@zephyr3d/scene 0.6.1 → 0.7.1

package/dist/scene/octree.js.map

@@ -1 +1 @@
-{"version":3,"file":"octree.js","sources":[],"sourcesContent":[],"names":[],"mappings":";;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;"}
+{"version":3,"file":"octree.js","sources":["../../src/scene/octree.ts"],"sourcesContent":["import type { Nullable } from '@zephyr3d/base';\r\nimport { Vector3, AABB, nextPowerOf2, ASSERT } from '@zephyr3d/base';\r\nimport type { GraphNode } from './graph_node';\r\nimport type { Scene } from './scene';\r\nimport type { Visitor } from './visitor';\r\n\r\n/**\r\n * Child placement within an octree node.\r\n *\r\n * @remarks\r\n * Encodes the child octant by the sign of \\((x, y, z)\\):\r\n * - `P` for positive, `N` for negative.\r\n * - Example: `PPN` means \\(+x, +y, -z\\).\r\n *\r\n * @public\r\n */\r\nexport enum OctreePlacement {\r\n  PPP = 0,\r\n  PPN = 1,\r\n  PNP = 2,\r\n  PNN = 3,\r\n  NPP = 4,\r\n  NPN = 5,\r\n  NNP = 6,\r\n  NNN = 7\r\n}\r\n\r\n/**\r\n * A single node (cell) within the octree hierarchy.\r\n *\r\n * @remarks\r\n * - Holds scene graph nodes that spatially belong to the node's region.\r\n * - Computes tight and loosed AABBs on demand.\r\n * - Provides navigation to parent/children based on placement.\r\n *\r\n * @public\r\n */\r\nexport class OctreeNode {\r\n  /** @internal */\r\n  private _chunk: Nullable<OctreeNodeChunk>;\r\n  /** @internal */\r\n  private _position: number;\r\n  /** @internal */\r\n  private _nodes: GraphNode[];\r\n  /** @internal */\r\n  private _box: Nullable<AABB>;\r\n  /** @internal */\r\n  private _boxLoosed: Nullable<AABB>;\r\n  /**\r\n   * Create an empty octree node.\r\n   *\r\n   * @remarks\r\n   * Nodes are created and wired by `OctreeNodeChunk`.\r\n   */\r\n  constructor() {\r\n    this._chunk = null;\r\n    this._position = 0;\r\n    this._nodes = [];\r\n    this._box = null;\r\n    this._boxLoosed = null;\r\n  }\r\n  /**\r\n   * Get all scene nodes contained in this octree node.\r\n   *\r\n   * @remarks\r\n   * The returned array is owned by the node and may be mutated internally.\r\n   *\r\n   * @returns An array of scene nodes currently held by this octree node.\r\n   */\r\n  getNodes() {\r\n    return this._nodes;\r\n  }\r\n  /**\r\n   * Get the hierarchical level index of this node.\r\n   *\r\n   * @remarks\r\n   * Level 0 is the root chunk; higher levels are finer subdivisions.\r\n   *\r\n   * @returns The level index of this octree node.\r\n   */\r\n  getLevel() {\r\n    return this._chunk!.getLevel();\r\n  }\r\n  /**\r\n   * Add a scene node to this octree node.\r\n   *\r\n   * @param node - Scene node to add.\r\n   */\r\n  addNode(node: GraphNode) {\r\n    if (node && this._nodes.indexOf(node) < 0) {\r\n      this._nodes.push(node);\r\n      node.octreeNode = this;\r\n    }\r\n  }\r\n  /**\r\n   * Remove a scene node from this octree node.\r\n   *\r\n   * @param node - Scene node to remove.\r\n   */\r\n  removeNode(node: GraphNode) {\r\n    const index = this._nodes.indexOf(node);\r\n    if (index >= 0) {\r\n      this._nodes.splice(index, 1);\r\n      node.octreeNode = null;\r\n    }\r\n  }\r\n  /**\r\n   * Remove all scene nodes from this octree node.\r\n   */\r\n  clearNodes() {\r\n    for (const node of this._nodes) {\r\n      node.octreeNode = null;\r\n    }\r\n    this._nodes = [];\r\n  }\r\n  /**\r\n   * Assign the chunk that owns this node.\r\n   *\r\n   * @param chunk - Owning chunk.\r\n   */\r\n  setChunk(chunk: OctreeNodeChunk) {\r\n    ASSERT(!!chunk, 'Invalid chunk');\r\n    this._chunk = chunk;\r\n  }\r\n  /**\r\n   * Get the chunk that owns this node.\r\n   *\r\n   * @returns The `OctreeNodeChunk` that owns this node.\r\n   */\r\n  getChunk() {\r\n    return this._chunk;\r\n  }\r\n  /**\r\n   * Set the node's linear position index within the owning chunk.\r\n   *\r\n   * @param index - Position index.\r\n   */\r\n  setPosition(index: number) {\r\n    this._position = index;\r\n  }\r\n  /**\r\n   * Get the node's linear position index within the owning chunk.\r\n   *\r\n   * @returns The linear position index of this node.\r\n   */\r\n  getPosition() {\r\n    return this._position;\r\n  }\r\n  /**\r\n   * Get the tight AABB of this node, computed from its existing children.\r\n   *\r\n   * @remarks\r\n   * - Computed lazily by merging all child boxes from the next chunk level.\r\n   * - Returns `null` if no child contributes a valid box.\r\n   *\r\n   * @returns The tight `AABB` of this node, or `null` if unavailable.\r\n   */\r\n  getBox() {\r\n    if (this._box === null) {\r\n      const box = new AABB();\r\n      box.beginExtend();\r\n      for (let i = 0; i < 8; i++) {\r\n        const child = this.getChild(i);\r\n        if (child) {\r\n          const childBox = child.getBox();\r\n          if (childBox) {\r\n            box.extend(childBox.minPoint);\r\n            box.extend(childBox.maxPoint);\r\n          }\r\n        }\r\n      }\r\n      if (box.isValid()) {\r\n        this._box = box;\r\n      }\r\n    }\r\n    return this._box;\r\n  }\r\n  /**\r\n   * Get the loosed AABB of this node.\r\n   *\r\n   * @remarks\r\n   * The loosed AABB expands the node by half a node size in each direction,\r\n   * forming a conservative region used for stable placement.\r\n   *\r\n   * @returns The loosed `AABB` of this node.\r\n   */\r\n  getBoxLoosed() {\r\n    if (this._boxLoosed === null) {\r\n      ASSERT(!!this._chunk, 'Invalid chunk');\r\n      const d = this._chunk.getDimension();\r\n      const nodeSize = this._chunk.getNodeSize();\r\n      const halfWorldSize = this._chunk.getWorldSize() * 0.5;\r\n      const px = this._position % d;\r\n      const py = Math.floor(this._position / d) % d;\r\n      const pz = Math.floor(Math.floor(this._position / d) / d);\r\n      const minPoint = new Vector3(px - 0.5, py - 0.5, pz - 0.5)\r\n        .scaleBy(nodeSize)\r\n        .subBy(new Vector3(halfWorldSize, halfWorldSize, halfWorldSize));\r\n      const maxPoint = new Vector3(\r\n        minPoint.x + nodeSize * 2,\r\n        minPoint.y + nodeSize * 2,\r\n        minPoint.z + nodeSize * 2\r\n      );\r\n      this._boxLoosed = new AABB(minPoint, maxPoint);\r\n    }\r\n    return this._boxLoosed;\r\n  }\r\n  /**\r\n   * Get the minimum (tight) corner point of this node in world space.\r\n   *\r\n   * @returns The minimum corner as a `Vector3`.\r\n   */\r\n  getMinPoint() {\r\n    ASSERT(!!this._chunk, 'Invalid chunk');\r\n    const d = this._chunk.getDimension();\r\n    const nodeSize = this._chunk.getNodeSize();\r\n    const halfWorldSize = this._chunk.getWorldSize() * 0.5;\r\n    const px = this._position % d;\r\n    const py = Math.floor(this._position / d) % d;\r\n    const pz = Math.floor(Math.floor(this._position / d) / d);\r\n    return new Vector3(px, py, pz)\r\n      .scaleBy(nodeSize)\r\n      .subBy(new Vector3(halfWorldSize, halfWorldSize, halfWorldSize));\r\n  }\r\n  /**\r\n   * Get the maximum (tight) corner point of this node in world space.\r\n   *\r\n   * @returns The maximum corner as a `Vector3`.\r\n   */\r\n  getMaxPoint() {\r\n    ASSERT(!!this._chunk, 'Invalid chunk');\r\n    const d = this._chunk.getDimension();\r\n    const nodeSize = this._chunk.getNodeSize();\r\n    const halfWorldSize = this._chunk.getWorldSize() * 0.5;\r\n    const px = (this._position % d) + 1;\r\n    const py = (Math.floor(this._position / d) % d) + 1;\r\n    const pz = Math.floor(Math.floor(this._position / d) / d) + 1;\r\n    return new Vector3(px, py, pz)\r\n      .scaleBy(nodeSize)\r\n      .subBy(new Vector3(halfWorldSize, halfWorldSize, halfWorldSize));\r\n  }\r\n  /**\r\n   * Get the loosed minimum corner point of this node in world space.\r\n   *\r\n   * @returns The loosed minimum corner as a `Vector3`.\r\n   */\r\n  getMinPointLoosed() {\r\n    const halfNodeSize = this._chunk!.getNodeSize() * 0.5;\r\n    return this.getMinPoint().subBy(new Vector3(halfNodeSize, halfNodeSize, halfNodeSize));\r\n  }\r\n  /**\r\n   * Get the loosed maximum corner point of this node in world space.\r\n   *\r\n   * @returns The loosed maximum corner as a `Vector3`.\r\n   */\r\n  getMaxPointLoosed() {\r\n    const halfNodeSize = this._chunk!.getNodeSize() * 0.5;\r\n    return this.getMaxPoint().addBy(new Vector3(halfNodeSize, halfNodeSize, halfNodeSize));\r\n  }\r\n  /**\r\n   * Get a child node by placement from the next (finer) chunk.\r\n   *\r\n   * @param placement - Child octant placement.\r\n   *\r\n   * @remarks\r\n   * Returns `null` if the next chunk does not exist or the child is absent.\r\n   *\r\n   * @returns The child `OctreeNode`, or `null` if not present.\r\n   */\r\n  getChild(placement: OctreePlacement) {\r\n    ASSERT(!!this._chunk, 'Invalid chunk');\r\n    const next = this._chunk.getNext();\r\n    return next ? next.getNode(this._chunk.getChildIndex(this._position, placement)) : null;\r\n  }\r\n  /**\r\n   * Get or create a child node by placement from the next (finer) chunk.\r\n   *\r\n   * @param placement - Child octant placement.\r\n   *\r\n   * @remarks\r\n   * Returns `null` if the next chunk does not exist.\r\n   *\r\n   * @returns The existing or newly created child `OctreeNode`, or `null` if creation is not possible.\r\n   */\r\n  getOrCreateChild(placement: OctreePlacement) {\r\n    ASSERT(!!this._chunk, 'Invalid chunk');\r\n    const next = this._chunk.getNext();\r\n    return next ? next.getOrCreateNode(this._chunk.getChildIndex(this._position, placement)) : null;\r\n  }\r\n  /**\r\n   * Get the parent node from the previous (coarser) chunk.\r\n   *\r\n   * @remarks\r\n   * Returns `null` if the previous chunk does not exist or the parent is absent.\r\n   *\r\n   * @returns The parent `OctreeNode`, or `null` if not present.\r\n   */\r\n  getParent() {\r\n    ASSERT(!!this._chunk, 'Invalid chunk');\r\n    const prev = this._chunk.getPrev();\r\n    return prev ? prev.getNode(this._chunk.getParentIndex(this._position)) : null;\r\n  }\r\n  /**\r\n   * Get or create the parent node from the previous (coarser) chunk.\r\n   *\r\n   * @remarks\r\n   * Returns `null` if the previous chunk does not exist.\r\n   *\r\n   * @returns The existing or newly created parent `OctreeNode`, or `null` if creation is not possible.\r\n   */\r\n  getOrCreateParent() {\r\n    ASSERT(!!this._chunk, 'Invalid chunk');\r\n    const prev = this._chunk.getPrev();\r\n    return prev ? prev.getOrCreateNode(this._chunk.getParentIndex(this._position)) : null;\r\n  }\r\n  /**\r\n   * Create all eight children for this node in the next (finer) chunk.\r\n   *\r\n   * @remarks\r\n   * No-op when the next chunk does not exist.\r\n   */\r\n  createChildren() {\r\n    this.getOrCreateChild(OctreePlacement.PPP);\r\n    this.getOrCreateChild(OctreePlacement.PPN);\r\n    this.getOrCreateChild(OctreePlacement.PNP);\r\n    this.getOrCreateChild(OctreePlacement.PNN);\r\n    this.getOrCreateChild(OctreePlacement.NPP);\r\n    this.getOrCreateChild(OctreePlacement.NPN);\r\n    this.getOrCreateChild(OctreePlacement.NNP);\r\n    this.getOrCreateChild(OctreePlacement.NNN);\r\n  }\r\n  /**\r\n   * Traverse this node and existing children in pre-order.\r\n   *\r\n   * @param v - Visitor invoked on each node; if it returns `true`, traversal continues into children.\r\n   *\r\n   * @remarks\r\n   * Children are visited in octant order [PPP, PPN, PNP, PNN, NPP, NPN, NNP, NNN].\r\n   */\r\n  traverse(v: Visitor<OctreeNode>) {\r\n    if (v.visit(this)) {\r\n      for (let i = 0; i < 8; i++) {\r\n        const child = this.getChild(i);\r\n        if (child) {\r\n          child.traverse(v);\r\n        }\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\n/**\r\n * A grid of octree nodes at a specific level of detail.\r\n *\r\n * @remarks\r\n * - Each chunk represents a uniform grid of (d x d x d) nodes, where (d = 2^\\{level\\}).\r\n * - Chunks are linked as a hierarchy from coarse (root) to fine (leaf) via `prev`/`next`.\r\n * - Nodes are created lazily and indexed by a linear index.\r\n *\r\n * @public\r\n */\r\nexport class OctreeNodeChunk {\r\n  /** @internal */\r\n  private _level: number;\r\n  /** @internal */\r\n  private _dimension: number;\r\n  /** @internal */\r\n  private _nodeSize: number;\r\n  /** @internal */\r\n  private _prev: Nullable<OctreeNodeChunk>;\r\n  /** @internal */\r\n  private _next: Nullable<OctreeNodeChunk>;\r\n  /** @internal */\r\n  private readonly _octree: Octree;\r\n  /** @internal */\r\n  private readonly _nodeMap: Map<number, OctreeNode>;\r\n  /**\r\n   * Create a chunk for the given octree.\r\n   *\r\n   * @param octree - Owning octree.\r\n   */\r\n  constructor(octree: Octree) {\r\n    this._octree = octree;\r\n    this._level = 0;\r\n    this._dimension = 0;\r\n    this._nodeSize = 0;\r\n    this._next = null;\r\n    this._prev = null;\r\n    this._nodeMap = new Map();\r\n  }\r\n  /** @internal */\r\n  get nodeMap() {\r\n    return this._nodeMap;\r\n  }\r\n  /**\r\n   * Get an octree node by linear index.\r\n   *\r\n   * @param index - Linear index within this chunk.\r\n   *\r\n   * @returns The `OctreeNode` at the index, or `null` if absent.\r\n   */\r\n  getNode(index: number) {\r\n    return this._nodeMap.get(index) || null;\r\n  }\r\n  /**\r\n   * Get or create an octree node by linear index.\r\n   *\r\n   * @param index - Linear index within this chunk.\r\n   *\r\n   * @returns The existing or newly created `OctreeNode`.\r\n   */\r\n  getOrCreateNode(index: number) {\r\n    let node = this.getNode(index);\r\n    if (!node) {\r\n      node = new OctreeNode();\r\n      node.setChunk(this);\r\n      node.setPosition(index);\r\n      this._nodeMap.set(index, node);\r\n    }\r\n    return node;\r\n  }\r\n  /**\r\n   * Ensure the node chain (this level and all parents) exists for a given index.\r\n   *\r\n   * @param index - Linear index at this level.\r\n   *\r\n   * @returns The `OctreeNode` at this level; parent nodes are created as needed.\r\n   */\r\n  getOrCreateNodeChain(index: number) {\r\n    const node = this.getOrCreateNode(index);\r\n    if (this._prev) {\r\n      this._prev.getOrCreateNodeChain(this.getParentIndex(index));\r\n    }\r\n    return node;\r\n  }\r\n  /**\r\n   * Remove and clear all nodes in this chunk.\r\n   *\r\n   * @remarks\r\n   * Also detaches all scene nodes held by each `OctreeNode`.\r\n   */\r\n  clearNodes() {\r\n    for (const key of this._nodeMap.keys()) {\r\n      this._nodeMap.get(key)!.clearNodes();\r\n      this._nodeMap.delete(key);\r\n    }\r\n  }\r\n  /**\r\n   * Compute the child index in the next chunk for a given parent index and placement.\r\n   *\r\n   * @param index - Parent node index in this chunk.\r\n   * @param placement - Child octant placement.\r\n   *\r\n   * @returns The linear index of the child in the next chunk.\r\n   */\r\n  getChildIndex(index: number, placement: OctreePlacement) {\r\n    const dim = this._dimension;\r\n    let px = 2 * (index % dim);\r\n    let py = 2 * (Math.floor(index / dim) % dim);\r\n    let pz = 2 * Math.floor(Math.floor(index / dim) / dim);\r\n    switch (placement) {\r\n      case OctreePlacement.PPP:\r\n        ++px;\r\n        ++py;\r\n        ++pz;\r\n        break;\r\n      case OctreePlacement.PPN:\r\n        ++px;\r\n        ++py;\r\n        break;\r\n      case OctreePlacement.PNP:\r\n        ++px;\r\n        ++pz;\r\n        break;\r\n      case OctreePlacement.PNN:\r\n        ++px;\r\n        break;\r\n      case OctreePlacement.NPP:\r\n        ++py;\r\n        ++pz;\r\n        break;\r\n      case OctreePlacement.NPN:\r\n        ++py;\r\n        break;\r\n      case OctreePlacement.NNP:\r\n        ++pz;\r\n        break;\r\n      case OctreePlacement.NNN:\r\n        break;\r\n      default:\r\n        ASSERT(false, 'getChildIndex: Got invalid index');\r\n        return 0;\r\n    }\r\n    const dimension2 = 2 * dim;\r\n    return pz * dimension2 * dimension2 + py * dimension2 + px;\r\n  }\r\n  /**\r\n   * Compute the parent index in the previous chunk for a given child index.\r\n   *\r\n   * @param index - Child node index in this chunk.\r\n   *\r\n   * @returns The linear index of the parent in the previous chunk.\r\n   */\r\n  getParentIndex(index: number) {\r\n    const dim = this._dimension;\r\n    const px = index % dim >> 1;\r\n    const py = Math.floor(index / dim) % dim >> 1;\r\n    const pz = Math.floor(Math.floor(index / dim) / dim) >> 1;\r\n    const d = dim >> 1;\r\n    return px + py * d + pz * d * d;\r\n  }\r\n  /**\r\n   * Node size at this chunk level.\r\n   *\r\n   * @remarks\r\n   * Represents the world-space edge length for a cell at this level.\r\n   *\r\n   * @returns The world-space edge length per cell in this chunk.\r\n   */\r\n  getNodeSize() {\r\n    return this._nodeSize;\r\n  }\r\n  /**\r\n   * Root world size of the octree.\r\n   *\r\n   * @remarks\r\n   * Same across all chunks; used to convert between world coordinates and indices.\r\n   *\r\n   * @returns The root world size (edge length) of the octree.\r\n   */\r\n  getWorldSize() {\r\n    return this._octree.getRootSize();\r\n  }\r\n  /**\r\n   * Dimension of this chunk (number of cells per axis).\r\n   *\r\n   * @remarks\r\n   * Equals \\(2^\\{level\\}\\).\r\n   *\r\n   * @returns The dimension (cells per axis) for this chunk.\r\n   */\r\n  getDimension() {\r\n    return this._dimension;\r\n  }\r\n  /**\r\n   * Level index of this chunk (0 = root/coarsest).\r\n   *\r\n   * @returns The level index of this chunk.\r\n   */\r\n  getLevel() {\r\n    return this._level;\r\n  }\r\n  /**\r\n   * Whether this chunk currently has no created nodes.\r\n   *\r\n   * @returns True if the chunk has no nodes; otherwise false.\r\n   */\r\n  empty() {\r\n    return this._nodeMap.size === 0;\r\n  }\r\n  /**\r\n   * Next (finer) chunk in the hierarchy, or `null` if this is the finest.\r\n   *\r\n   * @returns The next `OctreeNodeChunk`, or `null` if none.\r\n   */\r\n  getNext() {\r\n    return this._next;\r\n  }\r\n  /**\r\n   * Previous (coarser) chunk in the hierarchy, or `null` if this is the root.\r\n   *\r\n   * @returns The previous `OctreeNodeChunk`, or `null` if none.\r\n   */\r\n  getPrev() {\r\n    return this._prev;\r\n  }\r\n  /**\r\n   * The octree that owns this chunk.\r\n   *\r\n   * @returns The owning `Octree` instance.\r\n   */\r\n  getOctree() {\r\n    return this._octree;\r\n  }\r\n  /**\r\n   * Set the level index.\r\n   *\r\n   * @param level - Level index for this chunk.\r\n   */\r\n  setLevel(level: number) {\r\n    this._level = level;\r\n  }\r\n  /**\r\n   * Set the dimension (cells per axis).\r\n   *\r\n   * @param dimension - Dimension for this chunk (typically \\(2^\\{level\\}\\)).\r\n   */\r\n  setDimension(dimension: number) {\r\n    this._dimension = dimension;\r\n  }\r\n  /**\r\n   * Set the node size at this level.\r\n   *\r\n   * @param size - World-space edge length per cell.\r\n   */\r\n  setNodeSize(size: number) {\r\n    this._nodeSize = size;\r\n  }\r\n  /**\r\n   * Link to the next (finer) chunk.\r\n   *\r\n   * @param chunk - The next chunk.\r\n   */\r\n  setNext(chunk: OctreeNodeChunk) {\r\n    this._next = chunk;\r\n  }\r\n  /**\r\n   * Link to the previous (coarser) chunk.\r\n   *\r\n   * @param chunk - The previous chunk.\r\n   */\r\n  setPrev(chunk: OctreeNodeChunk) {\r\n    this._prev = chunk;\r\n  }\r\n}\r\n\r\n/**\r\n * Spatial acceleration structure for scene graph nodes using an octree hierarchy.\r\n *\r\n * @remarks\r\n * - Organizes `GraphNode` instances into a multi-level grid of `OctreeNodeChunk`s.\r\n * - Supports dynamic resizing to accommodate large scenes while maintaining a minimum leaf size.\r\n * - Placement is driven by world-space AABBs; nodes are mapped to an appropriate level by size.\r\n * - Maintains a weak map from `GraphNode` to the current `OctreeNode` for efficient updates.\r\n *\r\n * Performance:\r\n * - Nodes and chunks are created lazily.\r\n * - Resizing re-inserts existing nodes; use sparingly and prefer reasonable initial sizes.\r\n *\r\n * Invariants:\r\n * - `rootSize` and `leafSize` are powers of two; `rootSize >= leafSize`.\r\n * - Level 0 chunk exists after initialization.\r\n *\r\n * @public\r\n */\r\nexport class Octree {\r\n  /** @internal */\r\n  private readonly _scene: Scene;\r\n  /** @internal */\r\n  private _chunks: OctreeNodeChunk[];\r\n  /** @internal */\r\n  private _rootSize: number;\r\n  /** @internal */\r\n  private readonly _maxRootSize: number;\r\n  /** @internal */\r\n  private _leafSize: number;\r\n  /** @internal */\r\n  private _rootNode: Nullable<OctreeNode>;\r\n  /** @internal */\r\n  private _nodeMap: WeakMap<GraphNode, OctreeNode>;\r\n  /** @internal */\r\n  private readonly _nodes: Set<GraphNode>;\r\n  /**\r\n   * Create an octree.\r\n   *\r\n   * @param scene - Owning scene instance.\r\n   * @param rootSize - Initial root world size (edge length), power of two. Defaults to 8.\r\n   * @param leafSize - Minimum leaf cell size (edge length), power of two. Defaults to 8.\r\n   * @param maxRootSize - Hard cap for dynamic growth. Defaults to 65536.\r\n   *\r\n   * @remarks\r\n   * The octree is initialized on construction; use `finalize()` to clear all data.\r\n   */\r\n  constructor(scene: Scene, rootSize = 8, leafSize = 8, maxRootSize = 65536) {\r\n    this._scene = scene;\r\n    this._chunks = [];\r\n    this._rootSize = 0;\r\n    this._leafSize = 0;\r\n    this._rootNode = null;\r\n    this._nodeMap = new WeakMap();\r\n    this._nodes = new Set();\r\n    this.initialize(rootSize, leafSize);\r\n    this._maxRootSize = Math.max(maxRootSize, this._rootSize);\r\n  }\r\n  /**\r\n   * Initialize the octree with specified root and leaf sizes.\r\n   *\r\n   * @param rootSize - Root world size (edge length).\r\n   * @param leafSize - Leaf cell size (edge length).\r\n   *\r\n   * @remarks\r\n   * - Clears any existing data.\r\n   * - Builds chunk hierarchy from coarse to fine granularity.\r\n   */\r\n  initialize(rootSize: number, leafSize: number) {\r\n    this.finalize();\r\n    this._leafSize = leafSize;\r\n    this._rootSize = Math.max(leafSize, rootSize);\r\n    let n = 1;\r\n    for (; rootSize >= leafSize * 2; leafSize *= 2, ++n) {\r\n      // no-op\r\n    }\r\n    for (let i = 0; i < n; ++i, rootSize *= 0.5) {\r\n      const chunk = new OctreeNodeChunk(this);\r\n      chunk.setLevel(i);\r\n      chunk.setNodeSize(rootSize);\r\n      chunk.setDimension(1 << i);\r\n      this._chunks.push(chunk);\r\n      if (i > 0) {\r\n        this._chunks[i - 1].setNext(chunk);\r\n        chunk.setPrev(this._chunks[i - 1]);\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Free all nodes and chunks owned by this octree.\r\n   *\r\n   * @remarks\r\n   * Resets sizes, root node, and placement maps.\r\n   */\r\n  finalize() {\r\n    this._chunks.forEach((chunk) => chunk.clearNodes());\r\n    this._chunks = [];\r\n    this._rootSize = 0;\r\n    this._leafSize = 0;\r\n    this._rootNode = null;\r\n    this._nodeMap = new WeakMap();\r\n  }\r\n  /**\r\n   * Owning scene.\r\n   *\r\n   * @returns The `Scene` that owns this octree.\r\n   */\r\n  getScene() {\r\n    return this._scene;\r\n  }\r\n  /**\r\n   * Root world size (edge length).\r\n   *\r\n   * @returns The current root world size.\r\n   */\r\n  getRootSize() {\r\n    return this._rootSize;\r\n  }\r\n  /**\r\n   * Minimum leaf cell size (edge length).\r\n   *\r\n   * @returns The current leaf cell size.\r\n   */\r\n  getLeafSize() {\r\n    return this._leafSize;\r\n  }\r\n  /**\r\n   * Locate the best-fit node chain for a sphere.\r\n   *\r\n   * @param candidate - Optional current node containing the object (hint for reuse).\r\n   * @param center - Sphere center in world coordinates.\r\n   * @param radius - Sphere radius in world units.\r\n   *\r\n   * @remarks\r\n   * - Chooses the finest level where node size is at least (4 \\\\times) radius.\r\n   * - Returns `null` if the sphere lies outside the current octree bounds.\r\n   * - If `candidate` already matches, it is returned directly.\r\n   *\r\n   * @returns The head `OctreeNode` of the located chain, or `null` if out of bounds.\r\n   */\r\n  locateNodeChain(candidate: Nullable<OctreeNode>, center: Vector3, radius: number) {\r\n    let level = this._chunks.length - 1;\r\n    while (level >= 0 && this._chunks[level].getNodeSize() < 4 * radius) {\r\n      --level;\r\n    }\r\n    if (level < 0) {\r\n      return null;\r\n    }\r\n    const dim = this._chunks[level].getDimension();\r\n    const inv_node_size = 1 / this._chunks[level].getNodeSize();\r\n    const px = Math.floor((center.x + this._rootSize * 0.5) * inv_node_size);\r\n    const py = Math.floor((center.y + this._rootSize * 0.5) * inv_node_size);\r\n    const pz = Math.floor((center.z + this._rootSize * 0.5) * inv_node_size);\r\n    if (px >= dim || px < 0 || py >= dim || py < 0 || pz >= dim || pz < 0) {\r\n      return null;\r\n    }\r\n    const index = px + py * dim + pz * dim * dim;\r\n    if (candidate && candidate.getChunk()!.getLevel() === level && candidate.getPosition() === index) {\r\n      return candidate;\r\n    }\r\n    return this._chunks[level].getOrCreateNodeChain(index);\r\n  }\r\n  /**\r\n   * Get the root node (level 0, index 0), creating it if necessary.\r\n   *\r\n   * @returns The root `OctreeNode`.\r\n   */\r\n  getRootNode() {\r\n    if (!this._rootNode) {\r\n      this._rootNode = this._chunks[0].getOrCreateNode(0);\r\n    }\r\n    return this._rootNode;\r\n  }\r\n  /**\r\n   * Number of chunks (levels) in the octree hierarchy.\r\n   *\r\n   * @returns The total number of chunk levels.\r\n   */\r\n  getNumChunks() {\r\n    return this._chunks.length;\r\n  }\r\n  /**\r\n   * Get a chunk by level index.\r\n   *\r\n   * @param level - Chunk level (0 is root).\r\n   *\r\n   * @returns The `OctreeNodeChunk` at the given level.\r\n   */\r\n  getChunk(level: number) {\r\n    return this._chunks[level];\r\n  }\r\n  /**\r\n   * Place or update a scene node in the octree.\r\n   *\r\n   * @param node - Scene graph node to place.\r\n   *\r\n   * @remarks\r\n   * - Uses the node's world-space AABB to determine size and best-fit level.\r\n   * - If the node does not fit within current bounds and growth is allowed,\r\n   *   the octree resizes (up to `maxRootSize`) and reinserts nodes.\r\n   * - Nodes without valid bounds or with clip tests disabled fall back to the root.\r\n   */\r\n  placeNode(node: GraphNode) {\r\n    const curNode = this._nodeMap.get(node) || null;\r\n    let locatedNode: Nullable<OctreeNode> = this.getRootNode();\r\n    if (node.clipTestEnabled) {\r\n      const bbox = node.getWorldBoundingVolume()?.toAABB();\r\n      if (bbox && bbox.isValid()) {\r\n        const center = bbox.center;\r\n        const extents = bbox.extents;\r\n        let size = Math.min(Math.max(Math.max(extents.x, extents.y), extents.z), this._maxRootSize);\r\n        if (Number.isNaN(size)) {\r\n          size = this._maxRootSize;\r\n        }\r\n        locatedNode = this.locateNodeChain(curNode, center, size);\r\n        if (!locatedNode) {\r\n          let d = Math.min(\r\n            Math.max(...Vector3.abs(bbox.minPoint), ...Vector3.abs(bbox.maxPoint)),\r\n            this._maxRootSize\r\n          );\r\n          if (Number.isNaN(d)) {\r\n            d = this._maxRootSize;\r\n          }\r\n          const newSize = nextPowerOf2(Math.ceil(Math.max(d * 2, 4 * size)));\r\n          if (newSize <= this._maxRootSize) {\r\n            this.resize(newSize);\r\n            this.placeNode(node);\r\n            return;\r\n          } else {\r\n            locatedNode = this.getRootNode();\r\n          }\r\n        }\r\n      }\r\n    }\r\n    if (curNode !== locatedNode) {\r\n      curNode?.removeNode(node);\r\n      locatedNode?.addNode(node);\r\n      this._nodeMap.set(node, locatedNode);\r\n    }\r\n    this._nodes.add(node);\r\n  }\r\n  /**\r\n   * Remove a scene node from the octree.\r\n   *\r\n   * @param node - Scene graph node to remove.\r\n   */\r\n  removeNode(node: GraphNode) {\r\n    if (node.isGraphNode()) {\r\n      const curNode = this._nodeMap.get(node) || null;\r\n      if (curNode) {\r\n        curNode.removeNode(node);\r\n        this._nodeMap.delete(node);\r\n      }\r\n      this._nodes.delete(node);\r\n    }\r\n  }\r\n  /**\r\n   * Shrink the octree to the minimum size if the first finer level is empty.\r\n   *\r\n   * @remarks\r\n   * Useful after many removals; preserves `leafSize`.\r\n   */\r\n  prune() {\r\n    if (this._chunks.length === 1) {\r\n      return;\r\n    }\r\n    for (const entry of this._chunks[1].nodeMap) {\r\n      if (entry[1].getNodes().length > 0) {\r\n        return;\r\n      }\r\n    }\r\n    this.resize(this._leafSize);\r\n  }\r\n  /**\r\n   * Resize the octree root size and rebuild chunks.\r\n   *\r\n   * @param size - New root world size (edge length). 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