@woosh/meep-engine 2.119.131 → 2.120.0

package/src/engine/graphics/ecs/highlight/Highlight.js

@@ -44,6 +44,10 @@ class Highlight {
      * @return {boolean}
      */
     equals(other) {
+        if(other === null || other === undefined){
+            return false;
+        }
+
         return this.elements.equals(other.elements);
     }
 

package/src/engine/graphics/geometry/bvh/buffered/bvh32_set_leaf_from_triangle.js

@@ -1,4 +1,4 @@
-import { aabb3_compute_from_triangle } from "../../../../../core/geom/3d/aabb3_compute_from_triangle.js";
+import { aabb3_compute_from_triangle } from "../../../../../core/geom/3d/triangle/aabb3_compute_from_triangle.js";
 
 /**
  *

package/src/engine/graphics/impostors/octahedral/bake/compute_bounding_sphere.js

@@ -1,6 +1,6 @@
+import { apply_mat4_transform_to_v3_array } from "../../../../../core/geom/3d/mat4/apply_mat4_transform_to_v3_array.js";
 import { Miniball } from "../../../../../core/geom/packing/miniball/Miniball.js";
 import { PointSet } from "../../../../../core/geom/packing/miniball/PointSet.js";
-import { apply_mat4_transform_to_v3_array } from "../../../../../core/geom/3d/apply_mat4_transform_to_v3_array.js";
 
 /**
  *

package/src/engine/graphics/particles/particular/engine/emitter/ParticleEmitter.js

@@ -7,7 +7,7 @@ import { SCRATCH_UINT32_TRAVERSAL_STACK } from "../../../../../../core/collectio
 import { AABB3 } from "../../../../../../core/geom/3d/aabb/AABB3.js";
 import { aabb3_array_combine } from "../../../../../../core/geom/3d/aabb/aabb3_array_combine.js";
 import { aabb3_expand_array } from "../../../../../../core/geom/3d/aabb/aabb3_expand_array.js";
-import { compose_matrix4_array } from "../../../../../../core/geom/3d/compose_matrix4_array.js";
+import { compose_matrix4_array } from "../../../../../../core/geom/3d/mat4/compose_matrix4_array.js";
 import Quaternion from "../../../../../../core/geom/Quaternion.js";
 import { v3_dot_array_array } from "../../../../../../core/geom/vec3/v3_dot_array_array.js";
 import Vector3 from "../../../../../../core/geom/Vector3.js";

package/src/engine/graphics/render/gizmo/GizmoShapeRenderingInterface.js

@@ -3,7 +3,7 @@ import { makeHelperBoxGeometry } from "../../../../../editor/process/symbolic/ma
 import { makeHelperSphereGeometry } from "../../../../../editor/process/symbolic/makeHelperSphereGeometry.js";
 import { assert } from "../../../../core/assert.js";
 import { array_copy } from "../../../../core/collection/array/array_copy.js";
-import { compose_matrix4_array } from "../../../../core/geom/3d/compose_matrix4_array.js";
+import { compose_matrix4_array } from "../../../../core/geom/3d/mat4/compose_matrix4_array.js";
 import Quaternion from "../../../../core/geom/Quaternion.js";
 import Vector3 from "../../../../core/geom/Vector3.js";
 import { DrawMode } from "../../ecs/mesh-v2/DrawMode.js";

package/src/engine/graphics/sh3/lpv/PathTracerProbeRenderer.js

@@ -1,5 +1,5 @@
 import { array_copy } from "../../../../core/collection/array/array_copy.js";
-import { Ray3 } from "../../../../core/geom/3d/Ray3.js";
+import { Ray3 } from "../../../../core/geom/3d/ray/Ray3.js";
 import { sh3_basis_at } from "../../../../core/geom/3d/sphere/harmonics/sh3_basis_at.js";
 import {
     sh3_dering_optimize_positive

package/src/engine/graphics/sh3/lpv/depth/octahedral/bake_octahedral_depth_map.js

@@ -4,7 +4,7 @@ import { array_copy } from "../../../../../../core/collection/array/array_copy.j
 import {
     decode_octahedron_to_unit
 } from "../../../../../../core/geom/3d/normal/octahedron/decode_octahedron_to_unit.js";
-import { Ray3 } from "../../../../../../core/geom/3d/Ray3.js";
+import { Ray3 } from "../../../../../../core/geom/3d/ray/Ray3.js";
 import { v3_distance } from "../../../../../../core/geom/vec3/v3_distance.js";
 import { v3_dot_array_array } from "../../../../../../core/geom/vec3/v3_dot_array_array.js";
 import { max2 } from "../../../../../../core/math/max2.js";

package/src/engine/graphics/sh3/lpv/depth/octahedral/bake_octahedral_depth_map_fibonacci.js

@@ -7,7 +7,7 @@ import {
 import {
     encode_unit_to_octahedron
 } from "../../../../../../core/geom/3d/normal/octahedron/encode_unit_to_octahedron.js";
-import { Ray3 } from "../../../../../../core/geom/3d/Ray3.js";
+import { Ray3 } from "../../../../../../core/geom/3d/ray/Ray3.js";
 import { sphere_fibonacci_point } from "../../../../../../core/geom/3d/sphere/sphere_fibonacci_point.js";
 import { v3_distance } from "../../../../../../core/geom/vec3/v3_distance.js";
 import { v3_dot_array_array } from "../../../../../../core/geom/vec3/v3_dot_array_array.js";

package/src/engine/graphics/sh3/lpv/depth/sh3_bake_depth.js

@@ -1,5 +1,5 @@
 import { array_copy } from "../../../../../core/collection/array/array_copy.js";
-import { Ray3 } from "../../../../../core/geom/3d/Ray3.js";
+import { Ray3 } from "../../../../../core/geom/3d/ray/Ray3.js";
 import { sh3_basis_at } from "../../../../../core/geom/3d/sphere/harmonics/sh3_basis_at.js";
 import { sh3_vector_accumulate } from "../../../../../core/geom/3d/sphere/harmonics/sh3_vector_accumulate.js";
 import { vector_scale_array } from "../../../../../core/geom/vec/vector_scale_array.js";

package/src/engine/graphics/sh3/path_tracer/PathTracedMesh.d.ts

@@ -46,5 +46,5 @@ export class PathTracedMesh {
     #private;
 }
 import { AABB3 } from "../../../../core/geom/3d/aabb/AABB3.js";
-import { Ray3 } from "../../../../core/geom/3d/Ray3.js";
+import { Ray3 } from "../../../../core/geom/3d/ray/Ray3.js";
 //# sourceMappingURL=PathTracedMesh.d.ts.map

package/src/engine/graphics/sh3/path_tracer/PathTracedMesh.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"PathTracedMesh.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/graphics/sh3/path_tracer/PathTracedMesh.js"],"names":[],"mappings":"AAeA;IACI;;;OAGG;IACH,IAFU,MAAM,CAEO;IAEvB;;;OAGG;IACH,MAFU,KAAK,CAEI;IAEnB;;;OAGG;IACH,KAFU,mBAAmB,GAAC,IAAI,CAEvB;IAGX;;;OAGG;IACH,UAFU,KAAK,CAAC,cAAc,GAAC,IAAI,CAEnB;IAEhB;;;OAGG;IACH,UAFU,gBAAgB,GAAC,IAAI,CAEf;IAKhB,uDAEC;IAED,2BAqBC;IAED,sBAGC;IAED,gDAQC;IAED,+CAEC;IAED;;;;OAIG;IACH,cAHW,IAAI,GACF,OAAO,CAWnB;IAED;;;;;;OAMG;IACH,SALW,MAAM,EAAE,OACR,MAAM,EAAE,GAAC,IAAI,aACb,MAAM,GACJ,MAAM,CA4BlB;;CACJ;sBAhJqB,wCAAwC;qBAIzC,kCAAkC"}
+{"version":3,"file":"PathTracedMesh.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/graphics/sh3/path_tracer/PathTracedMesh.js"],"names":[],"mappings":"AAeA;IACI;;;OAGG;IACH,IAFU,MAAM,CAEO;IAEvB;;;OAGG;IACH,MAFU,KAAK,CAEI;IAEnB;;;OAGG;IACH,KAFU,mBAAmB,GAAC,IAAI,CAEvB;IAGX;;;OAGG;IACH,UAFU,KAAK,CAAC,cAAc,GAAC,IAAI,CAEnB;IAEhB;;;OAGG;IACH,UAFU,gBAAgB,GAAC,IAAI,CAEf;IAKhB,uDAEC;IAED,2BAqBC;IAED,sBAGC;IAED,gDAQC;IAED,+CAEC;IAED;;;;OAIG;IACH,cAHW,IAAI,GACF,OAAO,CAWnB;IAED;;;;;;OAMG;IACH,SALW,MAAM,EAAE,OACR,MAAM,EAAE,GAAC,IAAI,aACb,MAAM,GACJ,MAAM,CA4BlB;;CACJ;sBAhJqB,wCAAwC;qBAIzC,sCAAsC"}

package/src/engine/graphics/sh3/path_tracer/PathTracedMesh.js

@@ -2,9 +2,9 @@ import { mat4 } from "gl-matrix";
 import { array_copy } from "../../../../core/collection/array/array_copy.js";
 import { AABB3 } from "../../../../core/geom/3d/aabb/AABB3.js";
 import { aabb3_from_v3_array_transformed } from "../../../../core/geom/3d/aabb/aabb3_from_v3_array_transformed.js";
-import { decompose_matrix_4_array } from "../../../../core/geom/3d/decompose_matrix_4_array.js";
 import { allocate_m4 } from "../../../../core/geom/3d/mat4/allocate_m4.js";
-import { Ray3 } from "../../../../core/geom/3d/Ray3.js";
+import { decompose_matrix_4_array } from "../../../../core/geom/3d/mat4/decompose_matrix_4_array.js";
+import { Ray3 } from "../../../../core/geom/3d/ray/Ray3.js";
 import Quaternion from "../../../../core/geom/Quaternion.js";
 import { v3_distance } from "../../../../core/geom/vec3/v3_distance.js";
 import Vector3 from "../../../../core/geom/Vector3.js";

package/src/engine/graphics/sh3/path_tracer/PathTracedScene.d.ts

@@ -109,5 +109,5 @@ import { BVH } from "../../../../core/bvh2/bvh3/BVH.js";
 import { PathTracedMesh } from "./PathTracedMesh.js";
 import { AbstractLight } from "../../render/forward_plus/model/AbstractLight.js";
 import { BufferedGeometryBVH } from "./BufferedGeometryBVH.js";
-import { Ray3 } from "../../../../core/geom/3d/Ray3.js";
+import { Ray3 } from "../../../../core/geom/3d/ray/Ray3.js";
 //# sourceMappingURL=PathTracedScene.d.ts.map

package/src/engine/graphics/sh3/path_tracer/PathTracedScene.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"PathTracedScene.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/graphics/sh3/path_tracer/PathTracedScene.js"],"names":[],"mappings":"AAoDA;IAGI;;;OAGG;IACH,eAFU,GAAG,CAEa;IAG1B;;;OAGG;IACH,QAFU,GAAG,CAAC,MAAM,EAAE,cAAc,CAAC,CAElB;IAEnB;;;OAGG;IACH,UAFU,aAAa,EAAE,CAEX;IAEd;;;OAGG;IACH,WAFU,GAAG,CAAC,KAAK,CAAC,cAAc,EAAE,mBAAmB,CAAC,CAElC;IAmBtB;;;;OAIG;IACH,6BAA6C;IAmF7C,iBAOC;IAED;;;;OAIG;IACH,uBAHW,KAAK,CAAC,cAAc,GACnB,mBAAmB,CAmB9B;IAED;;;OAGG;IACH,gBAFW,aAAa,QAMvB;IAED;;;;OAIG;IACH,cAHW,cAAc,GACZ,OAAO,CAInB;IAED;;;;OAIG;IACH,cAHW,cAAc,GACZ,OAAO,CAiCnB;IAED;;;;OAIG;IACH,iBAHW,cAAc,GACZ,OAAO,CAgBnB;IAED;;;;OAIG;IACH,yBAHW,KAAK,CAAC,QAAQ,GACZ,gBAAgB,CAI5B;IAED;;;;;OAKG;IACH,qBAJW,KAAK,CAAC,cAAc,YACpB,KAAK,CAAC,QAAQ,aACd,IAAI,GAAC,MAAM,EAAE,QAavB;IAED;;;;;OAKG;IACH,qBAJW,MAAM,EAAE,OACR,MAAM,EAAE,gBACR,IAAI,QA0Cd;IAED;;;;OAIG;IACH,cAHW,IAAI,GACF,OAAO,CAsCnB;IAED;;;;;OAKG;IACH,WAJW,MAAM,EAAE,OACR,MAAM,EAAE,GAAC,IAAI,GACZ,MAAM,CA+CjB;IAED;;;;;;OAMG;IACH,uBALW,MAAM,EAAE,cACR,MAAM,aACN,MAAM,EAAE,oBACR,MAAM,QAIhB;IAED;;;;;OAKG;IACH,mBAJW,MAAM,EAAE,cACR,MAAM,OACN,MAAM,EAAE,QAwHlB;;CACJ;oBA3lB8B,mCAAmC;+BAqBnC,qBAAqB;8BAJtB,kDAAkD;oCAC5C,0BAA0B;qBAPzC,kCAAkC"}
+{"version":3,"file":"PathTracedScene.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/graphics/sh3/path_tracer/PathTracedScene.js"],"names":[],"mappings":"AAoDA;IAGI;;;OAGG;IACH,eAFU,GAAG,CAEa;IAG1B;;;OAGG;IACH,QAFU,GAAG,CAAC,MAAM,EAAE,cAAc,CAAC,CAElB;IAEnB;;;OAGG;IACH,UAFU,aAAa,EAAE,CAEX;IAEd;;;OAGG;IACH,WAFU,GAAG,CAAC,KAAK,CAAC,cAAc,EAAE,mBAAmB,CAAC,CAElC;IAmBtB;;;;OAIG;IACH,6BAA6C;IAmF7C,iBAOC;IAED;;;;OAIG;IACH,uBAHW,KAAK,CAAC,cAAc,GACnB,mBAAmB,CAmB9B;IAED;;;OAGG;IACH,gBAFW,aAAa,QAMvB;IAED;;;;OAIG;IACH,cAHW,cAAc,GACZ,OAAO,CAInB;IAED;;;;OAIG;IACH,cAHW,cAAc,GACZ,OAAO,CAiCnB;IAED;;;;OAIG;IACH,iBAHW,cAAc,GACZ,OAAO,CAgBnB;IAED;;;;OAIG;IACH,yBAHW,KAAK,CAAC,QAAQ,GACZ,gBAAgB,CAI5B;IAED;;;;;OAKG;IACH,qBAJW,KAAK,CAAC,cAAc,YACpB,KAAK,CAAC,QAAQ,aACd,IAAI,GAAC,MAAM,EAAE,QAavB;IAED;;;;;OAKG;IACH,qBAJW,MAAM,EAAE,OACR,MAAM,EAAE,gBACR,IAAI,QA0Cd;IAED;;;;OAIG;IACH,cAHW,IAAI,GACF,OAAO,CAsCnB;IAED;;;;;OAKG;IACH,WAJW,MAAM,EAAE,OACR,MAAM,EAAE,GAAC,IAAI,GACZ,MAAM,CA+CjB;IAED;;;;;;OAMG;IACH,uBALW,MAAM,EAAE,cACR,MAAM,aACN,MAAM,EAAE,oBACR,MAAM,QAIhB;IAED;;;;;OAKG;IACH,mBAJW,MAAM,EAAE,cACR,MAAM,OACN,MAAM,EAAE,QAwHlB;;CACJ;oBA3lB8B,mCAAmC;+BAqBnC,qBAAqB;8BAJtB,kDAAkD;oCAC5C,0BAA0B;qBARzC,sCAAsC"}

package/src/engine/graphics/sh3/path_tracer/PathTracedScene.js

@@ -9,8 +9,8 @@ import { array_quick_sort_by_lookup_map } from "../../../../core/collection/arra
 import { strictEquals } from "../../../../core/function/strictEquals.js";
 import { AABB3 } from "../../../../core/geom/3d/aabb/AABB3.js";
 import { v3_morton_encode_bounded } from "../../../../core/geom/3d/morton/v3_morton_encode_bounded.js";
+import { Ray3 } from "../../../../core/geom/3d/ray/Ray3.js";
 import { ray3_array_compose } from "../../../../core/geom/3d/ray/ray3_array_compose.js";
-import { Ray3 } from "../../../../core/geom/3d/Ray3.js";
 import { v3_dot } from "../../../../core/geom/vec3/v3_dot.js";
 import { v3_length } from "../../../../core/geom/vec3/v3_length.js";
 import { saturate } from "../../../../core/math/clamp01.js";

package/src/engine/graphics/sh3/path_tracer/PathTracer.d.ts

@@ -10,5 +10,5 @@ export class PathTracer {
      */
     path_trace(out: number[] | Float32Array, ray: number[] | Float32Array | Ray3, min_bounce: number, max_bounce: number, random: Function, scene: PathTracedScene): void;
 }
-import { Ray3 } from "../../../../core/geom/3d/Ray3.js";
+import { Ray3 } from "../../../../core/geom/3d/ray/Ray3.js";
 //# sourceMappingURL=PathTracer.d.ts.map

package/src/engine/graphics/sh3/path_tracer/PathTracer.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"PathTracer.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/graphics/sh3/path_tracer/PathTracer.js"],"names":[],"mappings":"AAiCA;IAGI;;;;;;;;OAQG;IACH,gBAPW,MAAM,EAAE,GAAC,YAAY,OACrB,MAAM,EAAE,GAAC,YAAY,GAAC,IAAI,cAC1B,MAAM,cACN,MAAM,2BAEN,eAAe,QAgFzB;CACJ;qBA1HoB,kCAAkC"}
+{"version":3,"file":"PathTracer.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/graphics/sh3/path_tracer/PathTracer.js"],"names":[],"mappings":"AAiCA;IAGI;;;;;;;;OAQG;IACH,gBAPW,MAAM,EAAE,GAAC,YAAY,OACrB,MAAM,EAAE,GAAC,YAAY,GAAC,IAAI,cAC1B,MAAM,cACN,MAAM,2BAEN,eAAe,QAgFzB;CACJ;qBA1HoB,sCAAsC"}

package/src/engine/graphics/sh3/path_tracer/PathTracer.js

@@ -1,6 +1,6 @@
 import { vec3 } from "gl-matrix";
 import { array_copy } from "../../../../core/collection/array/array_copy.js";
-import { Ray3 } from "../../../../core/geom/3d/Ray3.js";
+import { Ray3 } from "../../../../core/geom/3d/ray/Ray3.js";
 import { getBiasedNormalSample } from "./sampling/getBiasedNormalSample.js";
 
 /*

package/src/engine/graphics/sh3/path_tracer/prototypePathTracer.js

@@ -8,8 +8,8 @@ import { Color } from "../../../../core/color/Color.js";
 import { linear_to_sRGB } from "../../../../core/color/sRGB/linear_to_sRGB.js";
 
 import { noop } from "../../../../core/function/noop.js";
+import { Ray3 } from "../../../../core/geom/3d/ray/Ray3.js";
 import { ray3_array_compose } from "../../../../core/geom/3d/ray/ray3_array_compose.js";
-import { Ray3 } from "../../../../core/geom/3d/Ray3.js";
 import Quaternion from "../../../../core/geom/Quaternion.js";
 import { v3_distance } from "../../../../core/geom/vec3/v3_distance.js";
 import Vector3 from "../../../../core/geom/Vector3.js";

package/src/engine/graphics/sh3/prototypeSH3Probe.js

@@ -20,7 +20,7 @@ import { is_typed_array_equals } from "../../../core/collection/array/typed/is_t
 import { Color } from "../../../core/color/Color.js";
 import { kelvin_to_rgb } from "../../../core/color/kelvin/kelvin_to_rgb.js";
 import { AABB3 } from "../../../core/geom/3d/aabb/AABB3.js";
-import { compose_matrix4_array } from "../../../core/geom/3d/compose_matrix4_array.js";
+import { compose_matrix4_array } from "../../../core/geom/3d/mat4/compose_matrix4_array.js";
 import { visualize_tetrahedral_mesh } from "../../../core/geom/3d/tetrahedra/visualize_tetrahedral_mesh.js";
 import Quaternion from "../../../core/geom/Quaternion.js";
 import { v3_length } from "../../../core/geom/vec3/v3_length.js";

package/src/engine/graphics/util/composeMatrix4.js

@@ -1,4 +1,4 @@
-import { compose_matrix4_array } from "../../../core/geom/3d/compose_matrix4_array.js";
+import { compose_matrix4_array } from "../../../core/geom/3d/mat4/compose_matrix4_array.js";
 
 /**
  *

package/src/engine/physics/computeInterceptPoint.d.ts

@@ -1,2 +1,12 @@
-export {};
+/**
+ * Given position of the source point, and target moving at a constant velocity, compute intercept.
+ * Simple example would be {@link target} being enemy running, and {@link source} being position of our archer, given that the arrow speed is {@link sourceSpeed}, where should the archer aim at in order to hit the moving target?
+ * @param {Vector3} result This is where the intercept point will be written if solution is found
+ * @param {Vector3} source Where to launch a projectile from
+ * @param {Vector3} target Where the target currently is
+ * @param {Vector3} targetVelocity Target's current velocity vector
+ * @param {number} sourceSpeed Speed of the projectile in question
+ * @return {boolean} true iff there is at least one real solution
+ */
+export function computeInterceptPoint(result: Vector3, source: Vector3, target: Vector3, targetVelocity: Vector3, sourceSpeed: number): boolean;
 //# sourceMappingURL=computeInterceptPoint.d.ts.map

package/src/engine/physics/computeInterceptPoint.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"computeInterceptPoint.d.ts","sourceRoot":"","sources":["../../../../src/engine/physics/computeInterceptPoint.js"],"names":[],"mappings":""}
+{"version":3,"file":"computeInterceptPoint.d.ts","sourceRoot":"","sources":["../../../../src/engine/physics/computeInterceptPoint.js"],"names":[],"mappings":"AASA;;;;;;;;;GASG;AACH,8CAPW,OAAO,UACP,OAAO,UACP,OAAO,kBACP,OAAO,eACP,MAAM,GACL,OAAO,CAyDlB"}

package/src/engine/physics/computeInterceptPoint.js

@@ -1,17 +1,35 @@
 import { v3_dot } from "../../core/geom/vec3/v3_dot.js";
 import { solveQuadratic } from "../../core/math/solveQuadratic.js";
 
+/**
+ *
+ * @type {number[]}
+ */
+const q_roots = [];
+
 /**
  * Given position of the source point, and target moving at a constant velocity, compute intercept.
  * Simple example would be {@link target} being enemy running, and {@link source} being position of our archer, given that the arrow speed is {@link sourceSpeed}, where should the archer aim at in order to hit the moving target?
- * @param {Vector3} result
- * @param {Vector3} source
- * @param {Vector3} target
- * @param {Vector3} targetVelocity
- * @param {number} sourceSpeed
- * @return {boolean} true iff there is at least oen real solution
+ * @param {Vector3} result This is where the intercept point will be written if solution is found
+ * @param {Vector3} source Where to launch a projectile from
+ * @param {Vector3} target Where the target currently is
+ * @param {Vector3} targetVelocity Target's current velocity vector
+ * @param {number} sourceSpeed Speed of the projectile in question
+ * @return {boolean} true iff there is at least one real solution
  */
-function computeInterceptPoint(result, source, target, targetVelocity, sourceSpeed) {
+export function computeInterceptPoint(
+    result,
+    source,
+    target,
+    targetVelocity,
+    sourceSpeed
+) {
+
+    if (sourceSpeed < 0) {
+        // negative speed is invalid
+        return false;
+    }
+
     const d_ts_x = target.x - source.x;
     const d_ts_y = target.y - source.y;
     const d_ts_z = target.z - source.z;
@@ -26,13 +44,12 @@ function computeInterceptPoint(result, source, target, targetVelocity, sourceSpe
     );
 
     // Solve quadratic
-    const ts = [];
-    const root_count = solveQuadratic(ts, 0, a, b, c); // See quad(), below
+    const root_count = solveQuadratic(q_roots, 0, a, b, c); // See quad(), below
 
     // Find smallest positive solution
     if (root_count > 0) {
-        const root_0 = ts[0];
-        const root_1 = ts[1];
+        const root_0 = q_roots[0];
+        const root_1 = q_roots[1];
 
         let t = Math.min(root_0, root_1);
 
@@ -41,7 +58,7 @@ function computeInterceptPoint(result, source, target, targetVelocity, sourceSpe
             t = Math.max(root_0, root_1);
         }
 
-        if (t > 0) {
+        if (t >= 0) {
 
             result.copy(targetVelocity);
             result.multiplyScalar(t);

package/src/engine/physics/gjk/expanding_polytope_algorithm.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"expanding_polytope_algorithm.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/gjk/expanding_polytope_algorithm.js"],"names":[],"mappings":"AAuFA;;;;;;;;;;GAUG;AACH,qDATW,MAAM,EAAE,iBACR,MAAM,KACN,MAAM,EAAE,KACR,MAAM,EAAE,KACR,MAAM,EAAE,KACR,MAAM,EAAE,SACR,eAAe,SACf,eAAe,QA8PzB"}
+{"version":3,"file":"expanding_polytope_algorithm.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/gjk/expanding_polytope_algorithm.js"],"names":[],"mappings":"AAgEA;;;;;;;;;;GAUG;AACH,qDATW,MAAM,EAAE,iBACR,MAAM,KACN,MAAM,EAAE,KACR,MAAM,EAAE,KACR,MAAM,EAAE,KACR,MAAM,EAAE,SACR,eAAe,SACf,eAAe,QA8PzB"}

package/src/engine/physics/gjk/expanding_polytope_algorithm.js

@@ -1,10 +1,9 @@
 import { assert } from "../../../core/assert.js";
 import { array_copy } from "../../../core/collection/array/array_copy.js";
 import { array_swap } from "../../../core/collection/array/array_swap.js";
+import { v3_compute_triangle_normal } from "../../../core/geom/3d/triangle/v3_compute_triangle_normal.js";
 import { v3_dot } from "../../../core/geom/vec3/v3_dot.js";
 import { v3_dot_array_array } from "../../../core/geom/vec3/v3_dot_array_array.js";
-import { v3_length } from "../../../core/geom/vec3/v3_length.js";
-import { v3_length_sqr } from "../../../core/geom/vec3/v3_length_sqr.js";
 
 import { v3_negate_array } from "../../../core/geom/vec3/v3_negate_array.js";
 
@@ -28,7 +27,12 @@ const loose_edges = new Float32Array(EPA_MAX_NUM_LOOSE_EDGES * EDGE_ELEMENT_COUN
 
 const scratch_v3 = new Float32Array(3);
 
-
+/**
+ *
+ * @param {number[]} target
+ * @param {number} target_index
+ * @param {number[]} v
+ */
 function write_v3(target, target_index, v) {
     array_copy(v, 0, faces, target_index * 3, 3);
 }
@@ -48,41 +52,14 @@ function write_face(faces, index, a, b, c) {
     write_v3(faces, index4 + 1, b);
     write_v3(faces, index4 + 2, c);
 
-    // normalise(cross(b-a, c-a)); //ABC
-    const ba_x = b[0] - a[0];
-    const ba_y = b[1] - a[1];
-    const ba_z = b[2] - a[2];
-
-    const ca_x = c[0] - a[0];
-    const ca_y = c[1] - a[1];
-    const ca_z = c[2] - a[2];
-
-    // cross product
-
-    const cross_x = ba_y * ca_z - ba_z * ca_y;
-    const cross_y = ba_z * ca_x - ba_x * ca_z;
-    const cross_z = ba_x * ca_y - ba_y * ca_x;
-
     const normal_offset = (index4 + 3) * 3;
 
-    // normalize
-    const length = v3_length(cross_x, cross_y, cross_z);
-
-    if (length === 0) {
-        // division by 0, there is no normal vector so let's provide something valid
-
-        faces[normal_offset] = 0;
-        faces[normal_offset + 1] = 1;
-        faces[normal_offset + 2] = 0;
-
-        return;
-    }
-
-    const length_inv = 1 / length;
-
-    faces[normal_offset] = cross_x * length_inv;
-    faces[normal_offset + 1] = cross_y * length_inv;
-    faces[normal_offset + 2] = cross_z * length_inv;
+    v3_compute_triangle_normal(
+        faces, normal_offset,
+        a[0], a[1], a[2],
+        b[0], b[1], b[2],
+        c[0], c[1], c[2]
+    );
 }
 
 /**
@@ -369,27 +346,10 @@ function construct_normal(result_offset, edge_index, p_x, p_y, p_z) {
     const edge_by = loose_edges[edge_offset + 4];
     const edge_bz = loose_edges[edge_offset + 5];
 
-    const v0x = edge_ax - edge_bx;
-    const v0y = edge_ay - edge_by;
-    const v0z = edge_az - edge_bz;
-
-    const v1x = edge_ax - p_x;
-    const v1y = edge_ay - p_y;
-    const v1z = edge_az - p_z;
-
-    const crossX = v0y * v1z - v0z * v1y;
-    const crossY = v0z * v1x - v0x * v1z;
-    const crossZ = v0x * v1y - v0y * v1x;
-
-    const l_sqr = v3_length_sqr(crossX, crossY, crossZ);
-
-    const l_inv = 1 / Math.sqrt(l_sqr);
-
-    const x = crossX * l_inv;
-    const y = crossY * l_inv;
-    const z = crossZ * l_inv;
-
-    faces[result_offset] = x;
-    faces[result_offset + 1] = y;
-    faces[result_offset + 2] = z;
+    v3_compute_triangle_normal(
+        faces, result_offset,
+        edge_ax, edge_ay, edge_az,
+        edge_bx, edge_by, edge_bz,
+        p_x, p_y, p_z
+    );
 }

package/src/engine/physics/inverse_kinematics/fabrik/fabrik_solve.d.ts

@@ -1,6 +1,7 @@
 /**
- *
- * @param {Transform[]} joints
+ * Note that bones are defined as a combination of Joint ({@link Transform}) and bone length. Joint defines the origin of the bone.
+ * Last joint's position is expected to be bone_length distance from the target if target is reachable and be oriented towards that target ({@link Transform.lookAt})
+ * @param {Transform[]} joints Will be updated as a result of the solve
  * @param {number[]} lengths distance to next bone
  * @param {Vector3} origin where should the first joint be placed at
  * @param {Vector3} target where should the last joint be placed at

package/src/engine/physics/inverse_kinematics/fabrik/fabrik_solve.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"fabrik_solve.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/inverse_kinematics/fabrik/fabrik_solve.js"],"names":[],"mappings":"AAWA;;;;;;;;GAQG;AACH,qCAPW,SAAS,EAAE,WACX,MAAM,EAAE,UACR,OAAO,UACP,OAAO,mBACP,MAAM,uBACN,MAAM,QAgFhB;oBAjGmB,kCAAkC"}
+{"version":3,"file":"fabrik_solve.d.ts","sourceRoot":"","sources":["../../../../../../src/engine/physics/inverse_kinematics/fabrik/fabrik_solve.js"],"names":[],"mappings":"AAWA;;;;;;;;;GASG;AACH,qCAPW,SAAS,EAAE,WACX,MAAM,EAAE,UACR,OAAO,UACP,OAAO,mBACP,MAAM,uBACN,MAAM,QAgFhB;oBAlGmB,kCAAkC"}

package/src/engine/physics/inverse_kinematics/fabrik/fabrik_solve.js

@@ -10,8 +10,9 @@ const scratch_v3_1 = new Vector3();
 const scratch_quat = new Quaternion();
 
 /**
- *
- * @param {Transform[]} joints
+ * Note that bones are defined as a combination of Joint ({@link Transform}) and bone length. Joint defines the origin of the bone.
+ * Last joint's position is expected to be bone_length distance from the target if target is reachable and be oriented towards that target ({@link Transform.lookAt})
+ * @param {Transform[]} joints Will be updated as a result of the solve
  * @param {number[]} lengths distance to next bone
  * @param {Vector3} origin where should the first joint be placed at
  * @param {Vector3} target where should the last joint be placed at

package/src/engine/physics/inverse_kinematics/two_joint_ik.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"two_joint_ik.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/inverse_kinematics/two_joint_ik.js"],"names":[],"mappings":"AA0BA;;;;;;;;;;;GAWG;AACH,gCAVW,OAAO,KACP,OAAO,KACP,OAAO,KACP,OAAO,OACP,MAAM,QACN,UAAU,QACV,UAAU,QACV,UAAU,QACV,UAAU,QAoEpB;oBAtGmB,+BAA+B;uBAD5B,kCAAkC"}
+{"version":3,"file":"two_joint_ik.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/inverse_kinematics/two_joint_ik.js"],"names":[],"mappings":"AA0BA;;;;;;;;;;;GAWG;AACH,gCAVW,OAAO,KACP,OAAO,KACP,OAAO,KACP,OAAO,OACP,MAAM,QACN,UAAU,QACV,UAAU,QACV,UAAU,QACV,UAAU,QAoEpB;oBAtGmB,+BAA+B;uBAF5B,kCAAkC"}

package/src/engine/physics/inverse_kinematics/two_joint_ik.js

@@ -1,5 +1,5 @@
-import { v3_compute_interior_angle } from "../../../core/geom/3d/v3_compute_interior_angle.js";
 import Quaternion from "../../../core/geom/Quaternion.js";
+import { v3_compute_interior_angle } from "../../../core/geom/vec3/v3_compute_interior_angle.js";
 import Vector3 from "../../../core/geom/Vector3.js";
 import { clamp } from "../../../core/math/clamp.js";
 

package/src/core/geom/3d/Ray3.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"Ray3.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/3d/Ray3.js"],"names":[],"mappings":"AASA;;;GAGG;AACH;IA0MI;;;;;;;;;;OAUG;IACH,sBATW,MAAM,YACN,MAAM,YACN,MAAM,eACN,MAAM,eACN,MAAM,eACN,MAAM,UACN,MAAM,GACL,IAAI,CAqBf;IAvOD,cAKC;IAMD,iBAEC;IAND,gBAEC;IAGG,OAAW;IAOf;;;OAGG;IACH,cAFW,MAAM,EAAE,GAAC,YAAY,EAI/B;IAVD,cAMW,MAAM,EAAE,GAAC,YAAY,CAJ/B;IAUD,uBAEC;IAED,uBAEC;IAED,uBAEC;IAGD;;;;;OAKG;IACH,aAJW,MAAM,KACN,MAAM,KACN,MAAM,QAUhB;IAHG,UAAW;IACX,UAAW;IACX,UAAW;IAQf;;;OAGG;IACH,iBAFW,MAAM,EAAE,GAAC,YAAY,EAI/B;IAVD,iBAMW,MAAM,EAAE,GAAC,YAAY,CAJ/B;IAWD,0BAEC;IAED,0BAEC;IAED,0BAEC;IAED;;;;;OAKG;IACH,gBAJW,MAAM,KACN,MAAM,KACN,MAAM,QAUhB;IAHG,UAAW;IACX,UAAW;IACX,UAAW;IAGf,2BAEC;IAED;;;;;;;OAOG;IACH,gCANW,MAAM,KACN,MAAM,KACN,MAAM,aACN,MAAM,EAAE,GAAC,YAAY,GAAC,IAAI,sBAC1B,MAAM,EAAE,GAAC,YAAY,GAAC,IAAI,QA6BpC;IAED;;;OAGG;IACH,uBAFW,MAAM,QAMhB;IAED;;;OAGG;IACH,iBAFW,MAAM,EAAE,GAAC,IAAI,GAAC,YAAY,QAepC;IAED;;;OAGG;IACH,SAFa,IAAI,CAQhB;IAED;;;OAGG;IACH,YAFW,IAAI,QAId;IAED,eAEC;IAED;;;;OAIG;IACH,cAHW,IAAI,GACF,OAAO,CAInB;CAiCJ"}

package/src/core/geom/3d/aabb3_compute_from_triangle.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"aabb3_compute_from_triangle.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/3d/aabb3_compute_from_triangle.js"],"names":[],"mappings":"AAGA;;;;;;;;GAQG;AACH,oDAPW,MAAM,EAAE,GAAC,YAAY,iBACrB,MAAM,YACN,MAAM,EAAE,GAAC,YAAY,WACrB,MAAM,WACN,MAAM,WACN,MAAM,QAgChB"}

package/src/core/geom/3d/apply_mat4_transform_to_direction_v3_array.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"apply_mat4_transform_to_direction_v3_array.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/3d/apply_mat4_transform_to_direction_v3_array.js"],"names":[],"mappings":"AAEA;;;;;;;;;GASG;AACH,mEAPW,MAAM,EAAE,GAAC,YAAY,GAAC,YAAY,iBAClC,MAAM,eACN,MAAM,EAAE,GAAC,YAAY,GAAC,YAAY,sBAClC,MAAM,gBACN,MAAM,QACN,MAAK,MAAM,EAAE,GAAC,YAAY,QA4CpC"}

package/src/core/geom/3d/apply_mat4_transform_to_v3_array.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"apply_mat4_transform_to_v3_array.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/3d/apply_mat4_transform_to_v3_array.js"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AACH,yDAPW,MAAM,EAAE,GAAC,YAAY,GAAC,YAAY,iBAClC,MAAM,eACN,MAAM,EAAE,GAAC,YAAY,GAAC,YAAY,sBAClC,MAAM,gBACN,MAAM,QACN,MAAK,MAAM,EAAE,GAAC,YAAY,QA8CpC"}

package/src/core/geom/3d/compose_matrix4_array.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"compose_matrix4_array.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/3d/compose_matrix4_array.js"],"names":[],"mappings":"AAAA;;;;;;GAMG;AACH,8CALW,MAAM,EAAE,GAAC,YAAY,GAAC,IAAI,YACzB;IAAE,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAA;CAAE,YAChC;IAAE,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAA;CAAE,SAC1C;IAAE,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAA;CAAE,QA+C3C"}

package/src/core/geom/3d/compute_bounding_sphere_of_2_spheres.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"compute_bounding_sphere_of_2_spheres.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/3d/compute_bounding_sphere_of_2_spheres.js"],"names":[],"mappings":"AAiBA;;;;;GAKG;AACH,6DAJW,YAAY,GAAC,IAAI,GAAC,MAAM,EAAE,KAC1B,YAAY,GAAC,IAAI,GAAC,MAAM,EAAE,KAC1B,YAAY,GAAC,IAAI,GAAC,MAAM,EAAE,QAoDpC"}

package/src/core/geom/3d/compute_triangle_normal.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"compute_triangle_normal.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/3d/compute_triangle_normal.js"],"names":[],"mappings":"AAEA;;;;;;GAMG;AACH,gDALW,MAAM,EAAE,GAAC,IAAI,GAAC,YAAY,GAAC,YAAY,MACvC,MAAM,EAAE,GAAC,IAAI,GAAC,YAAY,GAAC,YAAY,GAAC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAA;CAAC,MACtE,MAAM,EAAE,GAAC,IAAI,GAAC,YAAY,GAAC,YAAY,GAAC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAA;CAAC,MACtE,MAAM,EAAE,GAAC,IAAI,GAAC,YAAY,GAAC,YAAY,GAAC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAA;CAAC,QAiBhF"}

package/src/core/geom/3d/decompose_matrix_4_array.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"decompose_matrix_4_array.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/3d/decompose_matrix_4_array.js"],"names":[],"mappings":"AAEA;;;;;;GAMG;AACH,+CALW,MAAM,EAAE,YACR,OAAO,YACP,UAAU,SACV,OAAO,QA0DjB"}

package/src/core/geom/3d/eulerAnglesFromMatrix.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"eulerAnglesFromMatrix.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/3d/eulerAnglesFromMatrix.js"],"names":[],"mappings":"AAkBA;;;;;;;;;;;;;;;;;;;;;;;;;GAyBG;AACH,2CANW,MAAM,EAAE,MACR,MAAM,EAAE,GAAC,YAAY,GAAC,IAAI,MAC1B,MAAM,MACN,MAAM,MACN,MAAM,QA2EhB"}

package/src/core/geom/3d/m4_extract_scale.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"m4_extract_scale.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/3d/m4_extract_scale.js"],"names":[],"mappings":"AAEA;;;;;GAKG;AACH,sCAJW,MAAM,EAAE,GAAC,YAAY,cACrB,MAAM,QACN,MAAM,EAAE,GAAC,YAAY,QA6B/B"}

package/src/core/geom/3d/v3_compute_interior_angle.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"v3_compute_interior_angle.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/3d/v3_compute_interior_angle.js"],"names":[],"mappings":"AAEA;;;;;;;GAOG;AACH,6CALW;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAA;CAAC,KAC9B;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAA;CAAC,KAC9B;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAC,CAAC,EAAC,MAAM,CAAA;CAAC,GAC5B,MAAM,CAiBlB"}