@yali-engine/render 0.0.0-stage → 0.4.0

package/dist/bvh.d.ts

@@ -0,0 +1,66 @@
+/** A mesh's triangle hierarchy: flat typed arrays, children allocated in pairs. */
+export interface MeshBvh {
+    /** Per node: min x, y, z, max x, y, z (rounded outwards from the f64 bounds). */
+    readonly bounds: Float32Array;
+    /**
+     * Per node, two words: a leaf's first entry in `order` and its triangle count; an interior node's
+     * left child (the right is the next node) and 0.
+     */
+    readonly links: Uint32Array;
+    /** Triangle indices (into the mesh's triangle list) in leaf order. */
+    readonly order: Uint32Array;
+    /** Nodes in use (node 0 is the root; a child's index is above its parent's). */
+    readonly nodes: number;
+}
+/** A ray hit on a mesh's triangles: distance, the triangle's index, its unnormalized normal. */
+export interface TriangleHit {
+    t: number;
+    triangle: number;
+    normal: [number, number, number];
+}
+/**
+ * Builds a mesh's hierarchy (binned SAH along the longest centroid axis, 12 bins, leaves of ≤ 4 triangles): `positions` holds x, y, z at
+ * each vertex's start, `stride` floats apart (8 for the mesh pool's interleaved vertices, 3 for posed
+ * positions).
+ */
+export declare function buildBvh(positions: Float32Array, stride: number, indices: Uint32Array): MeshBvh;
+/**
+ * A hierarchy over boxes (min x, y, z, max x, y, z each): `order` then lists box indices (ADR-0123,
+ * the picker's instances). The same build as `buildBvh`'s (binned SAH, leaves of ≤ 4).
+ */
+export declare function buildBoxBvh(tb: Float64Array): MeshBvh;
+/**
+ * Refits `bvh` to moved vertices (a skinned mesh's posed positions): the same tree, each node's bounds
+ * recomputed from its triangles or its children (children sit above their parent, so one backwards pass).
+ */
+export declare function refitBvh(bvh: MeshBvh, positions: Float32Array, stride: number, indices: Uint32Array): void;
+/**
+ * Refits a `buildBoxBvh` hierarchy to moved boxes (the same items, in the same places in `tb`): each node's
+ * bounds from its boxes or its children, one backwards pass. Any change of the boxes stays correct; only
+ * the tree's quality falls as they wander.
+ */
+export declare function refitBoxBvh(bvh: MeshBvh, tb: Float64Array): void;
+/** A `buildBoxBvh` tree's way up, for partial refits: each node's parent (the root's is itself) and each box's leaf. */
+export interface BoxBvhParents {
+    readonly parent: Uint32Array;
+    readonly leafOf: Uint32Array;
+}
+/** `bvh`'s parents and each box's leaf (once per tree). */
+export declare function boxParents(bvh: MeshBvh): BoxBvhParents;
+/**
+ * Refits only the leaves holding boxes `items[0 .. n)` and their ancestors (ADR-0123): the same
+ * bounds `refitBoxBvh` gives for those, at a cost that follows how many moved, not the tree.
+ */
+export declare function refitBoxes(bvh: MeshBvh, tb: Float64Array, up: BoxBvhParents, items: ArrayLike<number>, n: number): void;
+/**
+ * Every box of a `buildBoxBvh` hierarchy the ray (`o`, `d`) enters before `max`: `visit(box)` per leaf
+ * entry, in no particular order. For a broad phase (ADR-0123).
+ */
+export declare function walkBoxes(bvh: MeshBvh, o: readonly number[], d: readonly number[], max: number, visit: (box: number) => void): void;
+/**
+ * The nearest triangle the ray (`o`, `d`, mesh space) hits before `max`, walking `bvh` near child first
+ * (both faces, Möller–Trumbore). Positions as `buildBvh` takes them.
+ */
+export declare function intersectBvh(bvh: MeshBvh, positions: Float32Array, stride: number, indices: Uint32Array, o: readonly number[], d: readonly number[], max: number): TriangleHit | null;
+/** Every triangle, in order (the brute-force walk `intersectBvh` replaces; small meshes keep it). */
+export declare function intersectAll(positions: Float32Array, stride: number, indices: Uint32Array, o: readonly number[], d: readonly number[], max: number): TriangleHit | null;

package/dist/bvh.js

@@ -0,0 +1,493 @@
+// A bounding volume hierarchy over one mesh's triangles, in mesh space (ADR-0114): picking walks it
+// instead of testing every triangle. Pure (positions in, typed arrays out), so Node tests it and
+// `bench/pick` times it.
+const BINS = 12;
+/** A node with this many triangles or fewer is a leaf. */
+const LEAF = 4;
+/** The traversal stack, grown (rarely) when a deep tree needs more. */
+let stack = new Uint32Array(64);
+function push(top, node) {
+    if (top === stack.length) {
+        const s = new Uint32Array(stack.length * 2);
+        s.set(stack);
+        stack = s;
+    }
+    stack[top] = node;
+    return top + 1;
+}
+/** `x` rounded down (`dir` −1) or up (+1) to an f32 that bounds it. */
+function outward(x, dir) {
+    const f = Math.fround(x);
+    if (dir < 0 ? f <= x : f >= x)
+        return f;
+    // One f32 step outwards: the relative step of f32 is 2^-23.
+    return Math.fround(f + dir * Math.max(Math.abs(f) * 1.2e-7, 1e-30));
+}
+/**
+ * Builds a mesh's hierarchy (binned SAH along the longest centroid axis, 12 bins, leaves of ≤ 4 triangles): `positions` holds x, y, z at
+ * each vertex's start, `stride` floats apart (8 for the mesh pool's interleaved vertices, 3 for posed
+ * positions).
+ */
+export function buildBvh(positions, stride, indices) {
+    const n = Math.floor(indices.length / 3);
+    // Each triangle's bounds, once.
+    const tb = new Float64Array(n * 6);
+    for (let t = 0; t < n; t++) {
+        const a = indices[t * 3] * stride;
+        const b = indices[t * 3 + 1] * stride;
+        const c = indices[t * 3 + 2] * stride;
+        for (let k = 0; k < 3; k++) {
+            tb[t * 6 + k] = Math.min(positions[a + k], positions[b + k], positions[c + k]);
+            tb[t * 6 + 3 + k] = Math.max(positions[a + k], positions[b + k], positions[c + k]);
+        }
+    }
+    return buildBoxBvh(tb);
+}
+/**
+ * A hierarchy over boxes (min x, y, z, max x, y, z each): `order` then lists box indices (ADR-0123,
+ * the picker's instances). The same build as `buildBvh`'s (binned SAH, leaves of ≤ 4).
+ */
+export function buildBoxBvh(tb) {
+    const n = Math.floor(tb.length / 6);
+    const cap = Math.max(1, 2 * n - 1);
+    const bounds = new Float32Array(cap * 6);
+    const links = new Uint32Array(cap * 2);
+    const order = new Uint32Array(n);
+    const cen = new Float64Array(n * 3);
+    for (let t = 0; t < n; t++) {
+        order[t] = t;
+        for (let k = 0; k < 3; k++)
+            cen[t * 3 + k] = (tb[t * 6 + k] + tb[t * 6 + 3 + k]) / 2;
+    }
+    const binCount = new Uint32Array(BINS);
+    const binBox = new Float64Array(BINS * 6);
+    const leftArea = new Float64Array(BINS);
+    const leftCount = new Uint32Array(BINS);
+    const box = new Float64Array(6);
+    let nodes = 1;
+    // Work list: node index, first, count.
+    const work = [0, 0, n];
+    while (work.length > 0) {
+        const count = work.pop();
+        const first = work.pop();
+        const node = work.pop();
+        // The node's bounds and its centroids' bounds.
+        box.fill(Number.POSITIVE_INFINITY, 0, 3).fill(Number.NEGATIVE_INFINITY, 3, 6);
+        let cminx = Infinity, cminy = Infinity, cminz = Infinity, cmaxx = -Infinity, cmaxy = -Infinity, cmaxz = -Infinity;
+        for (let i = first; i < first + count; i++) {
+            const t = order[i];
+            for (let k = 0; k < 3; k++) {
+                if (tb[t * 6 + k] < box[k])
+                    box[k] = tb[t * 6 + k];
+                if (tb[t * 6 + 3 + k] > box[3 + k])
+                    box[3 + k] = tb[t * 6 + 3 + k];
+            }
+            const x = cen[t * 3], y = cen[t * 3 + 1], z = cen[t * 3 + 2];
+            if (x < cminx)
+                cminx = x;
+            if (y < cminy)
+                cminy = y;
+            if (z < cminz)
+                cminz = z;
+            if (x > cmaxx)
+                cmaxx = x;
+            if (y > cmaxy)
+                cmaxy = y;
+            if (z > cmaxz)
+                cmaxz = z;
+        }
+        for (let k = 0; k < 3; k++) {
+            bounds[node * 6 + k] = outward(box[k], -1);
+            bounds[node * 6 + 3 + k] = outward(box[3 + k], 1);
+        }
+        if (count <= LEAF) {
+            links[node * 2] = first;
+            links[node * 2 + 1] = count;
+            continue;
+        }
+        // The cheapest binned split over the three axes (surface area heuristic).
+        const cmin = [cminx, cminy, cminz];
+        const extent = [cmaxx - cminx, cmaxy - cminy, cmaxz - cminz];
+        let bestCost = Infinity;
+        let bestAxis = -1;
+        let bestSplit = 0;
+        // Binned along the centroids' longest axis only: a third of the work for nearly the same tree.
+        const longest = extent[0] >= extent[1] && extent[0] >= extent[2] ? 0 : extent[1] >= extent[2] ? 1 : 2;
+        for (let axis = longest; axis === longest; axis++) {
+            if (!(extent[axis] > 0))
+                continue;
+            const scale = BINS / extent[axis];
+            binCount.fill(0);
+            for (let b = 0; b < BINS; b++)
+                binBox.fill(Infinity, b * 6, b * 6 + 3).fill(-Infinity, b * 6 + 3, b * 6 + 6);
+            for (let i = first; i < first + count; i++) {
+                const t = order[i];
+                const b = Math.min(BINS - 1, Math.floor((cen[t * 3 + axis] - cmin[axis]) * scale));
+                binCount[b]++;
+                for (let k = 0; k < 3; k++) {
+                    if (tb[t * 6 + k] < binBox[b * 6 + k])
+                        binBox[b * 6 + k] = tb[t * 6 + k];
+                    if (tb[t * 6 + 3 + k] > binBox[b * 6 + 3 + k])
+                        binBox[b * 6 + 3 + k] = tb[t * 6 + 3 + k];
+                }
+            }
+            // Sweep from the left (areas and counts of bins [0, s]), then from the right.
+            let lx0 = Infinity, ly0 = Infinity, lz0 = Infinity, lx1 = -Infinity, ly1 = -Infinity, lz1 = -Infinity, lc = 0;
+            for (let b = 0; b < BINS - 1; b++) {
+                lc += binCount[b];
+                if (binCount[b] > 0) {
+                    lx0 = Math.min(lx0, binBox[b * 6]);
+                    ly0 = Math.min(ly0, binBox[b * 6 + 1]);
+                    lz0 = Math.min(lz0, binBox[b * 6 + 2]);
+                    lx1 = Math.max(lx1, binBox[b * 6 + 3]);
+                    ly1 = Math.max(ly1, binBox[b * 6 + 4]);
+                    lz1 = Math.max(lz1, binBox[b * 6 + 5]);
+                }
+                leftCount[b] = lc;
+                leftArea[b] = lc > 0 ? area(lx1 - lx0, ly1 - ly0, lz1 - lz0) : 0;
+            }
+            let rx0 = Infinity, ry0 = Infinity, rz0 = Infinity, rx1 = -Infinity, ry1 = -Infinity, rz1 = -Infinity, rc = 0;
+            for (let b = BINS - 1; b > 0; b--) {
+                rc += binCount[b];
+                if (binCount[b] > 0) {
+                    rx0 = Math.min(rx0, binBox[b * 6]);
+                    ry0 = Math.min(ry0, binBox[b * 6 + 1]);
+                    rz0 = Math.min(rz0, binBox[b * 6 + 2]);
+                    rx1 = Math.max(rx1, binBox[b * 6 + 3]);
+                    ry1 = Math.max(ry1, binBox[b * 6 + 4]);
+                    rz1 = Math.max(rz1, binBox[b * 6 + 5]);
+                }
+                const l = leftCount[b - 1];
+                if (l === 0 || rc === 0)
+                    continue;
+                const cost = leftArea[b - 1] * l + (rc > 0 ? area(rx1 - rx0, ry1 - ry0, rz1 - rz0) : 0) * rc;
+                if (cost < bestCost) {
+                    bestCost = cost;
+                    bestAxis = axis;
+                    bestSplit = b;
+                }
+            }
+        }
+        let mid = first;
+        if (bestAxis >= 0) {
+            const scale = BINS / extent[bestAxis];
+            let i = first;
+            let j = first + count - 1;
+            while (i <= j) {
+                const b = Math.min(BINS - 1, Math.floor((cen[order[i] * 3 + bestAxis] - cmin[bestAxis]) * scale));
+                if (b < bestSplit)
+                    i++;
+                else {
+                    const s = order[i];
+                    order[i] = order[j];
+                    order[j--] = s;
+                }
+            }
+            mid = i;
+        }
+        // Every centroid in one place (or a split that moved nothing): halve the range.
+        if (mid === first || mid === first + count)
+            mid = first + (count >> 1);
+        const left = nodes;
+        nodes += 2;
+        links[node * 2] = left;
+        links[node * 2 + 1] = 0;
+        work.push(left, first, mid - first, left + 1, mid, first + count - mid);
+    }
+    return { bounds, links, order, nodes };
+}
+function area(x, y, z) {
+    return x * y + y * z + z * x;
+}
+/**
+ * Refits `bvh` to moved vertices (a skinned mesh's posed positions): the same tree, each node's bounds
+ * recomputed from its triangles or its children (children sit above their parent, so one backwards pass).
+ */
+export function refitBvh(bvh, positions, stride, indices) {
+    const { bounds, links, order } = bvh;
+    for (let node = bvh.nodes - 1; node >= 0; node--) {
+        const o = node * 6;
+        const count = links[node * 2 + 1];
+        if (count === 0) {
+            const l = links[node * 2] * 6;
+            const r = l + 6;
+            for (let k = 0; k < 3; k++) {
+                bounds[o + k] = Math.min(bounds[l + k], bounds[r + k]);
+                bounds[o + 3 + k] = Math.max(bounds[l + 3 + k], bounds[r + 3 + k]);
+            }
+            continue;
+        }
+        let x0 = Infinity, y0 = Infinity, z0 = Infinity, x1 = -Infinity, y1 = -Infinity, z1 = -Infinity;
+        const first = links[node * 2];
+        for (let i = first; i < first + count; i++) {
+            const t = order[i];
+            for (let c = 0; c < 3; c++) {
+                const v = indices[t * 3 + c] * stride;
+                const x = positions[v], y = positions[v + 1], z = positions[v + 2];
+                if (x < x0)
+                    x0 = x;
+                if (y < y0)
+                    y0 = y;
+                if (z < z0)
+                    z0 = z;
+                if (x > x1)
+                    x1 = x;
+                if (y > y1)
+                    y1 = y;
+                if (z > z1)
+                    z1 = z;
+            }
+        }
+        bounds[o] = outward(x0, -1);
+        bounds[o + 1] = outward(y0, -1);
+        bounds[o + 2] = outward(z0, -1);
+        bounds[o + 3] = outward(x1, 1);
+        bounds[o + 4] = outward(y1, 1);
+        bounds[o + 5] = outward(z1, 1);
+    }
+}
+/**
+ * Refits a `buildBoxBvh` hierarchy to moved boxes (the same items, in the same places in `tb`): each node's
+ * bounds from its boxes or its children, one backwards pass. Any change of the boxes stays correct; only
+ * the tree's quality falls as they wander.
+ */
+export function refitBoxBvh(bvh, tb) {
+    const { bounds, links, order } = bvh;
+    for (let node = bvh.nodes - 1; node >= 0; node--) {
+        const o = node * 6;
+        const count = links[node * 2 + 1];
+        if (count === 0) {
+            const l = links[node * 2] * 6;
+            const r = l + 6;
+            for (let k = 0; k < 3; k++) {
+                bounds[o + k] = Math.min(bounds[l + k], bounds[r + k]);
+                bounds[o + 3 + k] = Math.max(bounds[l + 3 + k], bounds[r + 3 + k]);
+            }
+            continue;
+        }
+        const first = links[node * 2];
+        for (let k = 0; k < 3; k++) {
+            let lo = Infinity;
+            let hi = -Infinity;
+            for (let i = first; i < first + count; i++) {
+                const t = order[i];
+                if (tb[t * 6 + k] < lo)
+                    lo = tb[t * 6 + k];
+                if (tb[t * 6 + 3 + k] > hi)
+                    hi = tb[t * 6 + 3 + k];
+            }
+            bounds[o + k] = outward(lo, -1);
+            bounds[o + 3 + k] = outward(hi, 1);
+        }
+    }
+}
+/** `bvh`'s parents and each box's leaf (once per tree). */
+export function boxParents(bvh) {
+    const { links, order } = bvh;
+    const parent = new Uint32Array(bvh.nodes);
+    const leafOf = new Uint32Array(order.length);
+    for (let node = 0; node < bvh.nodes; node++) {
+        const count = links[node * 2 + 1];
+        if (count === 0) {
+            parent[links[node * 2]] = node;
+            parent[links[node * 2] + 1] = node;
+        }
+        else {
+            for (let i = links[node * 2]; i < links[node * 2] + count; i++)
+                leafOf[order[i]] = node;
+        }
+    }
+    return { parent, leafOf };
+}
+/**
+ * Refits only the leaves holding boxes `items[0 .. n)` and their ancestors (ADR-0123): the same
+ * bounds `refitBoxBvh` gives for those, at a cost that follows how many moved, not the tree.
+ */
+export function refitBoxes(bvh, tb, up, items, n) {
+    const { bounds, links, order } = bvh;
+    const touched = new Uint8Array(bvh.nodes);
+    const nodes = [];
+    for (let k = 0; k < n; k++) {
+        let node = up.leafOf[items[k]];
+        while (!touched[node]) {
+            touched[node] = 1;
+            nodes.push(node);
+            if (node === 0)
+                break;
+            node = up.parent[node];
+        }
+    }
+    // Children sit above their parents: deepest first.
+    nodes.sort((a, b) => b - a);
+    for (const node of nodes) {
+        const o = node * 6;
+        const count = links[node * 2 + 1];
+        if (count === 0) {
+            const l = links[node * 2] * 6;
+            const r = l + 6;
+            for (let k = 0; k < 3; k++) {
+                bounds[o + k] = Math.min(bounds[l + k], bounds[r + k]);
+                bounds[o + 3 + k] = Math.max(bounds[l + 3 + k], bounds[r + 3 + k]);
+            }
+            continue;
+        }
+        const first = links[node * 2];
+        for (let k = 0; k < 3; k++) {
+            let lo = Infinity;
+            let hi = -Infinity;
+            for (let i = first; i < first + count; i++) {
+                const t = order[i];
+                if (tb[t * 6 + k] < lo)
+                    lo = tb[t * 6 + k];
+                if (tb[t * 6 + 3 + k] > hi)
+                    hi = tb[t * 6 + 3 + k];
+            }
+            bounds[o + k] = outward(lo, -1);
+            bounds[o + 3 + k] = outward(hi, 1);
+        }
+    }
+}
+/**
+ * Every box of a `buildBoxBvh` hierarchy the ray (`o`, `d`) enters before `max`: `visit(box)` per leaf
+ * entry, in no particular order. For a broad phase (ADR-0123).
+ */
+export function walkBoxes(bvh, o, d, max, visit) {
+    if (bvh.nodes === 0 || bvh.order.length === 0)
+        return;
+    const ix = 1 / (d[0] || 1e-30);
+    const iy = 1 / (d[1] || 1e-30);
+    const iz = 1 / (d[2] || 1e-30);
+    const { bounds, links, order } = bvh;
+    if (enter(bounds, 0, o[0], o[1], o[2], ix, iy, iz, max) === Infinity)
+        return;
+    let top = push(0, 0);
+    while (top > 0) {
+        const node = stack[--top];
+        const count = links[node * 2 + 1];
+        if (count > 0) {
+            const first = links[node * 2];
+            for (let i = first; i < first + count; i++)
+                visit(order[i]);
+            continue;
+        }
+        const l = links[node * 2];
+        if (enter(bounds, l, o[0], o[1], o[2], ix, iy, iz, max) !== Infinity)
+            top = push(top, l);
+        if (enter(bounds, l + 1, o[0], o[1], o[2], ix, iy, iz, max) !== Infinity)
+            top = push(top, l + 1);
+    }
+}
+/** The ray's entry distance into node `n`'s box (slab test), or Infinity when it misses or enters past `max`. */
+function enter(b, n, ox, oy, oz, ix, iy, iz, max) {
+    const o = n * 6;
+    let t0 = (b[o] - ox) * ix;
+    let t1 = (b[o + 3] - ox) * ix;
+    let lo = Math.min(t0, t1);
+    let hi = Math.max(t0, t1);
+    t0 = (b[o + 1] - oy) * iy;
+    t1 = (b[o + 4] - oy) * iy;
+    lo = Math.max(lo, Math.min(t0, t1));
+    hi = Math.min(hi, Math.max(t0, t1));
+    t0 = (b[o + 2] - oz) * iz;
+    t1 = (b[o + 5] - oz) * iz;
+    lo = Math.max(lo, Math.min(t0, t1));
+    hi = Math.min(hi, Math.max(t0, t1));
+    return hi >= Math.max(lo, 0) && lo < max ? Math.max(lo, 0) : Infinity;
+}
+/**
+ * The nearest triangle the ray (`o`, `d`, mesh space) hits before `max`, walking `bvh` near child first
+ * (both faces, Möller–Trumbore). Positions as `buildBvh` takes them.
+ */
+export function intersectBvh(bvh, positions, stride, indices, o, d, max) {
+    // A zero component would make 0 × ∞ (NaN) on a slab's plane: a tiny one gives the same answer.
+    const ix = 1 / (d[0] || 1e-30);
+    const iy = 1 / (d[1] || 1e-30);
+    const iz = 1 / (d[2] || 1e-30);
+    const { bounds, links, order } = bvh;
+    let best = null;
+    let bestT = max;
+    if (enter(bounds, 0, o[0], o[1], o[2], ix, iy, iz, bestT) === Infinity)
+        return null;
+    let top = push(0, 0);
+    while (top > 0) {
+        const node = stack[--top];
+        const count = links[node * 2 + 1];
+        if (count > 0) {
+            const first = links[node * 2];
+            for (let i = first; i < first + count; i++) {
+                const hit = triangle(positions, stride, indices, order[i], o, d, bestT);
+                if (hit) {
+                    bestT = hit.t;
+                    best = hit;
+                }
+            }
+            continue;
+        }
+        const l = links[node * 2];
+        const tl = enter(bounds, l, o[0], o[1], o[2], ix, iy, iz, bestT);
+        const tr = enter(bounds, l + 1, o[0], o[1], o[2], ix, iy, iz, bestT);
+        // Push the far child first, so the near one is walked first and shrinks bestT for the other.
+        if (tl <= tr) {
+            if (tr !== Infinity)
+                top = push(top, l + 1);
+            if (tl !== Infinity)
+                top = push(top, l);
+        }
+        else {
+            if (tl !== Infinity)
+                top = push(top, l);
+            if (tr !== Infinity)
+                top = push(top, l + 1);
+        }
+    }
+    return best;
+}
+/** Every triangle, in order (the brute-force walk `intersectBvh` replaces; small meshes keep it). */
+export function intersectAll(positions, stride, indices, o, d, max) {
+    let best = null;
+    let bestT = max;
+    for (let k = 0; 3 * k + 2 < indices.length; k++) {
+        const hit = triangle(positions, stride, indices, k, o, d, bestT);
+        if (hit) {
+            bestT = hit.t;
+            best = hit;
+        }
+    }
+    return best;
+}
+/** Triangle `k` against the ray, when hit before `max` (Möller–Trumbore, both faces). */
+function triangle(P, stride, indices, k, o, d, max) {
+    const a = indices[k * 3] * stride;
+    const b = indices[k * 3 + 1] * stride;
+    const c = indices[k * 3 + 2] * stride;
+    const e1x = P[b] - P[a];
+    const e1y = P[b + 1] - P[a + 1];
+    const e1z = P[b + 2] - P[a + 2];
+    const e2x = P[c] - P[a];
+    const e2y = P[c + 1] - P[a + 1];
+    const e2z = P[c + 2] - P[a + 2];
+    const px = d[1] * e2z - d[2] * e2y;
+    const py = d[2] * e2x - d[0] * e2z;
+    const pz = d[0] * e2y - d[1] * e2x;
+    const det = e1x * px + e1y * py + e1z * pz;
+    if (Math.abs(det) < 1e-12)
+        return null;
+    const inv = 1 / det;
+    const sx = o[0] - P[a];
+    const sy = o[1] - P[a + 1];
+    const sz = o[2] - P[a + 2];
+    const u = (sx * px + sy * py + sz * pz) * inv;
+    if (u < 0 || u > 1)
+        return null;
+    const qx = sy * e1z - sz * e1y;
+    const qy = sz * e1x - sx * e1z;
+    const qz = sx * e1y - sy * e1x;
+    const v = (d[0] * qx + d[1] * qy + d[2] * qz) * inv;
+    if (v < 0 || u + v > 1)
+        return null;
+    const t = (e2x * qx + e2y * qy + e2z * qz) * inv;
+    if (t < 0 || t >= max)
+        return null;
+    return { t, triangle: k, normal: [e1y * e2z - e1z * e2y, e1z * e2x - e1x * e2z, e1x * e2y - e1y * e2x] };
+}
+//# sourceMappingURL=bvh.js.map

package/dist/bvh.js.map

@@ -0,0 +1 @@
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package/dist/camera.d.ts

@@ -0,0 +1,34 @@
+/**
+ * An orbit camera for camera-relative rendering (ADR-0008).
+ *
+ * - The eye position is f64 (`eye`). The renderer subtracts it from every instance before
+ *   the f32 conversion (the core's extract step), so the GPU only sees numbers near zero.
+ * - The view matrix therefore carries rotation only.
+ * - The projection is reverse-Z with an infinite far plane: depth is 1 at `near` and goes
+ *   to 0 at infinity. Clear depth to 0 and compare `greater`.
+ *
+ * `uniform` is the 176-byte `Camera` struct of `shaders/core/camera.wesl`, rewritten in
+ * place by `update()`, which allocates nothing.
+ */
+export declare class OrbitCamera {
+    #private;
+    /** Orbit centre (f64 world space). */
+    readonly target: Float64Array<ArrayBuffer>;
+    /** Eye position (f64 world space), derived by `update()`. */
+    readonly eye: Float64Array<ArrayBuffer>;
+    yaw: number;
+    pitch: number;
+    distance: number;
+    fovY: number;
+    near: number;
+    /** Direction towards the light (camera-relative = world, the view has no translation). */
+    readonly lightDir: Float32Array<ArrayBuffer>;
+    /** Seconds for node materials' `time` (the render plugin sets the app's virtual time). */
+    time: number;
+    /** viewProj (16) + 6 frustum planes (24) + lightDir (xyz) and time (w) = 44 floats. */
+    readonly uniform: Float32Array<ArrayBuffer>;
+    /** The view matrix (rotation only, camera-relative; column-major), as of the last `update`. */
+    get view(): Float32Array;
+    /** Recomputes the eye, matrices and frustum for `aspect` (width / height). */
+    update(aspect: number): void;
+}