@zephyr3d/scene 0.7.1 → 0.8.1

package/dist/src/scene/terrain/heightfield.js

@@ -1,475 +0,0 @@
-import { Vector3, Vector4 } from '@zephyr3d/base';
-import { BoundingBox } from '../../utility/bounding_volume.js';
-
-/** @internal */ class HeightfieldBBoxTree {
-    _resX;
-    _resY;
-    _spacingX;
-    _spacingZ;
-    _leafSize;
-    _heights;
-    _rootNode;
-    constructor(res_x, res_y, spacing_x, spacing_z, vertices){
-        this._rootNode = null;
-        this._leafSize = 16;
-        this._spacingX = spacing_x;
-        this._spacingZ = spacing_z;
-        this._resX = res_x;
-        this._resY = res_y;
-        this._heights = new Float32Array(vertices);
-    //this.create();
-    }
-    create() {
-        this._rootNode = this.allocNode();
-        this.createChildNode(this._rootNode, 0, 0, this._resX - 1, this._resY - 1);
-        return true;
-    }
-    getHeight(x, y) {
-        return this._heights[(this._resY - 1 - y) * this._resX + x];
-    }
-    getNormal(x, y, normal) {
-        normal = normal ?? new Vector3();
-        x = Math.max(0, Math.min(x, this._resX - 2));
-        y = Math.max(0, Math.min(y, this._resY - 2));
-        const h00 = this._heights[x + y * this._resX];
-        const h01 = this._heights[x + (y + 1) * this._resX];
-        const h11 = this._heights[x + 1 + (y + 1) * this._resX];
-        const h10 = this._heights[x + 1 + y * this._resX];
-        const sx = (h00 + h01 - h11 - h10) * 0.5;
-        const sy = (h00 + h10 - h01 - h11) * 0.5;
-        const tileSizeX = this._spacingX;
-        const tileSizeY = this._spacingZ;
-        normal.setXYZ(sx * tileSizeY, 2 * tileSizeX * tileSizeY, -sy * tileSizeX).inplaceNormalize();
-        return normal;
-    }
-    getRealNormal(x, y, normal) {
-        normal = normal ?? new Vector3();
-        const tileSizeX = this._spacingX;
-        const tileSizeY = this._spacingZ;
-        const x_unscale = x / tileSizeX;
-        const y_unscale = y / tileSizeY;
-        let l = Math.floor(x_unscale);
-        let t = Math.floor(y_unscale);
-        let r = l + 1;
-        let b = t + 1;
-        if (l < 0) {
-            l = 0;
-        }
-        if (t < 0) {
-            t = 0;
-        }
-        if (r >= this._resX) {
-            r = this._resX - 1;
-        }
-        if (b >= this._resY) {
-            b = this._resY - 1;
-        }
-        const ltNormal = this.getNormal(l, t);
-        const lbNormal = this.getNormal(l, b);
-        const rtNormal = this.getNormal(r, t);
-        const rbNormal = this.getNormal(r, b);
-        ltNormal.addBy(lbNormal).addBy(rtNormal).addBy(rbNormal).scaleBy(0.25).inplaceNormalize();
-        normal.set(ltNormal);
-        return normal;
-    }
-    getRealHeight(x, y) {
-        const tileSizeX = this._spacingX;
-        const tileSizeY = this._spacingZ;
-        const x_unscale = x / tileSizeX;
-        const y_unscale = y / tileSizeY;
-        const l = Math.floor(x_unscale);
-        const t = Math.floor(y_unscale);
-        const r = l + 1;
-        const b = t + 1;
-        if (l < 0 || t < 0 || r >= this._resX || b >= this._resY) {
-            return 0;
-        }
-        if (l === r) {
-            if (t === b) {
-                return this.getHeight(l, t);
-            } else {
-                const ht = this.getHeight(l, t);
-                const hb = this.getHeight(l, b);
-                return ht + (hb - ht) * (y_unscale - t);
-            }
-        } else {
-            const hlt = this.getHeight(l, t);
-            const hrt = this.getHeight(r, t);
-            const ht = hlt + (hrt - hlt) * (x_unscale - l);
-            if (t === b) {
-                return ht;
-            } else {
-                const hlb = this.getHeight(l, b);
-                const hrb = this.getHeight(r, b);
-                const hb = hlb + (hrb - hlb) * (x_unscale - l);
-                return ht + (hb - ht) * (y_unscale - t);
-            }
-        }
-    }
-    getHeights() {
-        return this._heights;
-    }
-    allocNode() {
-        return {
-            bbox: new BoundingBox(),
-            rc: {
-                x: 0,
-                y: 0,
-                w: 0,
-                h: 0
-            },
-            left: null,
-            right: null
-        };
-    }
-    computeNodeBoundingBox(node, bbox, vertices) {
-        bbox.beginExtend();
-        for(let i = 0; i < node.rc.w; i++){
-            for(let j = 0; j < node.rc.h; j++){
-                const index = node.rc.x + i + (node.rc.y + j) * this._resX;
-                const vert = vertices[index];
-                bbox.extend3(vert.x, vert.y, vert.z);
-            }
-        }
-    }
-    createChildNode(node, x, y, w, h) {
-        node.rc.x = x;
-        node.rc.y = y;
-        node.rc.w = w;
-        node.rc.h = h;
-        if (w <= this._leafSize && h <= this._leafSize) {
-            node.left = null;
-            node.right = null;
-            let hMin = Infinity;
-            let hMax = -Infinity;
-            for(let i = x; i <= x + w; i++){
-                for(let j = y; j <= y + h; j++){
-                    const h = this.getHeight(i, j);
-                    if (h > hMax) {
-                        hMax = h;
-                    }
-                    if (h < hMin) {
-                        hMin = h;
-                    }
-                }
-            }
-            node.bbox = new BoundingBox(new Vector3(x * this._spacingX, hMin, y * this._spacingZ), new Vector3((x + w) * this._spacingX, hMax, (y + h) * this._spacingZ));
-        } else {
-            if (w >= h) {
-                const w1 = w >> 1;
-                const w2 = w - w1;
-                node.left = this.allocNode();
-                this.createChildNode(node.left, x, y, w1, h);
-                node.right = this.allocNode();
-                this.createChildNode(node.right, x + w1, y, w2, h);
-            } else {
-                const h1 = h >> 1;
-                const h2 = h - h1;
-                node.left = this.allocNode();
-                this.createChildNode(node.left, x, y, w, h1);
-                node.right = this.allocNode();
-                this.createChildNode(node.right, x, y + h1, w, h2);
-            }
-            node.bbox.beginExtend();
-            node.bbox.extend(node.left.bbox.minPoint);
-            node.bbox.extend(node.left.bbox.maxPoint);
-            node.bbox.extend(node.right.bbox.minPoint);
-            node.bbox.extend(node.right.bbox.maxPoint);
-        }
-        return true;
-    }
-    rayIntersect(ray) {
-        return this.rayIntersectRecursive(ray);
-    }
-    rayIntersectDDA(ray, x, y, w, h) {
-        let x0 = ray.origin.x;
-        let y0 = ray.origin.z;
-        let dx = ray.direction.x;
-        let dy = ray.direction.z;
-        const gridSizeX = this._spacingX;
-        const gridSizeY = this._spacingZ;
-        const epsl = 0.001;
-        let tx = 0;
-        let ty = 0;
-        const xmin = x * gridSizeX;
-        const xmax = xmin + w * gridSizeX;
-        const ymin = y * gridSizeY;
-        const ymax = ymin + h * gridSizeY;
-        const xcenter = (xmin + xmax) / 2;
-        const ycenter = (ymin + ymax) / 2;
-        let mirrorx = false;
-        let mirrory = false;
-        if (dx < 0) {
-            dx = -dx;
-            x0 += 2 * (xcenter - x0);
-            mirrorx = true;
-        }
-        if (dy < 0) {
-            dy = -dy;
-            y0 += 2 * (ycenter - y0);
-            mirrory = true;
-        }
-        if (x0 < xmin) {
-            tx = (xmin - x0) / dx;
-        } else if (x0 > xmax) {
-            return;
-        }
-        if (y0 < ymin) {
-            ty = (ymin - y0) / dy;
-        } else if (y0 > ymax) {
-            return;
-        }
-        const t = tx > ty ? tx : ty;
-        x0 += t * dx;
-        y0 += t * dy;
-        let u = Math.floor((x0 - xmin + epsl) / gridSizeX);
-        let v = Math.floor((y0 - ymin + epsl) / gridSizeY);
-        while(u >= 0 && u <= w && v >= 0 && v <= h){
-            if (u < w && v < h) {
-                const m = x + (mirrorx ? w - u - 1 : u);
-                const n = y + (mirrory ? h - v - 1 : v);
-                const v00 = new Vector3(m * this._spacingX, this.getHeight(m, n), n * this._spacingZ);
-                const v01 = new Vector3((m + 1) * this._spacingX, this.getHeight(m + 1, n), n * this._spacingZ);
-                const v11 = new Vector3((m + 1) * this._spacingX, this.getHeight(m + 1, n + 1), (n + 1) * this._spacingZ);
-                const v10 = new Vector3(m * this._spacingX, this.getHeight(m, n + 1), (n + 1) * this._spacingZ);
-                let intersected = false;
-                let dist1 = ray.intersectionTestTriangle(v00, v01, v10, false);
-                if (dist1 !== null && dist1 > 0) {
-                    intersected = true;
-                } else {
-                    dist1 = Number.MAX_VALUE;
-                }
-                let dist2 = ray.intersectionTestTriangle(v10, v01, v11, false);
-                if (dist2 !== null && dist2 > 0) {
-                    intersected = true;
-                } else {
-                    dist2 = Number.MAX_VALUE;
-                }
-                if (intersected) {
-                    return dist1 < dist2 ? dist1 : dist2;
-                }
-            }
-            let d = Infinity;
-            if (dx > 0) {
-                const x1 = (u + x + 1) * gridSizeX;
-                d = Math.min(d, (x1 - x0) / dx);
-            }
-            if (dy !== 0) {
-                const y1 = (v + y + 1) * gridSizeY;
-                d = Math.min(d, (y1 - y0) / dy);
-            }
-            x0 += d * dx;
-            y0 += d * dy;
-            u = Math.floor((x0 - xmin + epsl) / gridSizeX);
-            v = Math.floor((y0 - ymin + epsl) / gridSizeY);
-        }
-        return null;
-    }
-    rayIntersectLeaf(ray, node) {
-        return this.rayIntersectDDA(ray, node.rc.x, node.rc.y, node.rc.w, node.rc.h);
-    }
-    rayIntersectRecursive(ray) {
-        if (!this._rootNode) {
-            return this.rayIntersectDDA(ray, 0, 0, this._resX - 1, this._resY - 1);
-        }
-        const q = [
-            this._rootNode
-        ];
-        while(q.length > 0){
-            const node = q.shift();
-            if (!node.left) {
-                const d = this.rayIntersectLeaf(ray, node);
-                if (d !== null) {
-                    return d;
-                }
-            } else {
-                const dl = ray.bboxIntersectionTestEx(node.left.bbox);
-                const dr = ray.bboxIntersectionTestEx(node.right.bbox);
-                if (dl !== null && dr !== null) {
-                    if (dl < dr) {
-                        q.unshift(node.right);
-                        q.unshift(node.left);
-                    } else {
-                        q.unshift(node.left);
-                        q.unshift(node.right);
-                    }
-                } else if (dl !== null) {
-                    q.unshift(node.left);
-                } else if (dr !== null) {
-                    q.unshift(node.right);
-                }
-            }
-        }
-        return null;
-    }
-}
-/** @internal */ class HeightField {
-    m_v4Range;
-    m_scale;
-    m_sizeX;
-    m_sizeZ;
-    m_bboxTree;
-    m_normals;
-    m_boundingBox;
-    constructor(){
-        this.m_v4Range = Vector4.zero();
-        this.m_bboxTree = null;
-        this.m_scale = Vector3.one();
-        this.m_sizeX = 0;
-        this.m_sizeZ = 0;
-        this.m_normals = null;
-        this.m_boundingBox = null;
-    }
-    init(sizeX, sizeZ, scale, heights) {
-        const v = [];
-        let minY = Infinity;
-        let maxY = -Infinity;
-        for(let i = 0; i < sizeZ; ++i){
-            const srcOffset = i * sizeX;
-            const dstOffset = (sizeZ - i - 1) * sizeX;
-            for(let j = 0; j < sizeX; ++j){
-                const y = heights[srcOffset + j] * scale.y;
-                v[dstOffset + j] = y;
-                if (y > maxY) {
-                    maxY = y;
-                }
-                if (y < minY) {
-                    minY = y;
-                }
-            }
-        }
-        this.m_bboxTree = new HeightfieldBBoxTree(sizeX, sizeZ, scale.x, scale.z, v);
-        this.m_boundingBox = new BoundingBox(new Vector3(0, minY, 0), new Vector3((sizeX - 1) * scale.x, maxY, (sizeZ - 1) * scale.z));
-        this.m_v4Range.setXYZW(0, 0, (sizeX - 1) * scale.x, (sizeZ - 1) * scale.z);
-        this.m_scale.set(scale);
-        this.m_sizeX = sizeX;
-        this.m_sizeZ = sizeZ;
-        this.m_normals = this.computeNormalVectors();
-        return true;
-    }
-    get normals() {
-        return this.m_normals;
-    }
-    clear() {
-        this.m_bboxTree = null;
-        this.m_v4Range.setXYZW(0, 0, 0, 0);
-        this.m_scale.setXYZ(1, 1, 1);
-        this.m_sizeX = 0;
-        this.m_sizeZ = 0;
-    }
-    rayIntersect(ray) {
-        return this.m_bboxTree.rayIntersect(ray);
-    }
-    computeNormals() {
-        const scaleX = this.m_scale.x;
-        const scaleZ = this.m_scale.z;
-        const heights = this.getHeights();
-        const v = new Vector3();
-        const normals = new Uint8Array((this.m_sizeZ - 1) * (this.m_sizeX - 1) * 4);
-        for(let y = 0; y < this.m_sizeZ - 1; ++y){
-            for(let x = 0; x < this.m_sizeX - 1; ++x){
-                const h00 = heights[x + y * this.m_sizeX];
-                const h01 = heights[x + (y + 1) * this.m_sizeX];
-                const h11 = heights[x + 1 + (y + 1) * this.m_sizeX];
-                const h10 = heights[x + 1 + y * this.m_sizeX];
-                const sx = (h00 + h01 - h11 - h10) * 0.5;
-                const sy = (h00 + h10 - h01 - h11) * 0.5;
-                const index = x + (this.m_sizeZ - 2 - y) * (this.m_sizeX - 1);
-                v.setXYZ(sx * scaleZ, 2 * scaleX * scaleZ, -sy * scaleX).inplaceNormalize();
-                normals[index * 4 + 0] = Math.floor((v.x * 0.5 + 0.5) * 255);
-                normals[index * 4 + 1] = Math.floor((v.y * 0.5 + 0.5) * 255);
-                normals[index * 4 + 2] = Math.floor((v.z * 0.5 + 0.5) * 255);
-                normals[index * 4 + 3] = 255;
-            }
-        }
-        return normals;
-    }
-    computeNormalVectors() {
-        const scaleX = this.m_scale.x;
-        const scaleZ = this.m_scale.z;
-        const heights = this.getHeights();
-        const normals = [];
-        for(let y = 0; y < this.m_sizeZ; ++y){
-            for(let x = 0; x < this.m_sizeX; ++x){
-                const h = heights[x + y * this.m_sizeX];
-                const h00 = x > 0 && y > 0 ? heights[x - 1 + (y - 1) * this.m_sizeX] : h;
-                const h01 = y > 0 && y < this.m_sizeZ - 1 ? heights[x - 1 + (y + 1) * this.m_sizeX] : h;
-                const h11 = x < this.m_sizeX - 1 && y < this.m_sizeZ - 1 ? heights[x + 1 + (y + 1) * this.m_sizeX] : h;
-                const h10 = x < this.m_sizeX - 1 && y > 0 ? heights[x + 1 + (y - 1) * this.m_sizeX] : h;
-                const sx = (h00 + h01 - h11 - h10) * 0.5;
-                const sy = (h00 + h10 - h01 - h11) * 0.5;
-                const index = x + (this.m_sizeZ - 1 - y) * this.m_sizeX;
-                normals[index] = new Vector3(sx * scaleZ, 2 * scaleX * scaleZ, -sy * scaleX).inplaceNormalize();
-            }
-        }
-        return normals;
-    }
-    getBBoxTree() {
-        return this.m_bboxTree;
-    }
-    getSpacingX() {
-        return this.m_scale.x;
-    }
-    getSpacingZ() {
-        return this.m_scale.z;
-    }
-    getVerticalScale() {
-        return this.m_scale.y;
-    }
-    getSizeX() {
-        return this.m_sizeX;
-    }
-    getSizeZ() {
-        return this.m_sizeZ;
-    }
-    getOffsetX() {
-        return this.m_v4Range.x;
-    }
-    getOffsetZ() {
-        return this.m_v4Range.y;
-    }
-    getBoundingbox() {
-        return this.m_boundingBox;
-    }
-    getHeights() {
-        return this.m_bboxTree?.getHeights() || null;
-    }
-    getHeight(x, z) {
-        return this.m_bboxTree ? this.m_bboxTree.getHeight(x, z) : 0;
-    }
-    getRealHeight(x, z) {
-        return this.m_bboxTree ? this.m_bboxTree.getRealHeight(x, z) : 0;
-    }
-    getRealNormal(x, z, normal) {
-        normal = normal ?? new Vector3();
-        const tileSizeX = this.m_scale.x;
-        const tileSizeY = this.m_scale.z;
-        const x_unscale = x / tileSizeX;
-        const y_unscale = z / tileSizeY;
-        let l = Math.floor(x_unscale);
-        let t = Math.floor(y_unscale);
-        let r = l + 1;
-        let b = t + 1;
-        if (l < 0) {
-            l = 0;
-        }
-        if (t < 0) {
-            t = 0;
-        }
-        if (r >= this.m_sizeX) {
-            r = this.m_sizeX - 1;
-        }
-        if (b >= this.m_sizeZ) {
-            b = this.m_sizeZ - 1;
-        }
-        normal.set(this.m_normals[l + t * this.m_sizeX]);
-        normal.addBy(this.m_normals[r + t * this.m_sizeX]);
-        normal.addBy(this.m_normals[r + b * this.m_sizeX]);
-        normal.addBy(this.m_normals[l + b * this.m_sizeX]);
-        normal.scaleBy(0.4).inplaceNormalize();
-        return normal;
-    }
-}
-
-export { HeightField, HeightfieldBBoxTree };
-//# sourceMappingURL=heightfield.js.map

package/dist/src/scene/terrain/heightfield.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"heightfield.js","sources":["../../../../src/scene/terrain/heightfield.ts"],"sourcesContent":["import type { Ray } from '@zephyr3d/base';\nimport { Vector3, Vector4 } from '@zephyr3d/base';\nimport { BoundingBox } from '../../utility/bounding_volume';\n\n/** @internal */\nexport interface HeightfieldBBoxTreeNode {\n  bbox: BoundingBox;\n  rc: { x: number; y: number; w: number; h: number };\n  left: HeightfieldBBoxTreeNode;\n  right: HeightfieldBBoxTreeNode;\n}\n\n/** @internal */\nexport class HeightfieldBBoxTree {\n  private readonly _resX: number;\n  private readonly _resY: number;\n  private readonly _spacingX: number;\n  private readonly _spacingZ: number;\n  private readonly _leafSize: number;\n  private readonly _heights: Float32Array;\n  private _rootNode: HeightfieldBBoxTreeNode;\n  constructor(res_x: number, res_y: number, spacing_x: number, spacing_z: number, vertices: number[]) {\n    this._rootNode = null;\n    this._leafSize = 16;\n    this._spacingX = spacing_x;\n    this._spacingZ = spacing_z;\n    this._resX = res_x;\n    this._resY = res_y;\n    this._heights = new Float32Array(vertices);\n    //this.create();\n  }\n  create(): boolean {\n    this._rootNode = this.allocNode();\n    this.createChildNode(this._rootNode, 0, 0, this._resX - 1, this._resY - 1);\n    return true;\n  }\n  getHeight(x: number, y: number): number {\n    return this._heights[(this._resY - 1 - y) * this._resX + x];\n  }\n  getNormal(x: number, y: number, normal?: Vector3): Vector3 {\n    normal = normal ?? new Vector3();\n    x = Math.max(0, Math.min(x, this._resX - 2));\n    y = Math.max(0, Math.min(y, this._resY - 2));\n    const h00 = this._heights[x + y * this._resX];\n    const h01 = this._heights[x + (y + 1) * this._resX];\n    const h11 = this._heights[x + 1 + (y + 1) * this._resX];\n    const h10 = this._heights[x + 1 + y * this._resX];\n    const sx = (h00 + h01 - h11 - h10) * 0.5;\n    const sy = (h00 + h10 - h01 - h11) * 0.5;\n    const tileSizeX = this._spacingX;\n    const tileSizeY = this._spacingZ;\n    normal.setXYZ(sx * tileSizeY, 2 * tileSizeX * tileSizeY, -sy * tileSizeX).inplaceNormalize();\n    return normal;\n  }\n  getRealNormal(x: number, y: number, normal?: Vector3): Vector3 {\n    normal = normal ?? new Vector3();\n    const tileSizeX = this._spacingX;\n    const tileSizeY = this._spacingZ;\n    const x_unscale = x / tileSizeX;\n    const y_unscale = y / tileSizeY;\n    let l = Math.floor(x_unscale);\n    let t = Math.floor(y_unscale);\n    let r = l + 1;\n    let b = t + 1;\n    if (l < 0) {\n      l = 0;\n    }\n    if (t < 0) {\n      t = 0;\n    }\n    if (r >= this._resX) {\n      r = this._resX - 1;\n    }\n    if (b >= this._resY) {\n      b = this._resY - 1;\n    }\n    const ltNormal = this.getNormal(l, t);\n    const lbNormal = this.getNormal(l, b);\n    const rtNormal = this.getNormal(r, t);\n    const rbNormal = this.getNormal(r, b);\n    ltNormal.addBy(lbNormal).addBy(rtNormal).addBy(rbNormal).scaleBy(0.25).inplaceNormalize();\n    normal.set(ltNormal);\n    return normal;\n  }\n  getRealHeight(x: number, y: number): number {\n    const tileSizeX = this._spacingX;\n    const tileSizeY = this._spacingZ;\n    const x_unscale = x / tileSizeX;\n    const y_unscale = y / tileSizeY;\n    const l = Math.floor(x_unscale);\n    const t = Math.floor(y_unscale);\n    const r = l + 1;\n    const b = t + 1;\n    if (l < 0 || t < 0 || r >= this._resX || b >= this._resY) {\n      return 0;\n    }\n    if (l === r) {\n      if (t === b) {\n        return this.getHeight(l, t);\n      } else {\n        const ht = this.getHeight(l, t);\n        const hb = this.getHeight(l, b);\n        return ht + (hb - ht) * (y_unscale - t);\n      }\n    } else {\n      const hlt = this.getHeight(l, t);\n      const hrt = this.getHeight(r, t);\n      const ht = hlt + (hrt - hlt) * (x_unscale - l);\n      if (t === b) {\n        return ht;\n      } else {\n        const hlb = this.getHeight(l, b);\n        const hrb = this.getHeight(r, b);\n        const hb = hlb + (hrb - hlb) * (x_unscale - l);\n        return ht + (hb - ht) * (y_unscale - t);\n      }\n    }\n  }\n  getHeights(): Float32Array {\n    return this._heights;\n  }\n  allocNode(): HeightfieldBBoxTreeNode {\n    return {\n      bbox: new BoundingBox(),\n      rc: { x: 0, y: 0, w: 0, h: 0 },\n      left: null,\n      right: null\n    };\n  }\n  computeNodeBoundingBox(node: HeightfieldBBoxTreeNode, bbox: BoundingBox, vertices: Vector4[]) {\n    bbox.beginExtend();\n    for (let i = 0; i < node.rc.w; i++) {\n      for (let j = 0; j < node.rc.h; j++) {\n        const index = node.rc.x + i + (node.rc.y + j) * this._resX;\n        const vert = vertices[index];\n        bbox.extend3(vert.x, vert.y, vert.z);\n      }\n    }\n  }\n  createChildNode(node: HeightfieldBBoxTreeNode, x: number, y: number, w: number, h: number): boolean {\n    node.rc.x = x;\n    node.rc.y = y;\n    node.rc.w = w;\n    node.rc.h = h;\n    if (w <= this._leafSize && h <= this._leafSize) {\n      node.left = null;\n      node.right = null;\n      let hMin = Infinity;\n      let hMax = -Infinity;\n      for (let i = x; i <= x + w; i++) {\n        for (let j = y; j <= y + h; j++) {\n          const h = this.getHeight(i, j);\n          if (h > hMax) {\n            hMax = h;\n          }\n          if (h < hMin) {\n            hMin = h;\n          }\n        }\n      }\n      node.bbox = new BoundingBox(\n        new Vector3(x * this._spacingX, hMin, y * this._spacingZ),\n        new Vector3((x + w) * this._spacingX, hMax, (y + h) * this._spacingZ)\n      );\n    } else {\n      if (w >= h) {\n        const w1 = w >> 1;\n        const w2 = w - w1;\n        node.left = this.allocNode();\n        this.createChildNode(node.left, x, y, w1, h);\n        node.right = this.allocNode();\n        this.createChildNode(node.right, x + w1, y, w2, h);\n      } else {\n        const h1 = h >> 1;\n        const h2 = h - h1;\n        node.left = this.allocNode();\n        this.createChildNode(node.left, x, y, w, h1);\n        node.right = this.allocNode();\n        this.createChildNode(node.right, x, y + h1, w, h2);\n      }\n      node.bbox.beginExtend();\n      node.bbox.extend(node.left.bbox.minPoint);\n      node.bbox.extend(node.left.bbox.maxPoint);\n      node.bbox.extend(node.right.bbox.minPoint);\n      node.bbox.extend(node.right.bbox.maxPoint);\n    }\n    return true;\n  }\n  rayIntersect(ray: Ray): number | null {\n    return this.rayIntersectRecursive(ray);\n  }\n  rayIntersectDDA(ray: Ray, x: number, y: number, w: number, h: number): number | null {\n    let x0 = ray.origin.x;\n    let y0 = ray.origin.z;\n    let dx = ray.direction.x;\n    let dy = ray.direction.z;\n    const gridSizeX = this._spacingX;\n    const gridSizeY = this._spacingZ;\n    const epsl = 0.001;\n    let tx = 0;\n    let ty = 0;\n    const xmin = x * gridSizeX;\n    const xmax = xmin + w * gridSizeX;\n    const ymin = y * gridSizeY;\n    const ymax = ymin + h * gridSizeY;\n    const xcenter = (xmin + xmax) / 2;\n    const ycenter = (ymin + ymax) / 2;\n    let mirrorx = false;\n    let mirrory = false;\n    if (dx < 0) {\n      dx = -dx;\n      x0 += 2 * (xcenter - x0);\n      mirrorx = true;\n    }\n    if (dy < 0) {\n      dy = -dy;\n      y0 += 2 * (ycenter - y0);\n      mirrory = true;\n    }\n    if (x0 < xmin) {\n      tx = (xmin - x0) / dx;\n    } else if (x0 > xmax) {\n      return;\n    }\n    if (y0 < ymin) {\n      ty = (ymin - y0) / dy;\n    } else if (y0 > ymax) {\n      return;\n    }\n    const t = tx > ty ? tx : ty;\n    x0 += t * dx;\n    y0 += t * dy;\n    let u = Math.floor((x0 - xmin + epsl) / gridSizeX);\n    let v = Math.floor((y0 - ymin + epsl) / gridSizeY);\n    while (u >= 0 && u <= w && v >= 0 && v <= h) {\n      if (u < w && v < h) {\n        const m = x + (mirrorx ? w - u - 1 : u);\n        const n = y + (mirrory ? h - v - 1 : v);\n        const v00 = new Vector3(m * this._spacingX, this.getHeight(m, n), n * this._spacingZ);\n        const v01 = new Vector3((m + 1) * this._spacingX, this.getHeight(m + 1, n), n * this._spacingZ);\n        const v11 = new Vector3(\n          (m + 1) * this._spacingX,\n          this.getHeight(m + 1, n + 1),\n          (n + 1) * this._spacingZ\n        );\n        const v10 = new Vector3(m * this._spacingX, this.getHeight(m, n + 1), (n + 1) * this._spacingZ);\n        let intersected = false;\n        let dist1 = ray.intersectionTestTriangle(v00, v01, v10, false);\n        if (dist1 !== null && dist1 > 0) {\n          intersected = true;\n        } else {\n          dist1 = Number.MAX_VALUE;\n        }\n        let dist2 = ray.intersectionTestTriangle(v10, v01, v11, false);\n        if (dist2 !== null && dist2 > 0) {\n          intersected = true;\n        } else {\n          dist2 = Number.MAX_VALUE;\n        }\n        if (intersected) {\n          return dist1 < dist2 ? dist1 : dist2;\n        }\n      }\n      let d = Infinity;\n      if (dx > 0) {\n        const x1 = (u + x + 1) * gridSizeX;\n        d = Math.min(d, (x1 - x0) / dx);\n      }\n      if (dy !== 0) {\n        const y1 = (v + y + 1) * gridSizeY;\n        d = Math.min(d, (y1 - y0) / dy);\n      }\n      x0 += d * dx;\n      y0 += d * dy;\n      u = Math.floor((x0 - xmin + epsl) / gridSizeX);\n      v = Math.floor((y0 - ymin + epsl) / gridSizeY);\n    }\n    return null;\n  }\n  rayIntersectLeaf(ray: Ray, node: HeightfieldBBoxTreeNode): number | null {\n    return this.rayIntersectDDA(ray, node.rc.x, node.rc.y, node.rc.w, node.rc.h);\n  }\n  rayIntersectRecursive(ray: Ray): number | null {\n    if (!this._rootNode) {\n      return this.rayIntersectDDA(ray, 0, 0, this._resX - 1, this._resY - 1);\n    }\n    const q: HeightfieldBBoxTreeNode[] = [this._rootNode];\n    while (q.length > 0) {\n      const node = q.shift();\n      if (!node.left) {\n        const d = this.rayIntersectLeaf(ray, node);\n        if (d !== null) {\n          return d;\n        }\n      } else {\n        const dl = ray.bboxIntersectionTestEx(node.left.bbox);\n        const dr = ray.bboxIntersectionTestEx(node.right.bbox);\n        if (dl !== null && dr !== null) {\n          if (dl < dr) {\n            q.unshift(node.right);\n            q.unshift(node.left);\n          } else {\n            q.unshift(node.left);\n            q.unshift(node.right);\n          }\n        } else if (dl !== null) {\n          q.unshift(node.left);\n        } else if (dr !== null) {\n          q.unshift(node.right);\n        }\n      }\n    }\n    return null;\n  }\n}\n\n/** @internal */\nexport class HeightField {\n  private readonly m_v4Range: Vector4;\n  private readonly m_scale: Vector3;\n  private m_sizeX: number;\n  private m_sizeZ: number;\n  private m_bboxTree: HeightfieldBBoxTree;\n  private m_normals: Vector3[];\n  private m_boundingBox: BoundingBox;\n  constructor() {\n    this.m_v4Range = Vector4.zero();\n    this.m_bboxTree = null;\n    this.m_scale = Vector3.one();\n    this.m_sizeX = 0;\n    this.m_sizeZ = 0;\n    this.m_normals = null;\n    this.m_boundingBox = null;\n  }\n  init(sizeX: number, sizeZ: number, scale: Vector3, heights: Float32Array): boolean {\n    const v: number[] = [];\n    let minY = Infinity;\n    let maxY = -Infinity;\n    for (let i = 0; i < sizeZ; ++i) {\n      const srcOffset = i * sizeX;\n      const dstOffset = (sizeZ - i - 1) * sizeX;\n      for (let j = 0; j < sizeX; ++j) {\n        const y = heights[srcOffset + j] * scale.y;\n        v[dstOffset + j] = y;\n        if (y > maxY) {\n          maxY = y;\n        }\n        if (y < minY) {\n          minY = y;\n        }\n      }\n    }\n    this.m_bboxTree = new HeightfieldBBoxTree(sizeX, sizeZ, scale.x, scale.z, v);\n    this.m_boundingBox = new BoundingBox(\n      new Vector3(0, minY, 0),\n      new Vector3((sizeX - 1) * scale.x, maxY, (sizeZ - 1) * scale.z)\n    );\n    this.m_v4Range.setXYZW(0, 0, (sizeX - 1) * scale.x, (sizeZ - 1) * scale.z);\n    this.m_scale.set(scale);\n    this.m_sizeX = sizeX;\n    this.m_sizeZ = sizeZ;\n    this.m_normals = this.computeNormalVectors();\n    return true;\n  }\n  get normals(): Vector3[] {\n    return this.m_normals;\n  }\n  clear(): void {\n    this.m_bboxTree = null;\n    this.m_v4Range.setXYZW(0, 0, 0, 0);\n    this.m_scale.setXYZ(1, 1, 1);\n    this.m_sizeX = 0;\n    this.m_sizeZ = 0;\n  }\n  rayIntersect(ray: Ray): number | null {\n    return this.m_bboxTree.rayIntersect(ray);\n  }\n  computeNormals(): Uint8Array<ArrayBuffer> {\n    const scaleX = this.m_scale.x;\n    const scaleZ = this.m_scale.z;\n    const heights = this.getHeights();\n    const v = new Vector3();\n    const normals = new Uint8Array((this.m_sizeZ - 1) * (this.m_sizeX - 1) * 4);\n    for (let y = 0; y < this.m_sizeZ - 1; ++y) {\n      for (let x = 0; x < this.m_sizeX - 1; ++x) {\n        const h00 = heights[x + y * this.m_sizeX];\n        const h01 = heights[x + (y + 1) * this.m_sizeX];\n        const h11 = heights[x + 1 + (y + 1) * this.m_sizeX];\n        const h10 = heights[x + 1 + y * this.m_sizeX];\n        const sx = (h00 + h01 - h11 - h10) * 0.5;\n        const sy = (h00 + h10 - h01 - h11) * 0.5;\n        const index = x + (this.m_sizeZ - 2 - y) * (this.m_sizeX - 1);\n        v.setXYZ(sx * scaleZ, 2 * scaleX * scaleZ, -sy * scaleX).inplaceNormalize();\n        normals[index * 4 + 0] = Math.floor((v.x * 0.5 + 0.5) * 255);\n        normals[index * 4 + 1] = Math.floor((v.y * 0.5 + 0.5) * 255);\n        normals[index * 4 + 2] = Math.floor((v.z * 0.5 + 0.5) * 255);\n        normals[index * 4 + 3] = 255;\n      }\n    }\n    return normals;\n  }\n  computeNormalVectors(): Vector3[] {\n    const scaleX = this.m_scale.x;\n    const scaleZ = this.m_scale.z;\n    const heights = this.getHeights();\n    const normals = [] as Vector3[];\n    for (let y = 0; y < this.m_sizeZ; ++y) {\n      for (let x = 0; x < this.m_sizeX; ++x) {\n        const h = heights[x + y * this.m_sizeX];\n        const h00 = x > 0 && y > 0 ? heights[x - 1 + (y - 1) * this.m_sizeX] : h;\n        const h01 = y > 0 && y < this.m_sizeZ - 1 ? heights[x - 1 + (y + 1) * this.m_sizeX] : h;\n        const h11 =\n          x < this.m_sizeX - 1 && y < this.m_sizeZ - 1 ? heights[x + 1 + (y + 1) * this.m_sizeX] : h;\n        const h10 = x < this.m_sizeX - 1 && y > 0 ? heights[x + 1 + (y - 1) * this.m_sizeX] : h;\n        const sx = (h00 + h01 - h11 - h10) * 0.5;\n        const sy = (h00 + h10 - h01 - h11) * 0.5;\n        const index = x + (this.m_sizeZ - 1 - y) * this.m_sizeX;\n        normals[index] = new Vector3(sx * scaleZ, 2 * scaleX * scaleZ, -sy * scaleX).inplaceNormalize();\n      }\n    }\n    return normals;\n  }\n  getBBoxTree(): HeightfieldBBoxTree {\n    return this.m_bboxTree;\n  }\n  getSpacingX(): number {\n    return this.m_scale.x;\n  }\n  getSpacingZ(): number {\n    return this.m_scale.z;\n  }\n  getVerticalScale(): number {\n    return this.m_scale.y;\n  }\n  getSizeX(): number {\n    return this.m_sizeX;\n  }\n  getSizeZ(): number {\n    return this.m_sizeZ;\n  }\n  getOffsetX(): number {\n    return this.m_v4Range.x;\n  }\n  getOffsetZ(): number {\n    return this.m_v4Range.y;\n  }\n  getBoundingbox(): BoundingBox {\n    return this.m_boundingBox;\n  }\n  getHeights(): Float32Array {\n    return this.m_bboxTree?.getHeights() || null;\n  }\n  getHeight(x: number, z: number): number {\n    return this.m_bboxTree ? this.m_bboxTree.getHeight(x, z) : 0;\n  }\n  getRealHeight(x: number, z: number): number {\n    return this.m_bboxTree ? this.m_bboxTree.getRealHeight(x, z) : 0;\n  }\n  getRealNormal(x: number, z: number, normal?: Vector3): Vector3 {\n    normal = normal ?? new Vector3();\n    const tileSizeX = this.m_scale.x;\n    const tileSizeY = this.m_scale.z;\n    const x_unscale = x / tileSizeX;\n    const y_unscale = z / tileSizeY;\n    let l = Math.floor(x_unscale);\n    let t = Math.floor(y_unscale);\n    let r = l + 1;\n    let b = t + 1;\n    if (l < 0) {\n      l = 0;\n    }\n    if (t < 0) {\n      t = 0;\n    }\n    if (r >= this.m_sizeX) {\n      r = this.m_sizeX - 1;\n    }\n    if (b >= this.m_sizeZ) {\n      b = this.m_sizeZ - 1;\n    }\n    normal.set(this.m_normals[l + t * this.m_sizeX]);\n    normal.addBy(this.m_normals[r + t * this.m_sizeX]);\n    normal.addBy(this.m_normals[r + b * this.m_sizeX]);\n    normal.addBy(this.m_normals[l + b * this.m_sizeX]);\n    normal.scaleBy(0.4).inplaceNormalize();\n    return normal;\n  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