@woosh/meep-engine 2.34.32 → 2.34.36

package/core/assert.js

@@ -316,6 +316,17 @@ assert.defined = function (value, name = "value") {
 
 };
 
+/**
+ *
+ * @param {*} value
+ * @param {String} [name]
+ */
+assert.isNull = function (value, name){
+    if (value !== null) {
+        throw new Error(`${name} is NOT null`);
+    }
+}
+
 /**
  *
  * @param {*} value

package/core/binary/BitSet.js

@@ -533,6 +533,11 @@ BitSet.prototype.shift = function (distance, start_index, end_index) {
  * Sets all of the bits in this BitSet to false.
  */
 BitSet.prototype.reset = function () {
+    if (this.__length <= 0) {
+        // no action required
+        return;
+    }
+
     this.__data_uint32.fill(0, 0, Math.ceil(this.__length / 32));
     this.__length = 0;
 };

package/core/bvh2/BinaryNode.js

@@ -8,7 +8,7 @@ import { arrayQuickSort } from "../collection/array/arrayQuickSort.js";
 import { max2 } from "../math/max2.js";
 import { min2 } from "../math/min2.js";
 import { computeSampleStandardDeviation } from "../math/statistics/computeSampleStandardDeviation.js";
-import { aabb3_intersect_aabb3, boxSurfaceArea2 } from "./aabb3/AABB3Math.js";
+import { _boxSurfaceArea2, aabb3_intersect_aabb3, boxSurfaceArea2 } from "./aabb3/AABB3Math.js";
 import { isLeaf, LeafNode } from "./LeafNode.js";
 import { Node } from "./Node.js";
 import { surfaceAreaHeuristic } from "./sah/surfaceAreaHeuristic.js";
@@ -141,11 +141,133 @@ BinaryNode.prototype.setChildren = function (left, right) {
 
 /**
  *
+ * @param {Node} child
+ */
+BinaryNode.prototype.setChildLeft = function (child) {
+    assert.isNull(this.left, 'left');
+
+    this.left = child;
+
+    this.updateLeafNodeCount();
+
+    this.refit();
+
+    child.parentNode = this;
+}
+
+/**
+ *
+ * @param {Node} child
+ */
+BinaryNode.prototype.setChildRight = function (child) {
+    assert.isNull(this.right, 'right');
+
+    this.right = child;
+
+    this.updateLeafNodeCount();
+
+    this.refit();
+
+    child.parentNode = this;
+}
+
+/**
+ * @see "Dynamic BVH" by Erin Catto / Blizzard
+ * @param {AABB3} node
+ * @param {AABB3} addition
+ * @returns {number}
+ */
+function inclusion_surface_area_heuristic(node, addition) {
+    const x0 = min2(node.x0, addition.x0);
+    const y0 = min2(node.y0, addition.y0);
+    const z0 = min2(node.z0, addition.z0);
+
+    const x1 = max2(node.x1, addition.x1);
+    const y1 = max2(node.y1, addition.y1);
+    const z1 = max2(node.z1, addition.z1);
+
+    return _boxSurfaceArea2(x0, y0, z0, x1, y1, z1) - boxSurfaceArea2(node);
+}
+
+/**
+ *
+ * @param {BinaryNode|LeafNode} node
+ * @param {AABB3} addition
+ */
+function inclusion_cost_lower_bound(node, addition) {
+    let n = node;
+    let r = boxSurfaceArea2(addition);
+
+    while (n !== null) {
+
+        r += n.costForInclusion(addition);
+
+        n = n.parentNode;
+    }
+
+    return r;
+}
+
+/**
+ * For incremental insertion, a sibling needs to be found, newly inserted node will be parented together with this sibling
  * @param {AABB3} box
- * @returns {Node}
+ * @returns {BinaryNode|LeafNode}
+ */
+BinaryNode.prototype.__insertion_findSiblingFor = function (box) {
+
+    const open_set = [this];
+    let cursor = 1;
+
+    let best_cost = Infinity;
+    let best_node = this;
+
+    while (cursor > 0) {
+        const node = open_set[--cursor];
+
+        const cost = inclusion_surface_area_heuristic(node, box);
+
+        if (cost < best_cost) {
+            best_cost = cost;
+            best_node = node;
+        }
+
+        if (node.isBinaryNode) {
+
+            if (node.isProtected()) {
+                continue;
+            }
+
+            // consider pushing children into the queue
+
+            // compute lower bound for cost
+            const c_low = inclusion_cost_lower_bound(node, box);
+
+            if (c_low < best_cost) {
+                // worth-while to explore children
+                if (node.left !== null) {
+                    open_set[cursor++] = node.left;
+                }
+                if (node.right !== null) {
+                    open_set[cursor++] = node.right
+                }
+            }
+        }
+
+
+    }
+
+    return best_node;
+}
+
+/**
+ *
+ * @param {AABB3} box
+ * @returns {Node|BinaryNode|LeafNode}
  */
 BinaryNode.prototype.findParentFor = function (box) {
     let n = this;
+    let aCost = 0;
+    let bCost = 0;
 
     for (; ;) {
 
@@ -181,8 +303,8 @@ BinaryNode.prototype.findParentFor = function (box) {
             }
         }
 
-        let aCost = a.costForInclusion(box);
-        let bCost = b.costForInclusion(box);
+        aCost = a.costForInclusion(box);
+        bCost = b.costForInclusion(box);
 
         if (aCost === bCost) {
 
@@ -196,9 +318,9 @@ BinaryNode.prototype.findParentFor = function (box) {
 
             }
 
-            //change costs to be surface areas instead
-            aCost = a.computeSAH();
-            bCost = b.computeSAH();
+            //change costs to be based on balance
+            aCost = a.leafNodeCount / boxSurfaceArea2(a);
+            bCost = b.leafNodeCount / boxSurfaceArea2(b);
         }
 
         if (aCost === bCost) {
@@ -419,11 +541,12 @@ BinaryNode.prototype.bubbleRefit = function () {
         n = n.parentNode;
 
         if (n === null) {
+            // hit the root
             return;
         }
 
-        //check if this node violates bounds of the parent
 
+        //check if this node violates bounds of the parent
         let flag = false;
 
         if (_x0 < n.x0) {
@@ -518,26 +641,29 @@ function countLeaves(node) {
 }
 
 /**
- *
+ * @deprecated Incorrect usage of SAH
  * @return {number}
  */
 BinaryNode.prototype.computeSAH = function () {
     let leftLeaves, rightLeaves, leftArea, rightArea;
 
-    if (this.left === null) {
+    const left = this.left;
+
+    if (left === null) {
         leftArea = 0;
         leftLeaves = 0;
     } else {
-        leftArea = boxSurfaceArea2(this.left);
-        leftLeaves = this.left.leafNodeCount;
+        leftArea = boxSurfaceArea2(left);
+        leftLeaves = left.leafNodeCount;
     }
 
-    if (this.right === null) {
+    const right = this.right;
+    if (right === null) {
         rightArea = 0;
         rightLeaves = 0;
     } else {
-        rightArea = boxSurfaceArea2(this.right);
-        rightLeaves = this.right.leafNodeCount;
+        rightArea = boxSurfaceArea2(right);
+        rightLeaves = right.leafNodeCount;
     }
 
     const thisArea = boxSurfaceArea2(this);
@@ -546,37 +672,37 @@ BinaryNode.prototype.computeSAH = function () {
 };
 
 BinaryNode.prototype.updateLeafNodeCount = function () {
-    let n = 0;
+    let node = this;
 
-    const right = this.right;
+    while (node !== null) {
+        let n = 0;
 
-    if (right !== null) {
-        if (right.isLeafNode) {
-            n++;
-        } else {
-            n += right.leafNodeCount;
+        const right = node.right;
+
+        if (right !== null) {
+            if (right.isLeafNode) {
+                n++;
+            } else {
+                n += right.leafNodeCount;
+            }
         }
-    }
 
-    const left = this.left;
+        const left = this.left;
 
-    if (left !== null) {
-        if (left.isLeafNode) {
-            n++;
-        } else {
-            n += left.leafNodeCount;
+        if (left !== null) {
+            if (left.isLeafNode) {
+                n++;
+            } else {
+                n += left.leafNodeCount;
+            }
         }
-    }
 
-    this.leafNodeCount = n;
+        node.leafNodeCount = n;
 
-    // propagate update up the tree
-    let parentNode = this.parentNode;
-
-    if (parentNode !== null) {
-        // bubble up
-        parentNode.updateLeafNodeCount();
+        // propagate update up the tree
+        node = node.parentNode;
     }
+
 }
 
 
@@ -1024,19 +1150,18 @@ BinaryNode.prototype.computeBalanceFactor = function () {
 };
 
 /**
- *
+ * @template T
  * @param {number} x0
  * @param {number} y0
  * @param {number} z0
  * @param {number} x1
  * @param {number} y1
  * @param {number} z1
- * @param {*} value
+ * @param {T} value
  * @returns {LeafNode}
  */
 BinaryNode.prototype.insert = function (x0, y0, z0, x1, y1, z1, value) {
-    const leaf = new LeafNode(value);
-    leaf.setBounds(x0, y0, z0, x1, y1, z1);
+    const leaf = new LeafNode(value, x0, y0, z0, x1, y1, z1);
     this.insertNode(leaf);
     return leaf;
 };
@@ -1065,6 +1190,8 @@ function transplantNewCommonParent(node, child) {
 
     parent.bubbleExpandToFit(bNode);
 
+    parent.updateLeafNodeCount();
+
     return bNode;
 }
 
@@ -1073,51 +1200,60 @@ function transplantNewCommonParent(node, child) {
  * @param {Node|BinaryNode|LeafNode} child
  */
 BinaryNode.prototype.insertNode = function (child) {
-    assert.notEqual(child, null, "child node is null");
-    assert.notEqual(child, undefined, "child node is undefined");
-    assert.ok(child instanceof Node, undefined, "child node is not an instance of Node");
+
+    assert.notNull(child, "child");
+    assert.defined(child, "child");
+    assert.isInstanceOf(child, Node, 'child', "Node");
     assert.equal(child.parentNode, null, "parentNode must be null, otherwise Node still belongs to another tree");
 
-    const node = this.findParentFor(child);
-
-    let bNode;
-
-    if (node.isBinaryNode) {
-        if ((node.isProtected() && node !== this)) {
-            transplantNewCommonParent(node, child);
-        } else if (node.left === null) {
-            node.left = child;
-            child.parentNode = node;
-            node.bubbleExpandToFit(child);
-        } else if (node.right === null) {
-            node.right = child;
-            child.parentNode = node;
-            node.bubbleExpandToFit(child);
+    const sibling = this.__insertion_findSiblingFor(child);
+
+    const sibling_parent = sibling.parentNode;
+    if (sibling_parent === null) {
+        // root node
+
+        if (sibling.left === null) {
+            sibling.setChildLeft(child);
+        } else if (sibling.right === null) {
+            sibling.setChildRight(child);
         } else {
-            //take right child and insert another binary node there
-            bNode = new BinaryNode();
-            bNode.setChildren(node.right, child);
-            //
-            node.right = bNode;
-            bNode.parentNode = node;
-            node.bubbleExpandToFit(bNode);
+            const parent = new BinaryNode();
+
+            parent.setChildren(sibling.right, child);
+            sibling.right = parent;
+            parent.parentNode = sibling;
         }
 
-        node.updateLeafNodeCount();
     } else {
-        //need to do transplanting and introduce a new common parent
-        bNode = transplantNewCommonParent(node, child);
 
-        bNode.updateLeafNodeCount();
-    }
+        // non-root
 
-};
+        if (sibling_parent.left === sibling && sibling_parent.right === null) {
+
+            // right node is free, take it
+            sibling_parent.setChildRight(child);
+
+        } else if (sibling_parent.right === sibling && sibling_parent.left === null) {
+
+            // left node is free, take it
+            sibling_parent.setChildLeft(child);
+
+        } else {
+
+            transplantNewCommonParent(sibling, child)
+
+        }
+
+        sibling_parent.bubbleRefit();
+
+    }
+}
 
 /**
- *
+ * @param {boolean} deep
  * @returns {BinaryNode}
  */
-BinaryNode.prototype.clone = function (deep) {
+BinaryNode.prototype.clone = function (deep = false) {
     const clone = new BinaryNode();
 
     clone.x0 = this.x0;

package/core/bvh2/Node.d.ts

@@ -3,4 +3,7 @@ import {BinaryNode} from "./BinaryNode";
 
 export class Node<T> extends AABB3 {
     public parentNode: BinaryNode<T>
+
+
+    readonly leafNodeCount: number
 }

package/core/bvh2/aabb3/AABB3.js

@@ -6,9 +6,10 @@
 import { aabb3_computeDistanceAbovePlane } from "../../geom/3d/aabb/aabb3_computeDistanceAbovePlane.js";
 import { computeAABB3PlaneSide } from "../../geom/3d/aabb/computeAABB3PlaneSide.js";
 import computeMortonCode from "../../geom/3d/morton/Morton.js";
-import { _boxSurfaceArea2, intersectRay, intersectSegment } from "./AABB3Math.js";
+import { boxSurfaceArea, intersectRay, intersectSegment } from "./AABB3Math.js";
 import { aabb3_build_corners } from "../../geom/3d/aabb/aabb3_build_corners.js";
 import { assert } from "../../assert.js";
+import { aabb3_intersects_frustum_degree } from "./aabb3_intersects_frustum_degree.js";
 
 
 /**
@@ -81,7 +82,7 @@ AABB3.prototype.computeMortonCode = function () {
  * @returns {number}
  */
 AABB3.prototype.computeSurfaceArea = function () {
-    return _boxSurfaceArea2(this.x0, this.y0, this.z0, this.x1, this.y1, this.z1);
+    return boxSurfaceArea(this.x0, this.y0, this.z0, this.x1, this.y1, this.z1);
 };
 
 /**
@@ -296,7 +297,8 @@ AABB3.prototype.costForInclusion = function (other) {
 };
 
 /**
- *
+ * Surface area delta when including a given AABB
+ * 0 means that including a given AABB would not cause any change to total surface area
  * @param {number} x0
  * @param {number} y0
  * @param {number} z0
@@ -834,7 +836,7 @@ AABB3.prototype.intersectFrustumDegree = function (frustum) {
 
     let i = 0;
     let result = 2;
-    for (i = 0; i < 6; i++) {
+    for (; i < 6; i++) {
 
         const plane = planes[i];
 
@@ -848,6 +850,16 @@ AABB3.prototype.intersectFrustumDegree = function (frustum) {
     }
     return result;
 };
+/**
+ *
+ * @param {number[]} frustum
+ * @returns {number}
+ */
+AABB3.prototype.intersectFrustumDegree_array = function (frustum) {
+    return aabb3_intersects_frustum_degree(
+        this.x0, this.y0, this.z0, this.x1, this.y1, this.z1, frustum
+    );
+};
 
 /**
  *
@@ -866,6 +878,40 @@ AABB3.prototype.intersectFrustum = function intersectFrustum(frustum) {
     return true;
 };
 
+/**
+ *
+ * @param {ArrayLike<number>|number[]|Float32Array}frustum
+ * @returns {boolean}
+ */
+AABB3.prototype.intersectFrustum_array = function intersectFrustum(frustum) {
+    const x0 = this.x0;
+    const y0 = this.y0;
+    const z0 = this.z0;
+    const x1 = this.x1;
+    const y1 = this.y1;
+    const z1 = this.z1;
+
+    for (let i = 0; i < 24; i += 4) {
+
+        const p_nx = frustum[i];
+        const p_ny = frustum[i + 1];
+        const p_nz = frustum[i + 2];
+        const p_c = frustum[i + 3];
+
+        if (aabb3_computeDistanceAbovePlane(
+            p_nx, p_ny, p_nz, p_c,
+            x0, y0, z0,
+            x1, y1, z1
+        ) < 0) {
+            // below plane, i.e. outside of the frustum
+            return false;
+        }
+
+    }
+    return true;
+};
+
+
 /**
  *
  * @param {number} v

package/core/bvh2/aabb3/AABB3Math.js

@@ -540,7 +540,7 @@ function boxSurfaceArea(x0, y0, z0, x1, y1, z1) {
     const dx = x1 - x0;
     const dy = y1 - y0;
     const dz = z1 - z0;
-    return (dx * dy + dy * dz + dz * dx) * 2; //2 of each side
+    return (dy * (dx + dz) + dz * dx) * 2; //2 of each side
 }
 
 /**

package/core/bvh2/aabb3/aabb3_from_v3_array.js

@@ -0,0 +1,34 @@
+import { min2 } from "../../math/min2.js";
+import { max2 } from "../../math/max2.js";
+
+/**
+ *
+ * @param {AABB3} result
+ * @param {number[]|ArrayLike<number>} input
+ * @param {number} input_length
+ */
+export function aabb3_from_v3_array(result, input, input_length) {
+    let x0 = Infinity;
+    let y0 = Infinity;
+    let z0 = Infinity;
+
+    let x1 = -Infinity;
+    let y1 = -Infinity;
+    let z1 = -Infinity;
+
+    for (let i = 0; i < input_length; i += 3) {
+        const x = input[i];
+        const y = input[i + 1];
+        const z = input[i + 2];
+
+        x0 = min2(x, x0);
+        y0 = min2(y, y0);
+        z0 = min2(z, z0);
+
+        x1 = max2(x, x1);
+        y1 = max2(y, y1);
+        z1 = max2(z, z1);
+    }
+
+    result.setBounds(x0, y0, z0, x1, y1, z1);
+}

package/core/bvh2/aabb3/aabb3_from_v3_array_transformed.js

@@ -0,0 +1,39 @@
+import { min2 } from "../../math/min2.js";
+import { max2 } from "../../math/max2.js";
+
+/**
+ *
+ * @param {AABB3} result
+ * @param {number[]|ArrayLike<number>} input
+ * @param {number} input_length
+ * @param {ArrayLike<number>|number[]|Float32Array} e 4x4 transformation matrix
+ */
+export function aabb3_from_v3_array_transformed(result, input, input_length, e) {
+    let x0 = Infinity;
+    let y0 = Infinity;
+    let z0 = Infinity;
+
+    let x1 = -Infinity;
+    let y1 = -Infinity;
+    let z1 = -Infinity;
+
+    for (let i = 0; i < input_length; i += 3) {
+        const x = input[i];
+        const y = input[i + 1];
+        const z = input[i + 2];
+
+        const _x = e[0] * x + e[4] * y + e[8] * z + e[12];
+        const _y = e[1] * x + e[5] * y + e[9] * z + e[13];
+        const _z = e[2] * x + e[6] * y + e[10] * z + e[14];
+
+        x0 = min2(_x, x0);
+        y0 = min2(_y, y0);
+        z0 = min2(_z, z0);
+
+        x1 = max2(_x, x1);
+        y1 = max2(_y, y1);
+        z1 = max2(_z, z1);
+    }
+
+    result.setBounds(x0, y0, z0, x1, y1, z1);
+}

package/core/bvh2/aabb3/aabb3_intersects_frustum_degree.js

@@ -0,0 +1,46 @@
+//
+
+import { computeAABB3PlaneSide } from "../../geom/3d/aabb/computeAABB3PlaneSide.js";
+
+/**
+ *
+ * @param {number} x0
+ * @param {number} y0
+ * @param {number} z0
+ * @param {number} x1
+ * @param {number} y1
+ * @param {number} z1
+ * @param {number[]} frustum
+ * @return {number}
+ */
+export function aabb3_intersects_frustum_degree(
+    x0, y0, z0,
+    x1, y1, z1,
+    frustum
+) {
+
+    let i = 0;
+    let result = 2;
+
+    for (; i < 24; i += 4) {
+
+        const p_nx = frustum[i];
+        const p_ny = frustum[i + 1];
+        const p_nz = frustum[i + 2];
+        const p_c = frustum[i + 3];
+
+        const plane_side = computeAABB3PlaneSide(
+            p_nx, p_ny, p_nz, p_c,
+            x0, y0, z0, x1, y1, z1
+        );
+
+        if (plane_side < 0) {
+            // completely outside
+            return 0;
+        } else if (plane_side === 0) {
+            result = 1;
+        }
+    }
+
+    return result;
+}