@zephyr3d/scene 0.8.1 → 0.9.0

package/dist/animation/joint_dynamics/collision.js

@@ -0,0 +1,469 @@
+import { Vector3 } from '@zephyr3d/base';
+import { EPSILON, ColliderForce } from './types.js';
+
+// Collision detection & response - direct port of SPCRJointDynamicsJob.cs Collision class
+const _pushoutSphereDirection = new Vector3();
+const _pushoutSphereScaled = new Vector3();
+const _pushoutCapsuleVecN = new Vector3();
+const _pushoutCapsuleTargetVec = new Vector3();
+const _pushoutCapsuleTail = new Vector3();
+const _pushoutCapsulePosOnVec = new Vector3();
+const _pushoutCapsulePushVec = new Vector3();
+const _pushoutCapsuleScaled = new Vector3();
+const _pushInSphereDirection = new Vector3();
+const _pushInSphereDirectionN = new Vector3();
+const _pushInSphereScaled = new Vector3();
+const _pushInCapsuleVecN = new Vector3();
+const _pushInCapsuleTargetVec = new Vector3();
+const _pushInCapsuleTail = new Vector3();
+const _pushInCapsulePosOnVec = new Vector3();
+const _pushInCapsulePullVec = new Vector3();
+const _pushInCapsulePullVecN = new Vector3();
+const _pushInCapsuleScaled = new Vector3();
+const _collisionSphereDir = new Vector3();
+const _collisionSphereDirN = new Vector3();
+const _collisionSphereToCenter = new Vector3();
+const _collisionSphereScaled = new Vector3();
+const _collisionSphereDiff = new Vector3();
+const _collisionCapsuleTail = new Vector3();
+const _collisionCapsulePointDir = new Vector3();
+const _collisionCapsulePtOnCol = new Vector3();
+const _collisionCapsulePtOnLine = new Vector3();
+const _collisionCapsuleDiff = new Vector3();
+const _collisionCapsuleTempLineResult = {
+    hit: false,
+    pointOnLine: new Vector3(),
+    pointOnCollider: new Vector3(),
+    radius: 0
+};
+const _nearestCross0 = new Vector3();
+const _nearestCross1 = new Vector3();
+const _nearestN1 = new Vector3();
+const _nearestN2 = new Vector3();
+const _nearestPosDiff = new Vector3();
+const _nearestPointOnP = new Vector3();
+const _nearestPointOnQ = new Vector3();
+const _nearestPointDiff = new Vector3();
+const _nearestResult = {
+    tP: 0,
+    tQ: 0,
+    pointOnP: new Vector3(),
+    pointOnQ: new Vector3(),
+    sqrDistance: 0
+};
+const _surfaceNoHit = {
+    hit: false,
+    intersectionPoint: new Vector3(),
+    pushOut: new Vector3(),
+    pointOnCollider: new Vector3(),
+    radius: 0
+};
+const _surfaceTriCenter = new Vector3();
+const _surfaceEdgeAB = new Vector3();
+const _surfaceEdgeAC = new Vector3();
+const _surfacePlaneNormal = new Vector3();
+const _surfacePlaneNormalNeg = new Vector3();
+const _surfaceColliderDir = new Vector3();
+const _surfaceRayDir = new Vector3();
+const _surfaceRayDirN = new Vector3();
+const _surfaceTail = new Vector3();
+const _surfaceIntersection = new Vector3();
+const _surfacePushOut = new Vector3();
+const _surfaceToCol = new Vector3();
+const _surfaceEndVec = new Vector3();
+const _surfaceColDirVec = new Vector3();
+const _surfaceIntersecToEnd = new Vector3();
+const _surfaceColToEnd = new Vector3();
+const _surfaceColToIntersect = new Vector3();
+const _surfaceEVec = new Vector3();
+const _surfacePoc2 = new Vector3();
+const _triangleAp = new Vector3();
+const _triangleBp = new Vector3();
+const _triangleCp = new Vector3();
+const _triangleU = new Vector3();
+const _triangleV = new Vector3();
+const _triangleW = new Vector3();
+function writeCollisionResult(out, hit, point, copyPoint) {
+    if (!out) {
+        return {
+            hit,
+            point: copyPoint ? point.clone() : point
+        };
+    }
+    if (!out.point) {
+        out.point = new Vector3();
+    }
+    out.hit = hit;
+    out.point.set(point);
+    return out;
+}
+function writeLineCollisionResult(out, hit, pointOnLine, pointOnCollider, radius, copyVectors) {
+    if (!out) {
+        return {
+            hit,
+            pointOnLine: copyVectors ? pointOnLine.clone() : pointOnLine,
+            pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,
+            radius
+        };
+    }
+    if (!out.pointOnLine) {
+        out.pointOnLine = new Vector3();
+    }
+    if (!out.pointOnCollider) {
+        out.pointOnCollider = new Vector3();
+    }
+    out.hit = hit;
+    out.pointOnLine.set(pointOnLine);
+    out.pointOnCollider.set(pointOnCollider);
+    out.radius = radius;
+    return out;
+}
+function writeSurfaceCheckResult(out, hit, intersectionPoint, pushOut, pointOnCollider, radius, copyVectors) {
+    if (!out) {
+        return {
+            hit,
+            intersectionPoint: copyVectors ? intersectionPoint.clone() : intersectionPoint,
+            pushOut: copyVectors ? pushOut.clone() : pushOut,
+            pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,
+            radius
+        };
+    }
+    if (!out.intersectionPoint) {
+        out.intersectionPoint = new Vector3();
+    }
+    if (!out.pushOut) {
+        out.pushOut = new Vector3();
+    }
+    if (!out.pointOnCollider) {
+        out.pointOnCollider = new Vector3();
+    }
+    out.hit = hit;
+    out.intersectionPoint.set(intersectionPoint);
+    out.pushOut.set(pushOut);
+    out.pointOnCollider.set(pointOnCollider);
+    out.radius = radius;
+    return out;
+}
+function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance, copyVectors) {
+    if (!out) {
+        return {
+            tP,
+            tQ,
+            pointOnP: copyVectors ? pointOnP.clone() : pointOnP,
+            pointOnQ: copyVectors ? pointOnQ.clone() : pointOnQ,
+            sqrDistance
+        };
+    }
+    out.tP = tP;
+    out.tQ = tQ;
+    out.pointOnP.set(pointOnP);
+    out.pointOnQ.set(pointOnQ);
+    out.sqrDistance = sqrDistance;
+    return out;
+}
+// Pushout (keep point outside collider)
+function pushoutFromSphere(center, radius, pointRadius, point, out) {
+    const direction = Vector3.sub(point, center, _pushoutSphereDirection);
+    const sqrLen = direction.magnitudeSq;
+    if (sqrLen > EPSILON) {
+        const dirLen = Math.sqrt(sqrLen) - pointRadius;
+        if (dirLen < radius) {
+            const scaled = Vector3.scale(direction, radius / dirLen, _pushoutSphereScaled);
+            Vector3.add(center, scaled, scaled);
+            return writeCollisionResult(out, true, scaled, !out);
+        }
+    }
+    return writeCollisionResult(out, false, point, !out);
+}
+function pushoutFromCollider(colR, colRW, point, ptR, out) {
+    if (colR.height <= EPSILON) {
+        return pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptR.pointRadius, point, out);
+    }
+    return pushoutFromCapsule(colR, colRW, point, ptR, out);
+}
+function pushoutFromCapsule(colR, colRW, point, ptR, out) {
+    const capsuleVec = colRW.directionCurrent;
+    const capsuleVecN = Vector3.normalize(capsuleVec, _pushoutCapsuleVecN);
+    const capsulePos = colRW.positionCurrent;
+    const targetVec = Vector3.sub(point, capsulePos, _pushoutCapsuleTargetVec);
+    const distOnVec = Vector3.dot(capsuleVecN, targetVec);
+    if (distOnVec <= EPSILON) {
+        return pushoutFromSphere(capsulePos, colRW.radius, ptR.pointRadius, point, out);
+    }
+    if (distOnVec >= colR.height) {
+        const tail = Vector3.add(capsulePos, capsuleVec, _pushoutCapsuleTail);
+        return pushoutFromSphere(tail, colRW.radius * colR.radiusTailScale, ptR.pointRadius, point, out);
+    }
+    const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushoutCapsulePosOnVec);
+    Vector3.add(capsulePos, posOnVec, posOnVec);
+    const pushVec = Vector3.sub(point, posOnVec, _pushoutCapsulePushVec);
+    const sqrPushDist = pushVec.magnitudeSq;
+    if (sqrPushDist > EPSILON) {
+        const pushDist = Math.sqrt(sqrPushDist) - ptR.pointRadius;
+        const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / colR.height);
+        if (pushDist < r) {
+            const scaled = Vector3.scale(pushVec, r / pushDist, _pushoutCapsuleScaled);
+            Vector3.add(posOnVec, scaled, scaled);
+            return writeCollisionResult(out, true, scaled, !out);
+        }
+    }
+    return writeCollisionResult(out, false, point, !out);
+}
+// PushIn (keep point inside collider - inverse mode)
+function pushInFromSphere(center, radius, point, out) {
+    const direction = Vector3.sub(center, point, _pushInSphereDirection);
+    const sqrLen = direction.magnitudeSq;
+    if (sqrLen > EPSILON && sqrLen > radius * radius) {
+        const dirLen = Math.sqrt(sqrLen);
+        const directionN = Vector3.normalize(direction, _pushInSphereDirectionN);
+        const scaled = Vector3.scale(directionN, dirLen - radius, _pushInSphereScaled);
+        Vector3.add(point, scaled, scaled);
+        return writeCollisionResult(out, true, scaled, !out);
+    }
+    return writeCollisionResult(out, false, point, !out);
+}
+function pushInFromCollider(colR, colRW, point, out) {
+    if (colR.height <= EPSILON) {
+        return pushInFromSphere(colRW.positionCurrent, colRW.radius, point, out);
+    }
+    return pushInFromCapsule(colR, colRW, point, out);
+}
+function pushInFromCapsule(colR, colRW, point, out) {
+    const capsuleVec = colRW.directionCurrent;
+    const capsuleVecN = Vector3.normalize(capsuleVec, _pushInCapsuleVecN);
+    const capsulePos = colRW.positionCurrent;
+    const targetVec = Vector3.sub(point, capsulePos, _pushInCapsuleTargetVec);
+    const distOnVec = Vector3.dot(capsuleVecN, targetVec);
+    if (distOnVec <= EPSILON) {
+        return pushInFromSphere(capsulePos, colRW.radius, point, out);
+    }
+    if (distOnVec >= colR.height) {
+        const tail = Vector3.add(capsulePos, capsuleVec, _pushInCapsuleTail);
+        return pushInFromSphere(tail, colRW.radius * colR.radiusTailScale, point, out);
+    }
+    const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushInCapsulePosOnVec);
+    Vector3.add(capsulePos, posOnVec, posOnVec);
+    const pullVec = Vector3.sub(posOnVec, point, _pushInCapsulePullVec);
+    const sqrPullDist = pullVec.magnitudeSq;
+    if (sqrPullDist > EPSILON) {
+        const r = colRW.radius * lerp(1.0, colR.radiusTailScale, colR.height / distOnVec);
+        if (sqrPullDist > r * r) {
+            const pullDist = Math.sqrt(sqrPullDist);
+            const pullVecN = Vector3.normalize(pullVec, _pushInCapsulePullVecN);
+            const scaled = Vector3.scale(pullVecN, pullDist - r, _pushInCapsuleScaled);
+            Vector3.add(point, scaled, scaled);
+            return writeCollisionResult(out, true, scaled, !out);
+        }
+    }
+    return writeCollisionResult(out, false, point, !out);
+}
+// Line segment vs collider detection
+function collisionDetectionSphere(center, radius, point1, point2, out) {
+    const dir = Vector3.sub(point2, point1, _collisionSphereDir);
+    const dirLen = dir.magnitude;
+    if (dirLen < EPSILON) {
+        return writeLineCollisionResult(out, false, point1, center, radius, !out);
+    }
+    const dirN = Vector3.scale(dir, 1 / dirLen, _collisionSphereDirN);
+    const toCenter = Vector3.sub(center, point1, _collisionSphereToCenter);
+    const dot = Vector3.dot(dirN, toCenter);
+    const clamped = Math.max(0, Math.min(dot, dirLen));
+    const ptOnLine = Vector3.scale(dirN, clamped, _collisionSphereScaled);
+    Vector3.add(point1, ptOnLine, ptOnLine);
+    const diff = Vector3.sub(center, ptOnLine, _collisionSphereDiff);
+    const hit = diff.magnitudeSq <= radius * radius;
+    return writeLineCollisionResult(out, hit, ptOnLine, center, radius, !out);
+}
+function collisionDetectionCapsule(colR, colRW, point1, point2, out) {
+    const capsuleDir = colRW.directionCurrent;
+    const capsulePos = colRW.positionCurrent;
+    let res = collisionDetectionSphere(capsulePos, colRW.radius, point1, point2, out);
+    if (res.hit) {
+        return res;
+    }
+    const tail = Vector3.add(capsulePos, capsuleDir, _collisionCapsuleTail);
+    res = collisionDetectionSphere(tail, colRW.radius * colR.radiusTailScale, point1, point2, _collisionCapsuleTempLineResult);
+    if (res.hit) {
+        return writeLineCollisionResult(out, true, res.pointOnLine, res.pointOnCollider, res.radius, !out);
+    }
+    const pointDir = Vector3.sub(point2, point1, _collisionCapsulePointDir);
+    const nearest = computeNearestPoints(capsulePos, capsuleDir, point1, pointDir, _nearestResult);
+    const t1 = Math.max(0, Math.min(1, nearest.tP));
+    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, t1);
+    if (nearest.sqrDistance > r * r) {
+        return writeLineCollisionResult(out, false, point1, capsulePos, r, !out);
+    }
+    const t2 = Math.max(0, Math.min(1, nearest.tQ));
+    const ptOnCol = Vector3.scale(capsuleDir, t1, _collisionCapsulePtOnCol);
+    Vector3.add(capsulePos, ptOnCol, ptOnCol);
+    const ptOnLine = Vector3.scale(pointDir, t2, _collisionCapsulePtOnLine);
+    Vector3.add(point1, ptOnLine, ptOnLine);
+    const diff = Vector3.sub(ptOnCol, ptOnLine, _collisionCapsuleDiff);
+    const hit = diff.magnitudeSq <= r * r;
+    return writeLineCollisionResult(out, hit, ptOnLine, ptOnCol, r, !out);
+}
+function collisionDetection(colR, colRW, point1, point2, out) {
+    if (colR.height <= EPSILON) {
+        return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);
+    }
+    return collisionDetectionCapsule(colR, colRW, point1, point2, out);
+}
+function pushInCollisionDetection(colR, colRW, point1, point2, out) {
+    if (colR.height <= EPSILON) {
+        return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);
+    }
+    const res = collisionDetectionCapsule(colR, colRW, point1, point2, out);
+    res.hit = false;
+    return res;
+}
+// Nearest points between two line segments
+function computeNearestPoints(posP, dirP, posQ, dirQ, out) {
+    const cross0 = Vector3.cross(dirQ, dirP, _nearestCross0);
+    const n1 = Vector3.cross(dirP, cross0, _nearestN1);
+    const cross1 = Vector3.cross(dirP, dirQ, _nearestCross1);
+    const n2 = Vector3.cross(dirQ, cross1, _nearestN2);
+    const dP_n2 = Vector3.dot(dirP, n2);
+    const dQ_n1 = Vector3.dot(dirQ, n1);
+    const posDiff = Vector3.sub(posQ, posP, _nearestPosDiff);
+    const tP = dP_n2 !== 0 ? Vector3.dot(posDiff, n2) / dP_n2 : 0;
+    const tQ = dQ_n1 !== 0 ? Vector3.dot(Vector3.scale(posDiff, -1, posDiff), n1) / dQ_n1 : 0;
+    const pointOnP = Vector3.scale(dirP, tP, _nearestPointOnP);
+    Vector3.add(posP, pointOnP, pointOnP);
+    const pointOnQ = Vector3.scale(dirQ, tQ, _nearestPointOnQ);
+    Vector3.add(posQ, pointOnQ, pointOnQ);
+    const diff = Vector3.sub(pointOnQ, pointOnP, _nearestPointDiff);
+    return writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, diff.magnitudeSq, !out);
+}
+// Surface collision (triangle-based)
+function checkSurfaceCollision(ptA, ptB, ptC, colliderPos, colR, colRW, out) {
+    _surfaceNoHit.hit = false;
+    _surfaceNoHit.intersectionPoint.setXYZ(0, 0, 0);
+    _surfaceNoHit.pushOut.setXYZ(0, 0, 0);
+    _surfaceNoHit.pointOnCollider.set(colliderPos);
+    _surfaceNoHit.radius = colRW.radius;
+    let pointOnCollider = colliderPos;
+    let radius = colRW.radius;
+    const isCapsule = colR.height > EPSILON;
+    const triCenter = centerOfTriangle(ptA, ptB, ptC, _surfaceTriCenter);
+    const edgeAB = Vector3.sub(ptB, ptA, _surfaceEdgeAB);
+    const edgeAC = Vector3.sub(ptC, ptA, _surfaceEdgeAC);
+    const planeNormal = Vector3.cross(edgeAB, edgeAC, _surfacePlaneNormal);
+    Vector3.normalize(planeNormal, planeNormal);
+    Vector3.scale(planeNormal, -1, planeNormal);
+    const planeNormalNeg = Vector3.scale(planeNormal, -1, _surfacePlaneNormalNeg);
+    const planeDist = -Vector3.dot(planeNormalNeg, ptA);
+    const colliderDir = Vector3.sub(colliderPos, triCenter, _surfaceColliderDir);
+    Vector3.normalize(colliderDir, colliderDir);
+    const dot = Vector3.dot(colliderDir, planeNormal);
+    if (isCapsule) {
+        const side = Vector3.dot(colRW.directionCurrent, planeNormal) * dot;
+        const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);
+        const tempPOC = pointOnCollider;
+        if (side < 0) {
+            radius = colRW.radius * colR.radiusTailScale;
+            pointOnCollider = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceTail);
+        }
+        const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);
+        const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);
+        if (enter !== null) {
+            const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);
+            Vector3.add(pointOnCollider, ip, ip);
+            if (triangleContainsPoint(ptA, ptB, ptC, ip)) {
+                const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);
+                const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);
+                if (toCol.magnitudeSq <= radius * radius) {
+                    return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);
+                }
+            }
+        } else if (colR.forceType !== ColliderForce.Off) {
+            pointOnCollider = tempPOC;
+            let endVec = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceEndVec);
+            _surfaceColDirVec.set(colRW.directionCurrent);
+            let colDirVec = _surfaceColDirVec;
+            if (colR.forceType === ColliderForce.Pull) {
+                const tmp = pointOnCollider;
+                pointOnCollider = endVec;
+                endVec = tmp;
+                colDirVec = Vector3.scale(colDirVec, -1, colDirVec);
+            }
+            const enter2 = raycast(planeNormalNeg, planeDist, pointOnCollider, colDirVec);
+            if (enter2 !== null) {
+                const ip = Vector3.scale(colDirVec, enter2, _surfaceIntersection);
+                Vector3.add(pointOnCollider, ip, ip);
+                if (triangleContainsPoint(ptA, ptB, ptC, ip)) {
+                    const intersecToEnd = Vector3.sub(endVec, ip, _surfaceIntersecToEnd);
+                    const colToEnd = Vector3.sub(endVec, pointOnCollider, _surfaceColToEnd);
+                    const colToIntersect = Vector3.sub(ip, pointOnCollider, _surfaceColToIntersect);
+                    const pDot = Vector3.dot(intersecToEnd, colToIntersect);
+                    const lDot = Vector3.dot(colToEnd, colToEnd);
+                    if (!(pDot >= 0 && pDot <= lDot)) {
+                        return writeSurfaceCheckResult(out, _surfaceNoHit.hit, _surfaceNoHit.intersectionPoint, _surfaceNoHit.pushOut, _surfaceNoHit.pointOnCollider, _surfaceNoHit.radius, !out);
+                    }
+                    const dotVal = Vector3.dot(colToEnd, colToIntersect);
+                    const s2eMag = Vector3.dot(colToEnd, colToEnd);
+                    const colToEndN = Vector3.normalize(colToEnd, colToEnd);
+                    const eVec = Vector3.scale(colToEndN, -radius, _surfaceEVec);
+                    Vector3.add(pointOnCollider, eVec, eVec);
+                    const pushOut = Vector3.sub(ip, eVec, _surfacePushOut);
+                    const poc2 = Vector3.scale(colToEnd, dotVal / s2eMag, _surfacePoc2);
+                    Vector3.add(pointOnCollider, poc2, poc2);
+                    const toCol = Vector3.sub(poc2, ip, _surfaceToCol);
+                    if (toCol.magnitudeSq <= radius * radius) {
+                        return writeSurfaceCheckResult(out, true, ip, pushOut, poc2, radius, !out);
+                    }
+                }
+            }
+        }
+    } else {
+        const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);
+        const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);
+        const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);
+        if (enter !== null) {
+            const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);
+            Vector3.add(pointOnCollider, ip, ip);
+            if (triangleContainsPoint(ptA, ptB, ptC, ip)) {
+                const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);
+                const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);
+                if (toCol.magnitudeSq <= radius * radius) {
+                    return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);
+                }
+            }
+        }
+    }
+    return writeSurfaceCheckResult(out, _surfaceNoHit.hit, _surfaceNoHit.intersectionPoint, _surfaceNoHit.pushOut, _surfaceNoHit.pointOnCollider, _surfaceNoHit.radius, !out);
+}
+// Helpers
+function raycast(normal, planeDist, origin, direction) {
+    const vdot = Vector3.dot(direction, normal);
+    const ndot = -Vector3.dot(origin, normal) - planeDist;
+    if (Math.abs(vdot) <= EPSILON) {
+        return null;
+    }
+    const enter = ndot / vdot;
+    return enter > 0 ? enter : null;
+}
+function centerOfTriangle(a, b, c, result) {
+    result = result || new Vector3();
+    return result.setXYZ((a.x + b.x + c.x) / 3, (a.y + b.y + c.y) / 3, (a.z + b.z + c.z) / 3);
+}
+function triangleContainsPoint(a, b, c, p) {
+    const ap = Vector3.sub(a, p, _triangleAp);
+    const bp = Vector3.sub(b, p, _triangleBp);
+    const cp = Vector3.sub(c, p, _triangleCp);
+    const u = Vector3.cross(ap, bp, _triangleU);
+    const vv = Vector3.cross(bp, cp, _triangleV);
+    const w = Vector3.cross(cp, ap, _triangleW);
+    if (Vector3.dot(u, vv) < 0) {
+        return false;
+    }
+    if (Vector3.dot(vv, w) < 0) {
+        return false;
+    }
+    return true;
+}
+function lerp(a, b, t) {
+    return a + (b - a) * t;
+}
+
+export { checkSurfaceCollision, collisionDetection, collisionDetectionCapsule, collisionDetectionSphere, computeNearestPoints, pushInCollisionDetection, pushInFromCapsule, pushInFromCollider, pushInFromSphere, pushoutFromCapsule, pushoutFromCollider, pushoutFromSphere };
+//# sourceMappingURL=collision.js.map

package/dist/animation/joint_dynamics/collision.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"collision.js","sources":["../../../src/animation/joint_dynamics/collision.ts"],"sourcesContent":["// Collision detection & response - direct port of SPCRJointDynamicsJob.cs Collision class\r\n\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { ColliderR, ColliderRW, PointR } from './types';\r\nimport { EPSILON, ColliderForce } from './types';\r\n\r\nexport interface CollisionResult {\r\n  hit: boolean;\r\n  point: Vector3;\r\n}\r\n\r\nexport interface LineCollisionResult {\r\n  hit: boolean;\r\n  pointOnLine: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\nexport interface SurfaceCheckResult {\r\n  hit: boolean;\r\n  intersectionPoint: Vector3;\r\n  pushOut: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\nexport interface NearestPointsResult {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n}\r\n\r\nconst _pushoutSphereDirection = new Vector3();\r\nconst _pushoutSphereScaled = new Vector3();\r\nconst _pushoutCapsuleVecN = new Vector3();\r\nconst _pushoutCapsuleTargetVec = new Vector3();\r\nconst _pushoutCapsuleTail = new Vector3();\r\nconst _pushoutCapsulePosOnVec = new Vector3();\r\nconst _pushoutCapsulePushVec = new Vector3();\r\nconst _pushoutCapsuleScaled = new Vector3();\r\nconst _pushInSphereDirection = new Vector3();\r\nconst _pushInSphereDirectionN = new Vector3();\r\nconst _pushInSphereScaled = new Vector3();\r\nconst _pushInCapsuleVecN = new Vector3();\r\nconst _pushInCapsuleTargetVec = new Vector3();\r\nconst _pushInCapsuleTail = new Vector3();\r\nconst _pushInCapsulePosOnVec = new Vector3();\r\nconst _pushInCapsulePullVec = new Vector3();\r\nconst _pushInCapsulePullVecN = new Vector3();\r\nconst _pushInCapsuleScaled = new Vector3();\r\nconst _collisionSphereDir = new Vector3();\r\nconst _collisionSphereDirN = new Vector3();\r\nconst _collisionSphereToCenter = new Vector3();\r\nconst _collisionSphereScaled = new Vector3();\r\nconst _collisionSphereDiff = new Vector3();\r\nconst _collisionCapsuleTail = new Vector3();\r\nconst _collisionCapsulePointDir = new Vector3();\r\nconst _collisionCapsulePtOnCol = new Vector3();\r\nconst _collisionCapsulePtOnLine = new Vector3();\r\nconst _collisionCapsuleDiff = new Vector3();\r\nconst _collisionCapsuleTempLineResult: LineCollisionResult = {\r\n  hit: false,\r\n  pointOnLine: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _nearestCross0 = new Vector3();\r\nconst _nearestCross1 = new Vector3();\r\nconst _nearestN1 = new Vector3();\r\nconst _nearestN2 = new Vector3();\r\nconst _nearestPosDiff = new Vector3();\r\nconst _nearestPointOnP = new Vector3();\r\nconst _nearestPointOnQ = new Vector3();\r\nconst _nearestPointDiff = new Vector3();\r\nconst _nearestResult: NearestPointsResult = {\r\n  tP: 0,\r\n  tQ: 0,\r\n  pointOnP: new Vector3(),\r\n  pointOnQ: new Vector3(),\r\n  sqrDistance: 0\r\n};\r\nconst _surfaceNoHit: SurfaceCheckResult = {\r\n  hit: false,\r\n  intersectionPoint: new Vector3(),\r\n  pushOut: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _surfaceTriCenter = new Vector3();\r\nconst _surfaceEdgeAB = new Vector3();\r\nconst _surfaceEdgeAC = new Vector3();\r\nconst _surfacePlaneNormal = new Vector3();\r\nconst _surfacePlaneNormalNeg = new Vector3();\r\nconst _surfaceColliderDir = new Vector3();\r\nconst _surfaceRayDir = new Vector3();\r\nconst _surfaceRayDirN = new Vector3();\r\nconst _surfaceTail = new Vector3();\r\nconst _surfaceIntersection = new Vector3();\r\nconst _surfacePushOut = new Vector3();\r\nconst _surfaceToCol = new Vector3();\r\nconst _surfaceEndVec = new Vector3();\r\nconst _surfaceColDirVec = new Vector3();\r\nconst _surfaceIntersecToEnd = new Vector3();\r\nconst _surfaceColToEnd = new Vector3();\r\nconst _surfaceColToIntersect = new Vector3();\r\nconst _surfaceEVec = new Vector3();\r\nconst _surfacePoc2 = new Vector3();\r\nconst _triangleAp = new Vector3();\r\nconst _triangleBp = new Vector3();\r\nconst _triangleCp = new Vector3();\r\nconst _triangleU = new Vector3();\r\nconst _triangleV = new Vector3();\r\nconst _triangleW = new Vector3();\r\n\r\nfunction writeCollisionResult(\r\n  out: CollisionResult | undefined,\r\n  hit: boolean,\r\n  point: Vector3,\r\n  copyPoint: boolean\r\n) {\r\n  if (!out) {\r\n    return { hit, point: copyPoint ? point.clone() : point };\r\n  }\r\n  if (!out.point) {\r\n    out.point = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.point.set(point);\r\n  return out;\r\n}\r\n\r\nfunction writeLineCollisionResult(\r\n  out: LineCollisionResult | undefined,\r\n  hit: boolean,\r\n  pointOnLine: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      pointOnLine: copyVectors ? pointOnLine.clone() : pointOnLine,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.pointOnLine) {\r\n    out.pointOnLine = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.pointOnLine.set(pointOnLine);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeSurfaceCheckResult(\r\n  out: SurfaceCheckResult | undefined,\r\n  hit: boolean,\r\n  intersectionPoint: Vector3,\r\n  pushOut: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      intersectionPoint: copyVectors ? intersectionPoint.clone() : intersectionPoint,\r\n      pushOut: copyVectors ? pushOut.clone() : pushOut,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.intersectionPoint) {\r\n    out.intersectionPoint = new Vector3();\r\n  }\r\n  if (!out.pushOut) {\r\n    out.pushOut = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.intersectionPoint.set(intersectionPoint);\r\n  out.pushOut.set(pushOut);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeNearestPointsResult(\r\n  out: NearestPointsResult | undefined,\r\n  tP: number,\r\n  tQ: number,\r\n  pointOnP: Vector3,\r\n  pointOnQ: Vector3,\r\n  sqrDistance: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      tP,\r\n      tQ,\r\n      pointOnP: copyVectors ? pointOnP.clone() : pointOnP,\r\n      pointOnQ: copyVectors ? pointOnQ.clone() : pointOnQ,\r\n      sqrDistance\r\n    };\r\n  }\r\n  out.tP = tP;\r\n  out.tQ = tQ;\r\n  out.pointOnP.set(pointOnP);\r\n  out.pointOnQ.set(pointOnQ);\r\n  out.sqrDistance = sqrDistance;\r\n  return out;\r\n}\r\n\r\n// Pushout (keep point outside collider)\r\n\r\nexport function pushoutFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  pointRadius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(point, center, _pushoutSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON) {\r\n    const dirLen = Math.sqrt(sqrLen) - pointRadius;\r\n    if (dirLen < radius) {\r\n      const scaled = Vector3.scale(direction, radius / dirLen, _pushoutSphereScaled);\r\n      Vector3.add(center, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\nexport function pushoutFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  return pushoutFromCapsule(colR, colRW, point, ptR, out);\r\n}\r\n\r\nexport function pushoutFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushoutCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushoutCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushoutFromSphere(capsulePos, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  if (distOnVec >= colR.height) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushoutCapsuleTail);\r\n    return pushoutFromSphere(tail, colRW.radius * colR.radiusTailScale, ptR.pointRadius, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushoutCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pushVec = Vector3.sub(point, posOnVec, _pushoutCapsulePushVec);\r\n  const sqrPushDist = pushVec.magnitudeSq;\r\n  if (sqrPushDist > EPSILON) {\r\n    const pushDist = Math.sqrt(sqrPushDist) - ptR.pointRadius;\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / colR.height);\r\n    if (pushDist < r) {\r\n      const scaled = Vector3.scale(pushVec, r / pushDist, _pushoutCapsuleScaled);\r\n      Vector3.add(posOnVec, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// PushIn (keep point inside collider - inverse mode)\r\n\r\nexport function pushInFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(center, point, _pushInSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON && sqrLen > radius * radius) {\r\n    const dirLen = Math.sqrt(sqrLen);\r\n    const directionN = Vector3.normalize(direction, _pushInSphereDirectionN);\r\n    const scaled = Vector3.scale(directionN, dirLen - radius, _pushInSphereScaled);\r\n    Vector3.add(point, scaled, scaled);\r\n    return writeCollisionResult(out, true, scaled, !out);\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\nexport function pushInFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushInFromSphere(colRW.positionCurrent, colRW.radius, point, out);\r\n  }\r\n  return pushInFromCapsule(colR, colRW, point, out);\r\n}\r\n\r\nexport function pushInFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushInCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushInCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushInFromSphere(capsulePos, colRW.radius, point, out);\r\n  }\r\n  if (distOnVec >= colR.height) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushInCapsuleTail);\r\n    return pushInFromSphere(tail, colRW.radius * colR.radiusTailScale, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushInCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pullVec = Vector3.sub(posOnVec, point, _pushInCapsulePullVec);\r\n  const sqrPullDist = pullVec.magnitudeSq;\r\n  if (sqrPullDist > EPSILON) {\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, colR.height / distOnVec);\r\n    if (sqrPullDist > r * r) {\r\n      const pullDist = Math.sqrt(sqrPullDist);\r\n      const pullVecN = Vector3.normalize(pullVec, _pushInCapsulePullVecN);\r\n      const scaled = Vector3.scale(pullVecN, pullDist - r, _pushInCapsuleScaled);\r\n      Vector3.add(point, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// Line segment vs collider detection\r\n\r\nexport function collisionDetectionSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const dir = Vector3.sub(point2, point1, _collisionSphereDir);\r\n  const dirLen = dir.magnitude;\r\n  if (dirLen < EPSILON) {\r\n    return writeLineCollisionResult(out, false, point1, center, radius, !out);\r\n  }\r\n  const dirN = Vector3.scale(dir, 1 / dirLen, _collisionSphereDirN);\r\n  const toCenter = Vector3.sub(center, point1, _collisionSphereToCenter);\r\n  const dot = Vector3.dot(dirN, toCenter);\r\n  const clamped = Math.max(0, Math.min(dot, dirLen));\r\n  const ptOnLine = Vector3.scale(dirN, clamped, _collisionSphereScaled);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(center, ptOnLine, _collisionSphereDiff);\r\n  const hit = diff.magnitudeSq <= radius * radius;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, center, radius, !out);\r\n}\r\n\r\nexport function collisionDetectionCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const capsuleDir = colRW.directionCurrent;\r\n  const capsulePos = colRW.positionCurrent;\r\n\r\n  let res = collisionDetectionSphere(capsulePos, colRW.radius, point1, point2, out);\r\n  if (res.hit) {\r\n    return res;\r\n  }\r\n\r\n  const tail = Vector3.add(capsulePos, capsuleDir, _collisionCapsuleTail);\r\n  res = collisionDetectionSphere(\r\n    tail,\r\n    colRW.radius * colR.radiusTailScale,\r\n    point1,\r\n    point2,\r\n    _collisionCapsuleTempLineResult\r\n  );\r\n  if (res.hit) {\r\n    return writeLineCollisionResult(out, true, res.pointOnLine, res.pointOnCollider, res.radius, !out);\r\n  }\r\n\r\n  const pointDir = Vector3.sub(point2, point1, _collisionCapsulePointDir);\r\n  const nearest = computeNearestPoints(capsulePos, capsuleDir, point1, pointDir, _nearestResult);\r\n  const t1 = Math.max(0, Math.min(1, nearest.tP));\r\n  const r = colRW.radius * lerp(1.0, colR.radiusTailScale, t1);\r\n\r\n  if (nearest.sqrDistance > r * r) {\r\n    return writeLineCollisionResult(out, false, point1, capsulePos, r, !out);\r\n  }\r\n\r\n  const t2 = Math.max(0, Math.min(1, nearest.tQ));\r\n  const ptOnCol = Vector3.scale(capsuleDir, t1, _collisionCapsulePtOnCol);\r\n  Vector3.add(capsulePos, ptOnCol, ptOnCol);\r\n  const ptOnLine = Vector3.scale(pointDir, t2, _collisionCapsulePtOnLine);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(ptOnCol, ptOnLine, _collisionCapsuleDiff);\r\n  const hit = diff.magnitudeSq <= r * r;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, ptOnCol, r, !out);\r\n}\r\n\r\nexport function collisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  return collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n}\r\n\r\nexport function pushInCollisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  const res = collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n  res.hit = false;\r\n  return res;\r\n}\r\n\r\n// Nearest points between two line segments\r\n\r\nexport function computeNearestPoints(\r\n  posP: Vector3,\r\n  dirP: Vector3,\r\n  posQ: Vector3,\r\n  dirQ: Vector3,\r\n  out?: NearestPointsResult\r\n): {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n} {\r\n  const cross0 = Vector3.cross(dirQ, dirP, _nearestCross0);\r\n  const n1 = Vector3.cross(dirP, cross0, _nearestN1);\r\n  const cross1 = Vector3.cross(dirP, dirQ, _nearestCross1);\r\n  const n2 = Vector3.cross(dirQ, cross1, _nearestN2);\r\n  const dP_n2 = Vector3.dot(dirP, n2);\r\n  const dQ_n1 = Vector3.dot(dirQ, n1);\r\n  const posDiff = Vector3.sub(posQ, posP, _nearestPosDiff);\r\n  const tP = dP_n2 !== 0 ? Vector3.dot(posDiff, n2) / dP_n2 : 0;\r\n  const tQ = dQ_n1 !== 0 ? Vector3.dot(Vector3.scale(posDiff, -1, posDiff), n1) / dQ_n1 : 0;\r\n  const pointOnP = Vector3.scale(dirP, tP, _nearestPointOnP);\r\n  Vector3.add(posP, pointOnP, pointOnP);\r\n  const pointOnQ = Vector3.scale(dirQ, tQ, _nearestPointOnQ);\r\n  Vector3.add(posQ, pointOnQ, pointOnQ);\r\n  const diff = Vector3.sub(pointOnQ, pointOnP, _nearestPointDiff);\r\n  return writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, diff.magnitudeSq, !out);\r\n}\r\n\r\n// Surface collision (triangle-based)\r\n\r\nexport function checkSurfaceCollision(\r\n  ptA: Vector3,\r\n  ptB: Vector3,\r\n  ptC: Vector3,\r\n  colliderPos: Vector3,\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  out?: SurfaceCheckResult\r\n): SurfaceCheckResult {\r\n  _surfaceNoHit.hit = false;\r\n  _surfaceNoHit.intersectionPoint.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pushOut.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pointOnCollider.set(colliderPos);\r\n  _surfaceNoHit.radius = colRW.radius;\r\n\r\n  let pointOnCollider = colliderPos;\r\n  let radius = colRW.radius;\r\n  const isCapsule = colR.height > EPSILON;\r\n\r\n  const triCenter = centerOfTriangle(ptA, ptB, ptC, _surfaceTriCenter);\r\n  const edgeAB = Vector3.sub(ptB, ptA, _surfaceEdgeAB);\r\n  const edgeAC = Vector3.sub(ptC, ptA, _surfaceEdgeAC);\r\n  const planeNormal = Vector3.cross(edgeAB, edgeAC, _surfacePlaneNormal);\r\n  Vector3.normalize(planeNormal, planeNormal);\r\n  Vector3.scale(planeNormal, -1, planeNormal);\r\n  const planeNormalNeg = Vector3.scale(planeNormal, -1, _surfacePlaneNormalNeg);\r\n  const planeDist = -Vector3.dot(planeNormalNeg, ptA);\r\n  const colliderDir = Vector3.sub(colliderPos, triCenter, _surfaceColliderDir);\r\n  Vector3.normalize(colliderDir, colliderDir);\r\n  const dot = Vector3.dot(colliderDir, planeNormal);\r\n\r\n  if (isCapsule) {\r\n    const side = Vector3.dot(colRW.directionCurrent, planeNormal) * dot;\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const tempPOC = pointOnCollider;\r\n\r\n    if (side < 0) {\r\n      radius = colRW.radius * colR.radiusTailScale;\r\n      pointOnCollider = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceTail);\r\n    }\r\n\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    } else if (colR.forceType !== ColliderForce.Off) {\r\n      pointOnCollider = tempPOC;\r\n      let endVec = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceEndVec);\r\n      _surfaceColDirVec.set(colRW.directionCurrent);\r\n      let colDirVec = _surfaceColDirVec;\r\n      if (colR.forceType === ColliderForce.Pull) {\r\n        const tmp = pointOnCollider;\r\n        pointOnCollider = endVec;\r\n        endVec = tmp;\r\n        colDirVec = Vector3.scale(colDirVec, -1, colDirVec);\r\n      }\r\n      const enter2 = raycast(planeNormalNeg, planeDist, pointOnCollider, colDirVec);\r\n      if (enter2 !== null) {\r\n        const ip = Vector3.scale(colDirVec, enter2, _surfaceIntersection);\r\n        Vector3.add(pointOnCollider, ip, ip);\r\n        if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n          const intersecToEnd = Vector3.sub(endVec, ip, _surfaceIntersecToEnd);\r\n          const colToEnd = Vector3.sub(endVec, pointOnCollider, _surfaceColToEnd);\r\n          const colToIntersect = Vector3.sub(ip, pointOnCollider, _surfaceColToIntersect);\r\n          const pDot = Vector3.dot(intersecToEnd, colToIntersect);\r\n          const lDot = Vector3.dot(colToEnd, colToEnd);\r\n          if (!(pDot >= 0 && pDot <= lDot)) {\r\n            return writeSurfaceCheckResult(\r\n              out,\r\n              _surfaceNoHit.hit,\r\n              _surfaceNoHit.intersectionPoint,\r\n              _surfaceNoHit.pushOut,\r\n              _surfaceNoHit.pointOnCollider,\r\n              _surfaceNoHit.radius,\r\n              !out\r\n            );\r\n          }\r\n          const dotVal = Vector3.dot(colToEnd, colToIntersect);\r\n          const s2eMag = Vector3.dot(colToEnd, colToEnd);\r\n          const colToEndN = Vector3.normalize(colToEnd, colToEnd);\r\n          const eVec = Vector3.scale(colToEndN, -radius, _surfaceEVec);\r\n          Vector3.add(pointOnCollider, eVec, eVec);\r\n          const pushOut = Vector3.sub(ip, eVec, _surfacePushOut);\r\n          const poc2 = Vector3.scale(colToEnd, dotVal / s2eMag, _surfacePoc2);\r\n          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writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  return writeSurfaceCheckResult(\r\n    out,\r\n    _surfaceNoHit.hit,\r\n    _surfaceNoHit.intersectionPoint,\r\n    _surfaceNoHit.pushOut,\r\n    _surfaceNoHit.pointOnCollider,\r\n    _surfaceNoHit.radius,\r\n    !out\r\n  );\r\n}\r\n\r\n// Helpers\r\n\r\nfunction raycast(normal: Vector3, planeDist: number, origin: Vector3, direction: Vector3): number | null {\r\n  const vdot = Vector3.dot(direction, normal);\r\n  const ndot = -Vector3.dot(origin, normal) - planeDist;\r\n  if (Math.abs(vdot) <= EPSILON) {\r\n    return null;\r\n  }\r\n  const enter = ndot / vdot;\r\n  return enter > 0 ? enter : null;\r\n}\r\n\r\nfunction centerOfTriangle(a: Vector3, b: Vector3, c: Vector3, result?: Vector3): Vector3 {\r\n  result = result || new Vector3();\r\n  return result.setXYZ((a.x + b.x + c.x) / 3, (a.y + b.y + c.y) / 3, (a.z + b.z + c.z) / 3);\r\n}\r\n\r\nfunction 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