undefined) return;\n\n    // 3. If the new bounds still fit in the current node, nothing to move.\n    if (this.fitsInNode(objectIndex, currentNode)) return;\n\n    // 4. Remove from current node.\n    np.removeObject(currentNode, objectIndex);\n    this.objectNodeMap.delete(objectIndex);\n\n    // 5. Walk up to find the lowest ancestor that fully contains the new bounds.\n    let ancestorNode = np.getParent(currentNode);\n    while (ancestorNode !== -1 && !this.fitsInNode(objectIndex, ancestorNode)) {\n      ancestorNode = np.getParent(ancestorNode);\n    }\n    // If no ancestor fits (shouldn't happen for a well-formed tree), use root.\n    if (ancestorNode === -1) ancestorNode = this.root;\n\n    // 6. Re-insert downward from the ancestor.\n    this.insertIntoNode(ancestorNode, objectIndex);\n  }\n\n  /**\n   * Remove the object at `objectIndex` from the tree.\n   * Safe to call even if the object was never inserted (no-op).\n   */\n  remove(objectIndex: number): void {\n    const nodeIdx = this.objectNodeMap.get(objectIndex);\n    if (nodeIdx === undefined) return;\n    this.nodePool.removeObject(nodeIdx, objectIndex);\n    this.objectNodeMap.delete(objectIndex);\n  }\n\n  /**\n   * Cast a ray through the octree and return the closest intersecting object.\n   *\n   * Uses an iterative stack traversal (pre-allocated, no recursion) to avoid\n   * GC pressure. Only descends into child nodes whose AABBs are intersected by\n   * the ray, providing efficient pruning of non-intersecting subtrees.\n   *\n   * @param rayBuf   Float32Array containing the ray data [ox,oy,oz,dx,dy,dz].\n   * @param rayOffset Element offset (in floats) within `rayBuf` to the ray's origin.\n   * @returns The closest `{ objectIndex, t }` hit, or `null` if nothing is hit.\n   */\n  raycast(\n    rayBuf: Float32Array,\n    rayOffset: number,\n  ): { objectIndex: number; t: number } | null {\n    const np = this.nodePool;\n    // Access the underlying flat buffers directly for zero-GC intersection tests.\n    const npBuf = (np as unknown as { buffer: Float32Array }).buffer;\n    const apBuf = (this.aabbPool as unknown as { buffer: Float32Array }).buffer;\n\n    // Early-out: test the root AABB before touching any object data.\n    if (rayIntersectsAABB(rayBuf, rayOffset, npBuf, this.root * NODE_STRIDE + NODE_AABB_OFFSET) < 0) {\n      return null;\n    }\n\n    // Iterative DFS using the pre-allocated stack.\n    this._stack.length = 0;\n    this._stack.push(this.root);\n\n    let closestT = Infinity;\n    let closestIndex = -1;\n\n    while (this._stack.length > 0) {\n      const nodeIdx = this._stack.pop()!;\n\n      // Test every object stored at this node level.\n      const objCount = np.getObjectCount(nodeIdx);\n      for (let i = 0; i < objCount; i++) {\n        const objIdx = np.getObject(nodeIdx, i);\n        const t = rayIntersectsAABB(rayBuf, rayOffset, apBuf, objIdx * AABB_STRIDE);\n        if (t >= 0 && t < closestT) {\n          closestT = t;\n          closestIndex = objIdx;\n        }\n      }\n\n      // Push only children whose AABB the ray actually intersects.\n      const firstChild = np.getFirstChild(nodeIdx);\n      if (firstChild !== -1) {\n        for (let i = 0; i < 8; i++) {\n          const childIdx = firstChild + i;\n          if (rayIntersectsAABB(rayBuf, rayOffset, npBuf, childIdx * NODE_STRIDE + NODE_AABB_OFFSET) >= 0) {\n            this._stack.push(childIdx);\n          }\n        }\n      }\n    }\n\n    if (closestIndex === -1) return null;\n    return { objectIndex: closestIndex, t: closestT };\n  }\n\n  /**\n   * Query the octree for all objects whose AABB overlaps the given axis-aligned\n   * box region and return their indices (in the AABBPool).\n   *\n   * Uses the same pre-allocated iterative stack as `raycast` to avoid GC\n   * pressure. Descends only into child nodes whose AABBs overlap the query box,\n   * pruning non-intersecting subtrees.\n   *\n   * @param minX  Minimum X of the query box.\n   * @param minY  Minimum Y of the query box.\n   * @param minZ  Minimum Z of the query box.\n   * @param maxX  Maximum X of the query box.\n   * @param maxY  Maximum Y of the query box.\n   * @param maxZ  Maximum Z of the query box.\n   * @returns Array of AABBPool indices for every object that overlaps the box.\n   */\n  queryBox(\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): number[] {\n    const np = this.nodePool;\n    const npBuf = (np as unknown as { buffer: Float32Array }).buffer;\n    const apBuf = (this.aabbPool as unknown as { buffer: Float32Array }).buffer;\n\n    const results: number[] = [];\n\n    // Early-out: if the query box doesn't overlap the root, nothing to do.\n    if (!aabbOverlapsBox(npBuf, this.root * NODE_STRIDE + NODE_AABB_OFFSET, minX, minY, minZ, maxX, maxY, maxZ)) {\n      return results;\n    }\n\n    // Iterative DFS using the pre-allocated stack.\n    this._stack.length = 0;\n    this._stack.push(this.root);\n\n    while (this._stack.length > 0) {\n      const nodeIdx = this._stack.pop()!;\n\n      // Test every object stored at this node level.\n      const objCount = np.getObjectCount(nodeIdx);\n      for (let i = 0; i < objCount; i++) {\n        const objIdx = np.getObject(nodeIdx, i);\n        if (aabbOverlapsBox(apBuf, objIdx * AABB_STRIDE, minX, minY, minZ, maxX, maxY, maxZ)) {\n          results.push(objIdx);\n        }\n      }\n\n      // Push only children whose AABB overlaps the query box.\n      const firstChild = np.getFirstChild(nodeIdx);\n      if (firstChild !== -1) {\n        for (let i = 0; i < 8; i++) {\n          const childIdx = firstChild + i;\n          if (aabbOverlapsBox(npBuf, childIdx * NODE_STRIDE + NODE_AABB_OFFSET, minX, minY, minZ, maxX, maxY, maxZ)) {\n            this._stack.push(childIdx);\n          }\n        }\n      }\n    }\n\n    return results;\n  }\n\n  // ── Private helpers ──────────────────────────────────────────────────────\n\n  private insertIntoNode(nodeIdx: number, objectIndex: number): void {\n    const np = this.nodePool;\n    const firstChild = np.getFirstChild(nodeIdx);\n\n    // Internal node: try to push the object into a fitting child octant.\n    if (firstChild !== -1) {\n      for (let i = 0; i < 8; i++) {\n        if (this.fitsInNode(objectIndex, firstChild + i)) {\n          this.insertIntoNode(firstChild + i, objectIndex);\n          return;\n        }\n      }\n      // Object straddles one or more boundaries – keep it at this level.\n      // We manually add it here even if it exceeds MAX_OBJECTS_PER_NODE,\n      // because internal nodes only hold straddling objects.\n      np.addObject(nodeIdx, objectIndex);\n      this.objectNodeMap.set(objectIndex, nodeIdx);\n      return;\n    }\n\n    // Leaf node.\n    const count = np.getObjectCount(nodeIdx);\n    if (count < MAX_OBJECTS_PER_NODE) {\n      np.addObject(nodeIdx, objectIndex);\n      this.objectNodeMap.set(objectIndex, nodeIdx);\n    } else {\n      // Prevent infinite subdivision if perfectly overlapping items exceed capacity.\n      // If the node we are trying to subdivide has an incredibly small physical bounds\n      // or if it fails to separate objects during subdivide, it would loop forever. \n      // Instead, we just forcefully add it here and allow the slot to overflow if needed,\n      // but because our Float32Array nodes have strict memory limits for MAX_OBJECTS,\n      // we must just drop it or accept that `MAX_OBJECTS_PER_NODE` is a hard physical limit.\n      // To properly handle this without breaking the pool sizing, in a DOD engine we simply\n      // stop adding when perfectly overlapping identical items exceed memory at the leaf bounds.\n      try {\n        this.subdivide(nodeIdx);\n        this.insertIntoNode(nodeIdx, objectIndex);\n      } catch (e) {\n        if (e instanceof RangeError) {\n          // Hard capacity limit hit on identical objects that refuse to separate. \n          // Stop recursion. We cannot safely insert it into this perfectly overlapping bucket.\n        } else {\n          throw e; // Bubble up other errors.\n        }\n      }\n    }\n  }\n\n  /** Split a leaf node into 8 children and redistribute its objects. */\n  private subdivide(nodeIdx: number): void {\n    const np = this.nodePool;\n\n    const minX = np.getAABB(nodeIdx, 0);\n    const minY = np.getAABB(nodeIdx, 1);\n    const minZ = np.getAABB(nodeIdx, 2);\n    const maxX = np.getAABB(nodeIdx, 3);\n    const maxY = np.getAABB(nodeIdx, 4);\n    const maxZ = np.getAABB(nodeIdx, 5);\n\n    const midX = (minX + maxX) / 2;\n    const midY = (minY + maxY) / 2;\n    const midZ = (minZ + maxZ) / 2;\n\n    // Allocate 8 consecutive child nodes (guarantees contiguous indices).\n    const firstChild = np.allocate();\n    for (let i = 1; i < 8; i++) {\n      np.allocate();\n    }\n    np.setFirstChild(nodeIdx, firstChild);\n\n    // Assign each child its octant AABB.\n    // Bit decomposition: bit-0 → X half, bit-1 → Y half, bit-2 → Z half.\n    // i & 1 === 0 means left half  (minX to midX), i & 1 !== 0 means right half (midX to maxX)\n    for (let i = 0; i < 8; i++) {\n      const childIdx = firstChild + i;\n      const cMinX = (i & 1) === 0 ? minX : midX;\n      const cMaxX = (i & 1) === 0 ? midX : maxX;\n      const cMinY = (i & 2) === 0 ? minY : midY;\n      const cMaxY = (i & 2) === 0 ? midY : maxY;\n      const cMinZ = (i & 4) === 0 ? minZ : midZ;\n      const cMaxZ = (i & 4) === 0 ? midZ : maxZ;\n      np.setAABB(childIdx, cMinX, cMinY, cMinZ, cMaxX, cMaxY, cMaxZ);\n      np.setParent(childIdx, nodeIdx);\n    }\n\n    // Redistribute the existing objects.\n    const count = np.getObjectCount(nodeIdx);\n    const saved: number[] = [];\n    for (let i = 0; i < count; i++) {\n      saved.push(np.getObject(nodeIdx, i));\n    }\n    np.clearObjects(nodeIdx);\n\n    for (const obj of saved) {\n      // Use insertIntoNode so objectNodeMap stays consistent.\n      this.objectNodeMap.delete(obj);\n      this.insertIntoNode(nodeIdx, obj);\n    }\n  }\n\n  /** Returns true when the AABB at `objectIndex` is fully contained by `nodeIdx`. */\n  private fitsInNode(objectIndex: number, nodeIdx: number): boolean {\n    const np = this.nodePool;\n    const ap = this.aabbPool;\n    return (\n      ap.get(objectIndex, 0) >= np.getAABB(nodeIdx, 0) &&\n      ap.get(objectIndex, 1) >= np.getAABB(nodeIdx, 1) &&\n      ap.get(objectIndex, 2) >= np.getAABB(nodeIdx, 2) &&\n      ap.get(objectIndex, 3) <= np.getAABB(nodeIdx, 3) &&\n      ap.get(objectIndex, 4) <= np.getAABB(nodeIdx, 4) &&\n      ap.get(objectIndex, 5) <= np.getAABB(nodeIdx, 5)\n    );\n  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package/dist/lidar-worker.js

@@ -1,6 +1,6 @@
 import {
   createLidarProcessor
-} from "./chunk-JF4RVZK3.js";
+} from "./chunk-6B5AUBFL.js";
 export {
   createLidarProcessor
 };

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@spatial-engine/core",
-  "version": "0.0.1",
+  "version": "0.0.3",
   "description": "High-performance spatial partitioning and query library using Data-Oriented Design",
   "author": "Francisco Rueda Esquivel",
   "license": "MIT",

package/dist/chunk-JF4RVZK3.js.map

@@ -1 +0,0 @@
-{"version":3,"sources":["../src/octree-node.ts","../src/aabb.ts","../src/ray.ts","../src/octree.ts","../src/lidar-worker.ts"],"sourcesContent":["/**\n * Octree node stored as a flat Float32Array slice.\n *\n * Layout per node (NODE_STRIDE floats):\n *   [0..5]  – AABB   (minX, minY, minZ, maxX, maxY, maxZ)\n *   [6]     – firstChild index  (-1 = leaf / no children)\n *   [7]     – parent index      (-1 = root)\n *   [8]     – object count\n *   [9..]   – object indices    (MAX_OBJECTS_PER_NODE slots)\n */\n\nexport const NODE_AABB_OFFSET = 0;\nexport const NODE_FIRST_CHILD_OFFSET = 6;\nexport const NODE_PARENT_OFFSET = 7;\nexport const NODE_OBJECT_COUNT_OFFSET = 8;\nexport const NODE_OBJECTS_OFFSET = 9;\nexport const MAX_OBJECTS_PER_NODE = 8;\nexport const NODE_STRIDE = NODE_OBJECTS_OFFSET + MAX_OBJECTS_PER_NODE;\n\n/**\n * A pool-backed, zero-GC Octree node store.\n * Each node occupies NODE_STRIDE floats in the underlying Float32Array buffer.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class OctreeNodePool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * NODE_STRIDE)\n      : new Float32Array(capacity * NODE_STRIDE);\n  }\n\n  /**\n   * Create an OctreeNodePool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: OctreeNodePool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * NODE_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new OctreeNodePool(capacity, sab), sab };\n  }\n\n  /** Allocate a new node slot, initialise sentinel values, and return its index. */\n  allocate(): number {\n    const index = this.count;\n    const offset = index * NODE_STRIDE;\n    // Initialise sentinel values for child/parent links and object count.\n    this.buffer[offset + NODE_FIRST_CHILD_OFFSET] = -1;\n    this.buffer[offset + NODE_PARENT_OFFSET] = -1;\n    this.buffer[offset + NODE_OBJECT_COUNT_OFFSET] = 0;\n    this.count += 1;\n    return index;\n  }\n\n  /** Returns the number of allocated nodes. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n\n  // ── AABB ──────────────────────────────────────────────────────────────────\n\n  /** Set the AABB bounds for the node at the given index. */\n  setAABB(\n    index: number,\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    const off = index * NODE_STRIDE + NODE_AABB_OFFSET;\n    this.buffer[off] = minX;\n    this.buffer[off + 1] = minY;\n    this.buffer[off + 2] = minZ;\n    this.buffer[off + 3] = maxX;\n    this.buffer[off + 4] = maxY;\n    this.buffer[off + 5] = maxZ;\n  }\n\n  /** Read a single AABB component (0–5) from the node at the given index. */\n  getAABB(index: number, component: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_AABB_OFFSET + component] ?? 0;\n  }\n\n  // ── First-child link ──────────────────────────────────────────────────────\n\n  /** Set the first-child index for the node (-1 = leaf). */\n  setFirstChild(index: number, childIndex: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_FIRST_CHILD_OFFSET] = childIndex;\n  }\n\n  /** Get the first-child index for the node (-1 = leaf). */\n  getFirstChild(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_FIRST_CHILD_OFFSET] ?? -1;\n  }\n\n  // ── Parent link ───────────────────────────────────────────────────────────\n\n  /** Set the parent index for the node (-1 = root). */\n  setParent(index: number, parentIndex: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_PARENT_OFFSET] = parentIndex;\n  }\n\n  /** Get the parent index for the node (-1 = root). */\n  getParent(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_PARENT_OFFSET] ?? -1;\n  }\n\n  // ── Object pointers ───────────────────────────────────────────────────────\n\n  /** Return the number of objects stored in the node at the given index. */\n  getObjectCount(index: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET] ?? 0;\n  }\n\n  /**\n   * Append an object index to the node's object list.\n   * Throws a RangeError when MAX_OBJECTS_PER_NODE is exceeded.\n   */\n  addObject(index: number, objectIndex: number): void {\n    const countOff = index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET;\n    const count = this.buffer[countOff] ?? 0;\n    if (count >= MAX_OBJECTS_PER_NODE) {\n      throw new RangeError(\n        `OctreeNodePool.addObject: node ${index} already contains MAX_OBJECTS_PER_NODE (${MAX_OBJECTS_PER_NODE}) objects`,\n      );\n    }\n    this.buffer[index * NODE_STRIDE + NODE_OBJECTS_OFFSET + count] = objectIndex;\n    this.buffer[countOff] = count + 1;\n  }\n\n  /** Return the object index stored at slot `slot` in the given node. */\n  getObject(index: number, slot: number): number {\n    return this.buffer[index * NODE_STRIDE + NODE_OBJECTS_OFFSET + slot] ?? 0;\n  }\n\n  /** Reset the object count of the given node to zero (does not zero the slots). */\n  clearObjects(index: number): void {\n    this.buffer[index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET] = 0;\n  }\n\n  /**\n   * Remove a single object index from the node's object list.\n   * Uses swap-with-last to avoid shifting. Returns true if found and removed.\n   */\n  removeObject(index: number, objectIndex: number): boolean {\n    const countOff = index * NODE_STRIDE + NODE_OBJECT_COUNT_OFFSET;\n    const count = this.buffer[countOff] ?? 0;\n    const baseOff = index * NODE_STRIDE + NODE_OBJECTS_OFFSET;\n    for (let i = 0; i < count; i++) {\n      if (this.buffer[baseOff + i] === objectIndex) {\n        // Swap with the last element, then decrement count.\n        this.buffer[baseOff + i] = this.buffer[baseOff + count - 1] ?? 0;\n        this.buffer[countOff] = count - 1;\n        return true;\n      }\n    }\n    return false;\n  }\n}\n","/**\n * AABB (Axis-Aligned Bounding Box) stored as a flat Float32Array slice.\n * Layout: [minX, minY, minZ, maxX, maxY, maxZ]\n */\nexport const AABB_STRIDE = 6;\n\n/**\n * A pool-backed, zero-GC AABB store.\n * Each AABB occupies AABB_STRIDE floats in the underlying buffer.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class AABBPool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * AABB_STRIDE)\n      : new Float32Array(capacity * AABB_STRIDE);\n  }\n\n  /**\n   * Create an AABBPool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: AABBPool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * AABB_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new AABBPool(capacity, sab), sab };\n  }\n\n  /** Allocate a new AABB slot and return its index. */\n  allocate(): number {\n    const index = this.count;\n    this.count += 1;\n    return index;\n  }\n\n  /** Set the bounds of an AABB at the given index. */\n  set(\n    index: number,\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    const offset = index * AABB_STRIDE;\n    this.buffer[offset] = minX;\n    this.buffer[offset + 1] = minY;\n    this.buffer[offset + 2] = minZ;\n    this.buffer[offset + 3] = maxX;\n    this.buffer[offset + 4] = maxY;\n    this.buffer[offset + 5] = maxZ;\n  }\n\n  /** Read a single component value from the buffer. */\n  get(index: number, component: number): number {\n    return this.buffer[index * AABB_STRIDE + component] ?? 0;\n  }\n\n  /** Returns the number of allocated AABBs. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n}\n\n/**\n * Expand AABB `a` in-place so it also fully contains AABB `b`.\n */\nexport function aabbExpand(pool: AABBPool, a: number, b: number): void {\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  buf[aOff] = Math.min(buf[aOff] ?? 0, buf[bOff] ?? 0);\n  buf[aOff + 1] = Math.min(buf[aOff + 1] ?? 0, buf[bOff + 1] ?? 0);\n  buf[aOff + 2] = Math.min(buf[aOff + 2] ?? 0, buf[bOff + 2] ?? 0);\n  buf[aOff + 3] = Math.max(buf[aOff + 3] ?? 0, buf[bOff + 3] ?? 0);\n  buf[aOff + 4] = Math.max(buf[aOff + 4] ?? 0, buf[bOff + 4] ?? 0);\n  buf[aOff + 5] = Math.max(buf[aOff + 5] ?? 0, buf[bOff + 5] ?? 0);\n}\n\n/**\n * Merge AABBs `a` and `b` into `dest` (a pre-allocated slot), storing their union.\n */\nexport function aabbMerge(pool: AABBPool, dest: number, a: number, b: number): void {\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  const dOff = dest * AABB_STRIDE;\n  buf[dOff] = Math.min(buf[aOff] ?? 0, buf[bOff] ?? 0);\n  buf[dOff + 1] = Math.min(buf[aOff + 1] ?? 0, buf[bOff + 1] ?? 0);\n  buf[dOff + 2] = Math.min(buf[aOff + 2] ?? 0, buf[bOff + 2] ?? 0);\n  buf[dOff + 3] = Math.max(buf[aOff + 3] ?? 0, buf[bOff + 3] ?? 0);\n  buf[dOff + 4] = Math.max(buf[aOff + 4] ?? 0, buf[bOff + 4] ?? 0);\n  buf[dOff + 5] = Math.max(buf[aOff + 5] ?? 0, buf[bOff + 5] ?? 0);\n}\n\n/**\n * Test whether two AABBs (by index in the same pool) intersect.\n */\nexport function aabbIntersects(pool: AABBPool, a: number, b: number): boolean {\n  const aOff = a * AABB_STRIDE;\n  const bOff = b * AABB_STRIDE;\n  // Access via get() to stay safe with bounds, but direct buffer access is\n  // equally valid when performance is critical.\n  const buf = (pool as unknown as { buffer: Float32Array }).buffer;\n  return (\n    (buf[aOff] ?? 0) <= (buf[bOff + 3] ?? 0) &&\n    (buf[aOff + 3] ?? 0) >= (buf[bOff] ?? 0) &&\n    (buf[aOff + 1] ?? 0) <= (buf[bOff + 4] ?? 0) &&\n    (buf[aOff + 4] ?? 0) >= (buf[bOff + 1] ?? 0) &&\n    (buf[aOff + 2] ?? 0) <= (buf[bOff + 5] ?? 0) &&\n    (buf[aOff + 5] ?? 0) >= (buf[bOff + 2] ?? 0)\n  );\n}\n","/**\n * Ray stored as origin + direction (unit vector).\n * Layout: [ox, oy, oz, dx, dy, dz]\n */\nexport const RAY_STRIDE = 6;\n\n/** A pool-backed, zero-GC Ray store.\n *\n * When a `SharedArrayBuffer` is provided, the pool's data is accessible from\n * multiple threads (e.g. a Web Worker) with no copying.\n */\nexport class RayPool {\n  private readonly buffer: Float32Array;\n  private count: number = 0;\n\n  constructor(capacity: number, sharedBuffer?: SharedArrayBuffer) {\n    this.buffer = sharedBuffer\n      ? new Float32Array(sharedBuffer, 0, capacity * RAY_STRIDE)\n      : new Float32Array(capacity * RAY_STRIDE);\n  }\n\n  /**\n   * Create a RayPool backed by a new `SharedArrayBuffer`.\n   * Both the pool and the underlying `SharedArrayBuffer` are returned so the\n   * caller can transfer the buffer to a `Worker` via `postMessage`.\n   */\n  static createShared(capacity: number): { pool: RayPool; sab: SharedArrayBuffer } {\n    const sab = new SharedArrayBuffer(capacity * RAY_STRIDE * Float32Array.BYTES_PER_ELEMENT);\n    return { pool: new RayPool(capacity, sab), sab };\n  }\n\n  /** Allocate a new Ray slot and return its index. */\n  allocate(): number {\n    const index = this.count;\n    this.count += 1;\n    return index;\n  }\n\n  /** Set origin and direction of a ray at the given index. */\n  set(\n    index: number,\n    ox: number,\n    oy: number,\n    oz: number,\n    dx: number,\n    dy: number,\n    dz: number,\n  ): void {\n    const offset = index * RAY_STRIDE;\n    this.buffer[offset] = ox;\n    this.buffer[offset + 1] = oy;\n    this.buffer[offset + 2] = oz;\n    this.buffer[offset + 3] = dx;\n    this.buffer[offset + 4] = dy;\n    this.buffer[offset + 5] = dz;\n  }\n\n  /** Read a single component value from the buffer. */\n  get(index: number, component: number): number {\n    return this.buffer[index * RAY_STRIDE + component] ?? 0;\n  }\n\n  /** Returns the number of allocated Rays. */\n  get size(): number {\n    return this.count;\n  }\n\n  /** Reset the pool (all allocations freed, no GC). */\n  reset(): void {\n    this.count = 0;\n  }\n}\n\n/**\n * Optimized branchless slab-method ray–AABB intersection test.\n *\n * Operates purely on flat Float32Arrays with no per-axis direction branches.\n * When a direction component is zero, IEEE 754 produces ±Infinity for the\n * reciprocal, which propagates correctly through the min/max slab computation:\n *   - origin inside the slab  → [−∞, +∞] interval (no constraint)\n *   - origin outside the slab → either [+∞, +∞] or [−∞, −∞] → forces a miss\n *\n * Returns the parametric hit distance `t` (>= 0) if the ray intersects the\n * AABB, or -1 if there is no intersection (miss or box entirely behind origin).\n */\nexport function rayIntersectsAABB(\n  rayBuf: Float32Array,\n  rayOffset: number,\n  aabbBuf: Float32Array,\n  aabbOffset: number,\n): number {\n  const ox = rayBuf[rayOffset] ?? 0;\n  const oy = rayBuf[rayOffset + 1] ?? 0;\n  const oz = rayBuf[rayOffset + 2] ?? 0;\n  const idx = 1 / (rayBuf[rayOffset + 3] ?? 0);\n  const idy = 1 / (rayBuf[rayOffset + 4] ?? 0);\n  const idz = 1 / (rayBuf[rayOffset + 5] ?? 0);\n\n  const minX = aabbBuf[aabbOffset] ?? 0;\n  const minY = aabbBuf[aabbOffset + 1] ?? 0;\n  const minZ = aabbBuf[aabbOffset + 2] ?? 0;\n  const maxX = aabbBuf[aabbOffset + 3] ?? 0;\n  const maxY = aabbBuf[aabbOffset + 4] ?? 0;\n  const maxZ = aabbBuf[aabbOffset + 5] ?? 0;\n\n  // Branchless slab method: per-axis near/far t values.\n  const t1x = (minX - ox) * idx;\n  const t2x = (maxX - ox) * idx;\n  const t1y = (minY - oy) * idy;\n  const t2y = (maxY - oy) * idy;\n  const t1z = (minZ - oz) * idz;\n  const t2z = (maxZ - oz) * idz;\n\n  const tmin = Math.max(Math.min(t1x, t2x), Math.min(t1y, t2y), Math.min(t1z, t2z));\n  const tmax = Math.min(Math.max(t1x, t2x), Math.max(t1y, t2y), Math.max(t1z, t2z));\n\n  if (tmax < 0 || !(tmin <= tmax)) return -1;\n  return tmin >= 0 ? tmin : tmax;\n}\n","import { OctreeNodePool, MAX_OBJECTS_PER_NODE, NODE_STRIDE, NODE_AABB_OFFSET } from './octree-node.js';\nimport { AABBPool, AABB_STRIDE } from './aabb.js';\nimport { rayIntersectsAABB } from './ray.js';\n\n/**\n * Returns true when the AABB stored at `bufOffset` in `buf` overlaps the\n * axis-aligned box defined by the six query scalars.\n */\nfunction aabbOverlapsBox(\n  buf: Float32Array,\n  bufOffset: number,\n  qMinX: number,\n  qMinY: number,\n  qMinZ: number,\n  qMaxX: number,\n  qMaxY: number,\n  qMaxZ: number,\n): boolean {\n  return (\n    buf[bufOffset]! <= qMaxX &&\n    buf[bufOffset + 3]! >= qMinX &&\n    buf[bufOffset + 1]! <= qMaxY &&\n    buf[bufOffset + 4]! >= qMinY &&\n    buf[bufOffset + 2]! <= qMaxZ &&\n    buf[bufOffset + 5]! >= qMinZ\n  );\n}\n\n/**\n * Octree with insertion and automatic subdivision.\n *\n * - When a leaf node's object count reaches MAX_OBJECTS_PER_NODE it is\n *   subdivided into 8 axis-aligned child octants.\n * - An inserted AABB that fits entirely within a child octant is pushed down.\n * - An AABB that straddles a boundary is kept in the nearest ancestor that\n *   fully contains it.\n */\nexport class Octree {\n  private readonly nodePool: OctreeNodePool;\n  private readonly aabbPool: AABBPool;\n  private readonly root: number;\n  /** Tracks which node each object (by AABBPool index) is currently stored in. */\n  private readonly objectNodeMap: Map<number, number> = new Map();\n  /** Pre-allocated traversal stack reused across raycast calls to avoid GC pressure. */\n  private readonly _stack: number[] = [];\n\n  constructor(nodePool: OctreeNodePool, aabbPool: AABBPool) {\n    this.nodePool = nodePool;\n    this.aabbPool = aabbPool;\n    this.root = nodePool.allocate();\n  }\n\n  /** The index of the root node in the underlying OctreeNodePool. */\n  get rootIndex(): number {\n    return this.root;\n  }\n\n  /** Set the world-space AABB that the root node covers. */\n  setBounds(\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): void {\n    this.nodePool.setAABB(this.root, minX, minY, minZ, maxX, maxY, maxZ);\n  }\n\n  /** Insert the AABB at `objectIndex` (in the AABBPool) into the tree. */\n  insert(objectIndex: number): void {\n    this.insertIntoNode(this.root, objectIndex);\n  }\n\n  /**\n   * Update the AABB at `objectIndex` with new bounds and reposition it in the\n   * tree without rebuilding. If the new bounds still fit in the current node\n   * the object stays there; otherwise it is removed and re-inserted from the\n   * lowest ancestor whose bounds fully contain the new AABB.\n   */\n  update(\n    objectIndex: number,\n    newMinX: number,\n    newMinY: number,\n    newMinZ: number,\n    newMaxX: number,\n    newMaxY: number,\n    newMaxZ: number,\n  ): void {\n    const np = this.nodePool;\n    const ap = this.aabbPool;\n\n    // 1. Update the AABB data.\n    ap.set(objectIndex, newMinX, newMinY, newMinZ, newMaxX, newMaxY, newMaxZ);\n\n    // 2. Find current node.\n    const currentNode = this.objectNodeMap.get(objectIndex);\n    if (currentNode === undefined) return;\n\n    // 3. If the new bounds still fit in the current node, nothing to move.\n    if (this.fitsInNode(objectIndex, currentNode)) return;\n\n    // 4. Remove from current node.\n    np.removeObject(currentNode, objectIndex);\n    this.objectNodeMap.delete(objectIndex);\n\n    // 5. Walk up to find the lowest ancestor that fully contains the new bounds.\n    let ancestorNode = np.getParent(currentNode);\n    while (ancestorNode !== -1 && !this.fitsInNode(objectIndex, ancestorNode)) {\n      ancestorNode = np.getParent(ancestorNode);\n    }\n    // If no ancestor fits (shouldn't happen for a well-formed tree), use root.\n    if (ancestorNode === -1) ancestorNode = this.root;\n\n    // 6. Re-insert downward from the ancestor.\n    this.insertIntoNode(ancestorNode, objectIndex);\n  }\n\n  /**\n   * Cast a ray through the octree and return the closest intersecting object.\n   *\n   * Uses an iterative stack traversal (pre-allocated, no recursion) to avoid\n   * GC pressure. Only descends into child nodes whose AABBs are intersected by\n   * the ray, providing efficient pruning of non-intersecting subtrees.\n   *\n   * @param rayBuf   Float32Array containing the ray data [ox,oy,oz,dx,dy,dz].\n   * @param rayOffset Element offset (in floats) within `rayBuf` to the ray's origin.\n   * @returns The closest `{ objectIndex, t }` hit, or `null` if nothing is hit.\n   */\n  raycast(\n    rayBuf: Float32Array,\n    rayOffset: number,\n  ): { objectIndex: number; t: number } | null {\n    const np = this.nodePool;\n    // Access the underlying flat buffers directly for zero-GC intersection tests.\n    const npBuf = (np as unknown as { buffer: Float32Array }).buffer;\n    const apBuf = (this.aabbPool as unknown as { buffer: Float32Array }).buffer;\n\n    // Early-out: test the root AABB before touching any object data.\n    if (rayIntersectsAABB(rayBuf, rayOffset, npBuf, this.root * NODE_STRIDE + NODE_AABB_OFFSET) < 0) {\n      return null;\n    }\n\n    // Iterative DFS using the pre-allocated stack.\n    this._stack.length = 0;\n    this._stack.push(this.root);\n\n    let closestT = Infinity;\n    let closestIndex = -1;\n\n    while (this._stack.length > 0) {\n      const nodeIdx = this._stack.pop()!;\n\n      // Test every object stored at this node level.\n      const objCount = np.getObjectCount(nodeIdx);\n      for (let i = 0; i < objCount; i++) {\n        const objIdx = np.getObject(nodeIdx, i);\n        const t = rayIntersectsAABB(rayBuf, rayOffset, apBuf, objIdx * AABB_STRIDE);\n        if (t >= 0 && t < closestT) {\n          closestT = t;\n          closestIndex = objIdx;\n        }\n      }\n\n      // Push only children whose AABB the ray actually intersects.\n      const firstChild = np.getFirstChild(nodeIdx);\n      if (firstChild !== -1) {\n        for (let i = 0; i < 8; i++) {\n          const childIdx = firstChild + i;\n          if (rayIntersectsAABB(rayBuf, rayOffset, npBuf, childIdx * NODE_STRIDE + NODE_AABB_OFFSET) >= 0) {\n            this._stack.push(childIdx);\n          }\n        }\n      }\n    }\n\n    if (closestIndex === -1) return null;\n    return { objectIndex: closestIndex, t: closestT };\n  }\n\n  /**\n   * Query the octree for all objects whose AABB overlaps the given axis-aligned\n   * box region and return their indices (in the AABBPool).\n   *\n   * Uses the same pre-allocated iterative stack as `raycast` to avoid GC\n   * pressure. Descends only into child nodes whose AABBs overlap the query box,\n   * pruning non-intersecting subtrees.\n   *\n   * @param minX  Minimum X of the query box.\n   * @param minY  Minimum Y of the query box.\n   * @param minZ  Minimum Z of the query box.\n   * @param maxX  Maximum X of the query box.\n   * @param maxY  Maximum Y of the query box.\n   * @param maxZ  Maximum Z of the query box.\n   * @returns Array of AABBPool indices for every object that overlaps the box.\n   */\n  queryBox(\n    minX: number,\n    minY: number,\n    minZ: number,\n    maxX: number,\n    maxY: number,\n    maxZ: number,\n  ): number[] {\n    const np = this.nodePool;\n    const npBuf = (np as unknown as { buffer: Float32Array }).buffer;\n    const apBuf = (this.aabbPool as unknown as { buffer: Float32Array }).buffer;\n\n    const results: number[] = [];\n\n    // Early-out: if the query box doesn't overlap the root, nothing to do.\n    if (!aabbOverlapsBox(npBuf, this.root * NODE_STRIDE + NODE_AABB_OFFSET, minX, minY, minZ, maxX, maxY, maxZ)) {\n      return results;\n    }\n\n    // Iterative DFS using the pre-allocated stack.\n    this._stack.length = 0;\n    this._stack.push(this.root);\n\n    while (this._stack.length > 0) {\n      const nodeIdx = this._stack.pop()!;\n\n      // Test every object stored at this node level.\n      const objCount = np.getObjectCount(nodeIdx);\n      for (let i = 0; i < objCount; i++) {\n        const objIdx = np.getObject(nodeIdx, i);\n        if (aabbOverlapsBox(apBuf, objIdx * AABB_STRIDE, minX, minY, minZ, maxX, maxY, maxZ)) {\n          results.push(objIdx);\n        }\n      }\n\n      // Push only children whose AABB overlaps the query box.\n      const firstChild = np.getFirstChild(nodeIdx);\n      if (firstChild !== -1) {\n        for (let i = 0; i < 8; i++) {\n          const childIdx = firstChild + i;\n          if (aabbOverlapsBox(npBuf, childIdx * NODE_STRIDE + NODE_AABB_OFFSET, minX, minY, minZ, maxX, maxY, maxZ)) {\n            this._stack.push(childIdx);\n          }\n        }\n      }\n    }\n\n    return results;\n  }\n\n  // ── Private helpers ──────────────────────────────────────────────────────\n\n  private insertIntoNode(nodeIdx: number, objectIndex: number): void {\n    const np = this.nodePool;\n    const firstChild = np.getFirstChild(nodeIdx);\n\n    if (firstChild !== -1) {\n      // Internal node: try to push the object into a fitting child octant.\n      for (let i = 0; i < 8; i++) {\n        if (this.fitsInNode(objectIndex, firstChild + i)) {\n          this.insertIntoNode(firstChild + i, objectIndex);\n          return;\n        }\n      }\n      // Object straddles one or more boundaries – keep it at this level.\n      np.addObject(nodeIdx, objectIndex);\n      this.objectNodeMap.set(objectIndex, nodeIdx);\n      return;\n    }\n\n    // Leaf node.\n    const count = np.getObjectCount(nodeIdx);\n    if (count < MAX_OBJECTS_PER_NODE) {\n      np.addObject(nodeIdx, objectIndex);\n      this.objectNodeMap.set(objectIndex, nodeIdx);\n    } else {\n      // Capacity reached: subdivide, then retry the insertion.\n      this.subdivide(nodeIdx);\n      this.insertIntoNode(nodeIdx, objectIndex);\n    }\n  }\n\n  /** Split a leaf node into 8 children and redistribute its objects. */\n  private subdivide(nodeIdx: number): void {\n    const np = this.nodePool;\n\n    const minX = np.getAABB(nodeIdx, 0);\n    const minY = np.getAABB(nodeIdx, 1);\n    const minZ = np.getAABB(nodeIdx, 2);\n    const maxX = np.getAABB(nodeIdx, 3);\n    const maxY = np.getAABB(nodeIdx, 4);\n    const maxZ = np.getAABB(nodeIdx, 5);\n\n    const midX = (minX + maxX) / 2;\n    const midY = (minY + maxY) / 2;\n    const midZ = (minZ + maxZ) / 2;\n\n    // Allocate 8 consecutive child nodes (guarantees contiguous indices).\n    const firstChild = np.allocate();\n    for (let i = 1; i < 8; i++) {\n      np.allocate();\n    }\n    np.setFirstChild(nodeIdx, firstChild);\n\n    // Assign each child its octant AABB.\n    // Bit decomposition: bit-0 → X half, bit-1 → Y half, bit-2 → Z half.\n    for (let i = 0; i < 8; i++) {\n      const childIdx = firstChild + i;\n      const cMinX = (i & 1) === 0 ? minX : midX;\n      const cMaxX = (i & 1) === 0 ? midX : maxX;\n      const cMinY = (i & 2) === 0 ? minY : midY;\n      const cMaxY = (i & 2) === 0 ? midY : maxY;\n      const cMinZ = (i & 4) === 0 ? minZ : midZ;\n      const cMaxZ = (i & 4) === 0 ? midZ : maxZ;\n      np.setAABB(childIdx, cMinX, cMinY, cMinZ, cMaxX, cMaxY, cMaxZ);\n      np.setParent(childIdx, nodeIdx);\n    }\n\n    // Redistribute the existing objects.\n    const count = np.getObjectCount(nodeIdx);\n    const saved: number[] = [];\n    for (let i = 0; i < count; i++) {\n      saved.push(np.getObject(nodeIdx, i));\n    }\n    np.clearObjects(nodeIdx);\n\n    for (const obj of saved) {\n      // Use insertIntoNode so objectNodeMap stays consistent.\n      this.objectNodeMap.delete(obj);\n      this.insertIntoNode(nodeIdx, obj);\n    }\n  }\n\n  /** Returns true when the AABB at `objectIndex` is fully contained by `nodeIdx`. */\n  private fitsInNode(objectIndex: number, nodeIdx: number): boolean {\n    const np = this.nodePool;\n    const ap = this.aabbPool;\n    return (\n      ap.get(objectIndex, 0) >= np.getAABB(nodeIdx, 0) &&\n      ap.get(objectIndex, 1) >= np.getAABB(nodeIdx, 1) &&\n      ap.get(objectIndex, 2) >= np.getAABB(nodeIdx, 2) &&\n      ap.get(objectIndex, 3) <= np.getAABB(nodeIdx, 3) &&\n      ap.get(objectIndex, 4) <= np.getAABB(nodeIdx, 4) &&\n      ap.get(objectIndex, 5) <= np.getAABB(nodeIdx, 5)\n    );\n  }\n}\n","/**\n * LiDAR Web Worker\n *\n * Handles heavy raycasting (LiDAR sweep logic) off the main thread.\n *\n * Protocol\n * --------\n * 1. Main thread sends one `LidarInitMessage` to set up shared buffers and\n *    world bounds.  The worker replies with `{ type: 'ready' }`.\n *\n * 2. For each sweep the main thread:\n *      a. Writes up-to-date object AABB data into `aabbsSab`\n *         (6 floats per object: minX, minY, minZ, maxX, maxY, maxZ).\n *      b. Sends a `LidarSweepMessage` with the current `objectCount`.\n *\n * 3. The worker reads the transforms, inserts/updates objects in its local\n *    Octree, casts every ray from `raysSab`, and writes results to\n *    `resultsSab` (2 floats per ray: objectIndex, t; –1/–1 for a miss).\n *    It then replies with `{ type: 'done', rayCount }`.\n *\n * SharedArrayBuffer layout\n * ------------------------\n * aabbsSab  : Float32Array – objectCapacity × AABB_STRIDE (6) floats\n * nodesSab  : Float32Array – nodeCapacity   × NODE_STRIDE      floats\n * raysSab   : Float32Array – rayCount       × RAY_STRIDE (6)   floats\n * resultsSab: Float32Array – rayCount       × 2                floats\n *               [objectIndex (float), t (float)] per ray\n */\n\nimport { OctreeNodePool } from './octree-node.js';\nimport { AABBPool } from './aabb.js';\nimport { RAY_STRIDE } from './ray.js';\nimport { Octree } from './octree.js';\n\n// ── Public message types ──────────────────────────────────────────────────────\n\n/** Sent once from the main thread to initialise the shared buffers. */\nexport interface LidarInitMessage {\n  type: 'init';\n  /** SharedArrayBuffer for AABB data (objectCapacity × 6 floats). Written by the main thread. */\n  aabbsSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for Octree node data (nodeCapacity × NODE_STRIDE floats). Managed by the worker. */\n  nodesSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for ray data (rayCount × 6 floats). Written by the main thread (or set once). */\n  raysSab: SharedArrayBuffer;\n  /** SharedArrayBuffer for raycast results (rayCount × 2 floats). Written by the worker. */\n  resultsSab: SharedArrayBuffer;\n  /** Maximum number of objects the AABBPool can hold. */\n  objectCapacity: number;\n  /** Maximum number of Octree nodes the NodePool can hold. */\n  nodeCapacity: number;\n  /** Number of rays in the LiDAR sweep. */\n  rayCount: number;\n  /** World-space bounds for the root octree node. */\n  worldMinX: number;\n  worldMinY: number;\n  worldMinZ: number;\n  worldMaxX: number;\n  worldMaxY: number;\n  worldMaxZ: number;\n}\n\n/** Sent each frame to trigger a LiDAR sweep. */\nexport interface LidarSweepMessage {\n  type: 'sweep';\n  /** Number of active objects whose AABB data has been written to `aabbsSab`. */\n  objectCount: number;\n}\n\nexport type LidarWorkerInMessage = LidarInitMessage | LidarSweepMessage;\n\n/** Posted by the worker after initialisation succeeds. */\nexport interface LidarReadyMessage {\n  type: 'ready';\n}\n\n/** Posted by the worker after a sweep finishes. */\nexport interface LidarDoneMessage {\n  type: 'done';\n  /** Number of rays that were cast (equals the `rayCount` given in `init`). */\n  rayCount: number;\n}\n\nexport type LidarWorkerOutMessage = LidarReadyMessage | LidarDoneMessage;\n\n// ── Processor (pure logic, no worker-global bindings) ────────────────────────\n\n/**\n * Stateful LiDAR sweep processor.\n *\n * Exported for direct use in tests and advanced integrations.  The bottom of\n * this module wires it to the Web Worker global scope automatically when the\n * script runs inside a worker.\n */\nexport function createLidarProcessor(): {\n  init(msg: LidarInitMessage): LidarReadyMessage;\n  sweep(msg: LidarSweepMessage): LidarDoneMessage;\n} {\n  let octree: Octree | null = null;\n  let aabbPool: AABBPool | null = null;\n  let raysBuf: Float32Array | null = null;\n  let resultsBuf: Float32Array | null = null;\n  let totalRayCount = 0;\n  /** Tracks how many objects have been inserted into the local octree. */\n  let insertedObjectCount = 0;\n\n  return {\n    /** Initialise shared buffers and create the Octree. */\n    init(msg: LidarInitMessage): LidarReadyMessage {\n      const nodePool = new OctreeNodePool(msg.nodeCapacity, msg.nodesSab);\n      aabbPool = new AABBPool(msg.objectCapacity, msg.aabbsSab);\n      raysBuf = new Float32Array(msg.raysSab);\n      resultsBuf = new Float32Array(msg.resultsSab);\n      totalRayCount = msg.rayCount;\n      insertedObjectCount = 0;\n\n      octree = new Octree(nodePool, aabbPool);\n      octree.setBounds(\n        msg.worldMinX, msg.worldMinY, msg.worldMinZ,\n        msg.worldMaxX, msg.worldMaxY, msg.worldMaxZ,\n      );\n\n      return { type: 'ready' };\n    },\n\n    /**\n     * Read current object AABB data from the shared buffer, update the Octree,\n     * cast every sweep ray, and write results to the results buffer.\n     */\n    sweep(msg: LidarSweepMessage): LidarDoneMessage {\n      if (octree === null || aabbPool === null || raysBuf === null || resultsBuf === null) {\n        throw new Error('LidarProcessor: sweep called before init');\n      }\n\n      const objectCount = msg.objectCount;\n\n      // Ensure the pool's allocation count reflects all active objects so that\n      // the pool's `size` getter stays accurate (the buffer memory already exists\n      // in the SAB – allocate() only increments the internal counter).\n      while (aabbPool.size < objectCount) {\n        aabbPool.allocate();\n      }\n\n      // Insert new objects or reposition existing ones in the octree.\n      for (let i = 0; i < objectCount; i++) {\n        const minX = aabbPool.get(i, 0);\n        const minY = aabbPool.get(i, 1);\n        const minZ = aabbPool.get(i, 2);\n        const maxX = aabbPool.get(i, 3);\n        const maxY = aabbPool.get(i, 4);\n        const maxZ = aabbPool.get(i, 5);\n\n        if (i < insertedObjectCount) {\n          // Already in the tree – reposition without full rebuild.\n          octree.update(i, minX, minY, minZ, maxX, maxY, maxZ);\n        } else {\n          // First appearance: insert using the bounds already in the SAB.\n          octree.insert(i);\n          insertedObjectCount++;\n        }\n      }\n\n      // LiDAR sweep: cast each ray and write the closest hit (or miss) to\n      // the results buffer.  Layout: [objectIndex, t] per ray (–1/–1 = miss).\n      for (let r = 0; r < totalRayCount; r++) {\n        const hit = octree.raycast(raysBuf, r * RAY_STRIDE);\n        if (hit !== null) {\n          resultsBuf[r * 2] = hit.objectIndex;\n          resultsBuf[r * 2 + 1] = hit.t;\n        } else {\n          resultsBuf[r * 2] = -1;\n          resultsBuf[r * 2 + 1] = -1;\n        }\n      }\n\n      return { type: 'done', rayCount: totalRayCount };\n    },\n  };\n}\n\n// ── Web Worker binding ────────────────────────────────────────────────────────\n// Automatically wire the processor to the worker's global message handler when\n// this script is loaded inside a Web Worker context (browser or Node.js worker).\n\ntype WorkerGlobalSelf = {\n  onmessage: ((event: { data: LidarWorkerInMessage }) => void) | null;\n  postMessage(data: LidarWorkerOutMessage): void;\n};\n\n// `postMessage` is available on the worker global but not in a regular Node.js\n// module context, so check for it before binding.\nconst globalScope = globalThis as Record<string, unknown>;\nif (typeof globalScope['postMessage'] === 'function' && typeof globalScope['onmessage'] !== 'undefined') {\n  const workerSelf = globalThis as unknown as WorkerGlobalSelf;\n  const processor = createLidarProcessor();\n\n  workerSelf.onmessage = (event) => {\n    const msg = event.data;\n    if (msg.type === 'init') {\n      workerSelf.postMessage(processor.init(msg));\n    } else if (msg.type === 'sweep') {\n      workerSelf.postMessage(processor.sweep(msg));\n    }\n  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