@zephyr3d/scene 0.8.1 → 0.9.0

package/dist/shapes/box.js

@@ -22,6 +22,89 @@ import { Shape } from './shape.js';
         return 'Box';
     }
     /**
+   * {@inheritDoc Primitive.raycast}
+   * @override
+   */ raycast(ray) {
+        const sizeX = this._options.sizeX ?? this._options.size ?? 1;
+        const sizeY = this._options.sizeY ?? this._options.size ?? 1;
+        const sizeZ = this._options.sizeZ ?? this._options.size ?? 1;
+        const anchorX = this._options.anchorX ?? this._options.anchor ?? 0.5;
+        const anchorY = this._options.anchorY ?? this._options.anchor ?? 0.5;
+        const anchorZ = this._options.anchorZ ?? this._options.anchor ?? 0.5;
+        return BoxShape._raycastAABB(ray, -anchorX * sizeX, -anchorY * sizeY, -anchorZ * sizeZ, (1 - anchorX) * sizeX, (1 - anchorY) * sizeY, (1 - anchorZ) * sizeZ);
+    }
+    /** @internal AABB slab test: returns t >= 0 on hit, null otherwise */ static _raycastAABB(ray, minx, miny, minz, maxx, maxy, maxz) {
+        const ox = ray.origin.x;
+        const oy = ray.origin.y;
+        const oz = ray.origin.z;
+        const dx = ray.direction.x;
+        const dy = ray.direction.y;
+        const dz = ray.direction.z;
+        let tmin = -Infinity;
+        let tmax = Infinity;
+        // X slab
+        if (Math.abs(dx) < 1e-10) {
+            if (ox < minx || ox > maxx) {
+                return null;
+            }
+        } else {
+            const invDx = 1 / dx;
+            let t1 = (minx - ox) * invDx;
+            let t2 = (maxx - ox) * invDx;
+            if (t1 > t2) {
+                const tmp = t1;
+                t1 = t2;
+                t2 = tmp;
+            }
+            tmin = Math.max(tmin, t1);
+            tmax = Math.min(tmax, t2);
+            if (tmin > tmax) {
+                return null;
+            }
+        }
+        // Y slab
+        if (Math.abs(dy) < 1e-10) {
+            if (oy < miny || oy > maxy) {
+                return null;
+            }
+        } else {
+            const invDy = 1 / dy;
+            let t1 = (miny - oy) * invDy;
+            let t2 = (maxy - oy) * invDy;
+            if (t1 > t2) {
+                const tmp = t1;
+                t1 = t2;
+                t2 = tmp;
+            }
+            tmin = Math.max(tmin, t1);
+            tmax = Math.min(tmax, t2);
+            if (tmin > tmax) {
+                return null;
+            }
+        }
+        // Z slab
+        if (Math.abs(dz) < 1e-10) {
+            if (oz < minz || oz > maxz) {
+                return null;
+            }
+        } else {
+            const invDz = 1 / dz;
+            let t1 = (minz - oz) * invDz;
+            let t2 = (maxz - oz) * invDz;
+            if (t1 > t2) {
+                const tmp = t1;
+                t1 = t2;
+                t2 = tmp;
+            }
+            tmin = Math.max(tmin, t1);
+            tmax = Math.min(tmax, t2);
+            if (tmin > tmax) {
+                return null;
+            }
+        }
+        return tmin >= 0 ? tmin : tmax >= 0 ? tmax : null;
+    }
+    /**
    * Generates the data for the box shape
    * @param vertices - vertex positions
    * @param normals - vertex normals
@@ -296,6 +379,86 @@ import { Shape } from './shape.js';
         return 'BoxFrame';
     }
     /**
+   * {@inheritDoc Primitive.raycast}
+   * @override
+   */ raycast(ray) {
+        const sizeX = this._options.sizeX ?? this._options.size ?? 1;
+        const sizeY = this._options.sizeY ?? this._options.size ?? 1;
+        const sizeZ = this._options.sizeZ ?? this._options.size ?? 1;
+        const anchorX = this._options.anchorX ?? this._options.anchor ?? 0.5;
+        const anchorY = this._options.anchorY ?? this._options.anchor ?? 0.5;
+        const anchorZ = this._options.anchorZ ?? this._options.anchor ?? 0.5;
+        return BoxFrameShape._raycastAABB(ray, -anchorX * sizeX, -anchorY * sizeY, -anchorZ * sizeZ, (1 - anchorX) * sizeX, (1 - anchorY) * sizeY, (1 - anchorZ) * sizeZ);
+    }
+    /** @internal AABB slab test: returns t >= 0 on hit, null otherwise */ static _raycastAABB(ray, minx, miny, minz, maxx, maxy, maxz) {
+        const ox = ray.origin.x;
+        const oy = ray.origin.y;
+        const oz = ray.origin.z;
+        const dx = ray.direction.x;
+        const dy = ray.direction.y;
+        const dz = ray.direction.z;
+        let tmin = -Infinity;
+        let tmax = Infinity;
+        if (Math.abs(dx) < 1e-10) {
+            if (ox < minx || ox > maxx) {
+                return null;
+            }
+        } else {
+            const invDx = 1 / dx;
+            let t1 = (minx - ox) * invDx;
+            let t2 = (maxx - ox) * invDx;
+            if (t1 > t2) {
+                const tmp = t1;
+                t1 = t2;
+                t2 = tmp;
+            }
+            tmin = Math.max(tmin, t1);
+            tmax = Math.min(tmax, t2);
+            if (tmin > tmax) {
+                return null;
+            }
+        }
+        if (Math.abs(dy) < 1e-10) {
+            if (oy < miny || oy > maxy) {
+                return null;
+            }
+        } else {
+            const invDy = 1 / dy;
+            let t1 = (miny - oy) * invDy;
+            let t2 = (maxy - oy) * invDy;
+            if (t1 > t2) {
+                const tmp = t1;
+                t1 = t2;
+                t2 = tmp;
+            }
+            tmin = Math.max(tmin, t1);
+            tmax = Math.min(tmax, t2);
+            if (tmin > tmax) {
+                return null;
+            }
+        }
+        if (Math.abs(dz) < 1e-10) {
+            if (oz < minz || oz > maxz) {
+                return null;
+            }
+        } else {
+            const invDz = 1 / dz;
+            let t1 = (minz - oz) * invDz;
+            let t2 = (maxz - oz) * invDz;
+            if (t1 > t2) {
+                const tmp = t1;
+                t1 = t2;
+                t2 = tmp;
+            }
+            tmin = Math.max(tmin, t1);
+            tmax = Math.min(tmax, t2);
+            if (tmin > tmax) {
+                return null;
+            }
+        }
+        return tmin >= 0 ? tmin : tmax >= 0 ? tmax : null;
+    }
+    /**
    * Generates the data for the box shape
    * @param vertices - vertex positions
    * @param normals - vertex normals

package/dist/shapes/box.js.map

@@ -1 +1 @@
-{"version":3,"file":"box.js","sources":["../../src/shapes/box.ts"],"sourcesContent":["import type { AABB, Clonable, DeepRequireOptionals } from '@zephyr3d/base';\r\nimport type { ShapeCreationOptions } from './shape';\r\nimport { Shape } from './shape';\r\n\r\n/**\r\n * Creation options for box shape\r\n * @public\r\n */\r\nexport interface BoxCreationOptions extends ShapeCreationOptions {\r\n  /** Size of all axises, default 1 */\r\n  size?: number;\r\n  /** Size of axis x, default 1 */\r\n  sizeX?: number;\r\n  /** Size of axis y, default 1 */\r\n  sizeY?: number;\r\n  /** Size of axis z, default 1 */\r\n  sizeZ?: number;\r\n  /** Anchor */\r\n  anchor?: number;\r\n  /** Anchor X */\r\n  anchorX?: number;\r\n  /** Anchor Y */\r\n  anchorY?: number;\r\n  /** Anchor Z */\r\n  anchorZ?: number;\r\n}\r\n\r\n/**\r\n * Box shape\r\n * @public\r\n */\r\nexport class BoxShape extends Shape<BoxCreationOptions> implements Clonable<BoxShape> {\r\n  static _defaultOptions = {\r\n    ...Shape._defaultOptions,\r\n    size: 1,\r\n    anchor: 0.5\r\n  };\r\n  /**\r\n   * Creates an instance of box shape\r\n   * @param options - The creation options\r\n   */\r\n  constructor(options?: BoxCreationOptions) {\r\n    super(options);\r\n  }\r\n  clone() {\r\n    return new BoxShape(this._options) as this;\r\n  }\r\n  /** type of the shape */\r\n  get type() {\r\n    return 'Box' as const;\r\n  }\r\n  /**\r\n   * Generates the data for the box shape\r\n   * @param vertices - vertex positions\r\n   * @param normals - vertex normals\r\n   * @param uvs - vertex uvs\r\n   * @param indices - vertex indices\r\n   */\r\n  static generateData(\r\n    opt: BoxCreationOptions,\r\n    vertices: number[],\r\n    normals: number[],\r\n    tangents: number[],\r\n    uvs: number[],\r\n    indices: number[],\r\n    bbox?: AABB,\r\n    indexOffset?: number,\r\n    vertexCallback?: (index: number, x: number, y: number, z: number) => void\r\n  ) {\r\n    const options = Object.assign({}, this._defaultOptions, opt ?? {});\r\n    indexOffset = indexOffset ?? 0;\r\n    const start = vertices.length;\r\n    const sizeX = options?.sizeX ?? options?.size ?? 1;\r\n    const sizeY = options?.sizeY ?? options?.size ?? 1;\r\n    const sizeZ = options?.sizeZ ?? options?.size ?? 1;\r\n    const anchorX = options.anchorX ?? options.anchor;\r\n    const anchorY = options.anchorY ?? options.anchor;\r\n    const anchorZ = options.anchorZ ?? options.anchor;\r\n    const minx = -anchorX * sizeX;\r\n    const maxx = minx + sizeX;\r\n    const miny = -anchorY * sizeY;\r\n    const maxy = miny + sizeY;\r\n    const minz = -anchorZ * sizeZ;\r\n    const maxz = minz + sizeZ;\r\n    const uv = uvs ? [0, 0, 0, 1, 1, 1, 1, 0] : null;\r\n    const topFacePos = [minx, maxy, minz, minx, maxy, maxz, maxx, maxy, maxz, maxx, maxy, minz];\r\n    const topFacenormal = normals ? [0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0] : null;\r\n    const frontFacePos = [minx, maxy, maxz, minx, miny, maxz, maxx, miny, maxz, maxx, maxy, maxz];\r\n    const frontFaceNormal = normals ? [0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1] : null;\r\n    const rightFacePos = [maxx, maxy, maxz, maxx, miny, maxz, maxx, miny, minz, maxx, maxy, minz];\r\n    const rightFaceNormal = normals ? [1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0] : null;\r\n    const backFacePos = [maxx, maxy, minz, maxx, miny, minz, minx, miny, minz, minx, maxy, minz];\r\n    const backFaceNormal = normals ? [0, 0, -1, 0, 0, -1, 0, 0, -1, 0, 0, -1] : null;\r\n    const leftFacePos = [minx, maxy, minz, minx, miny, minz, minx, miny, maxz, minx, maxy, maxz];\r\n    const leftFaceNormal = normals ? [-1, 0, 0, -1, 0, 0, -1, 0, 0, -1, 0, 0] : null;\r\n    const bottomFacePos = [minx, miny, maxz, minx, miny, minz, maxx, miny, minz, maxx, miny, maxz];\r\n    const bottomFaceNormal = normals ? [0, -1, 0, 0, -1, 0, 0, -1, 0, 0, -1, 0] : null;\r\n    indices?.push(\r\n      0 + indexOffset,\r\n      1 + indexOffset,\r\n      2 + indexOffset,\r\n      0 + indexOffset,\r\n      2 + indexOffset,\r\n      3 + indexOffset,\r\n      4 + indexOffset,\r\n      5 + indexOffset,\r\n      6 + indexOffset,\r\n      4 + indexOffset,\r\n      6 + indexOffset,\r\n      7 + indexOffset,\r\n      8 + indexOffset,\r\n      9 + indexOffset,\r\n      10 + indexOffset,\r\n      8 + indexOffset,\r\n      10 + indexOffset,\r\n      11 + indexOffset,\r\n      12 + indexOffset,\r\n      13 + indexOffset,\r\n      14 + indexOffset,\r\n      12 + indexOffset,\r\n      14 + indexOffset,\r\n      15 + indexOffset,\r\n      16 + indexOffset,\r\n      17 + indexOffset,\r\n      18 + indexOffset,\r\n      16 + indexOffset,\r\n      18 + indexOffset,\r\n      19 + indexOffset,\r\n      20 + indexOffset,\r\n      21 + indexOffset,\r\n      22 + indexOffset,\r\n      20 + indexOffset,\r\n      22 + indexOffset,\r\n      23 + indexOffset\r\n    );\r\n    vertices?.push(\r\n      ...topFacePos,\r\n      ...frontFacePos,\r\n      ...rightFacePos,\r\n      ...backFacePos,\r\n      ...leftFacePos,\r\n      ...bottomFacePos\r\n    );\r\n    normals?.push(\r\n      ...topFacenormal!,\r\n      ...frontFaceNormal!,\r\n      ...rightFaceNormal!,\r\n      ...backFaceNormal!,\r\n      ...leftFaceNormal!,\r\n      ...bottomFaceNormal!\r\n    );\r\n    uvs?.push(...uv!, ...uv!, ...uv!, ...uv!, ...uv!, ...uv!);\r\n    if (tangents) {\r\n      const pushFaceTangent = (tx: number, ty: number, tz: number) => {\r\n        tangents.push(tx, ty, tz, 1.0, tx, ty, tz, 1.0, tx, ty, tz, 1.0, tx, ty, tz, 1.0);\r\n      };\r\n      // Top (+Y): u -> +X\r\n      pushFaceTangent(+1, 0, 0);\r\n      // Front (+Z): u -> +X\r\n      pushFaceTangent(+1, 0, 0);\r\n      // Right (+X): u -> -Z\r\n      pushFaceTangent(0, 0, -1);\r\n      // Back (-Z): u -> -X （与 front 相反，保持 TBN 右手一致）\r\n      pushFaceTangent(-1, 0, 0);\r\n      // Left (-X): u -> +Z\r\n      pushFaceTangent(0, 0, +1);\r\n      // Bottom (-Y): u -> +X\r\n      pushFaceTangent(+1, 0, 0);\r\n    }\r\n    Shape._transform(options.transform, vertices, normals, start);\r\n    if (bbox || vertexCallback) {\r\n      for (let i = start; i < vertices.length - 2; i += 3) {\r\n        if (bbox) {\r\n          bbox.minPoint.x = Math.min(bbox.minPoint.x, vertices[i]);\r\n          bbox.minPoint.y = Math.min(bbox.minPoint.y, vertices[i + 1]);\r\n          bbox.minPoint.z = Math.min(bbox.minPoint.z, vertices[i + 2]);\r\n          bbox.maxPoint.x = Math.max(bbox.maxPoint.x, vertices[i]);\r\n          bbox.maxPoint.y = Math.max(bbox.maxPoint.y, vertices[i + 1]);\r\n          bbox.maxPoint.z = Math.max(bbox.maxPoint.z, vertices[i + 2]);\r\n        }\r\n        vertexCallback?.((i - start) / 3, vertices[i], vertices[i + 1], vertices[i + 2]);\r\n      }\r\n    }\r\n    return 'triangle-list' as const;\r\n  }\r\n  /** Box width */\r\n  get width() {\r\n    return this._options.sizeX ?? this._options.size ?? 1;\r\n  }\r\n  /** Box height */\r\n  get height() {\r\n    return this._options.sizeY ?? this._options.size ?? 1;\r\n  }\r\n  /** Box depth */\r\n  get depth() {\r\n    return this._options.sizeZ ?? this._options.size ?? 1;\r\n  }\r\n}\r\n\r\n/**\r\n * Wireframe box shape\r\n * @public\r\n */\r\nexport class BoxFrameShape extends Shape<BoxCreationOptions> implements Clonable<BoxFrameShape> {\r\n  static _defaultOptions = {\r\n    ...Shape._defaultOptions,\r\n    size: 1,\r\n    sizeX: 1,\r\n    sizeY: 1,\r\n    sizeZ: 1,\r\n    anchor: 0.5,\r\n    anchorX: 0.5,\r\n    anchorY: 0.5,\r\n    anchorZ: 0.5\r\n  };\r\n  /**\r\n   * Creates an instance of wireframe box shape\r\n   * @param options - The creation options\r\n   */\r\n  constructor(options?: BoxCreationOptions) {\r\n    super(options);\r\n  }\r\n  clone() {\r\n    return new BoxFrameShape(this._options) as this;\r\n  }\r\n  /** type of the shape */\r\n  get type() {\r\n    return 'BoxFrame' as const;\r\n  }\r\n  /**\r\n   * Generates the data for the box shape\r\n   * @param vertices - vertex positions\r\n   * @param normals - vertex normals\r\n   * @param uvs - vertex uvs\r\n   * @param indices - vertex indices\r\n   */\r\n  static generateData(\r\n    options: DeepRequireOptionals<BoxCreationOptions>,\r\n    vertices: number[],\r\n    normals: number[],\r\n    tangents: number[],\r\n    uvs: number[],\r\n    indices: number[],\r\n    bbox?: AABB,\r\n    indexOffset?: number,\r\n    vertexCallback?: (index: number, x: number, y: number, z: number) => void\r\n  ) {\r\n    options = Object.assign({}, this._defaultOptions, options ?? {});\r\n    indexOffset = indexOffset ?? 0;\r\n    const start = vertices.length;\r\n    const sizeX = options?.sizeX ?? options?.size ?? 1;\r\n    const sizeY = options?.sizeY ?? options?.size ?? 1;\r\n    const sizeZ = options?.sizeZ ?? options?.size ?? 1;\r\n    const anchorX = options.anchorX ?? options.anchor;\r\n    const anchorY = options.anchorY ?? options.anchor;\r\n    const anchorZ = options.anchorZ ?? options.anchor;\r\n    const minx = -anchorX * sizeX;\r\n    const maxx = minx + sizeX;\r\n    const miny = -anchorY * sizeY;\r\n    const maxy = miny + sizeY;\r\n    const minz = -anchorZ * sizeZ;\r\n    const maxz = minz + sizeZ;\r\n    const uv = uvs ? [0, 0, 0, 1, 1, 1, 1, 0] : null;\r\n    const topFacePos = [minx, maxy, minz, minx, maxy, maxz, maxx, maxy, maxz, maxx, maxy, minz];\r\n    const topFacenormal = normals ? [0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0] : null;\r\n    const bottomFacePos = [minx, miny, maxz, minx, miny, minz, maxx, miny, minz, maxx, miny, maxz];\r\n    const bottomFaceNormal = normals ? [0, -1, 0, 0, -1, 0, 0, -1, 0, 0, -1, 0] : null;\r\n    indices?.push(\r\n      0 + indexOffset,\r\n      1 + indexOffset,\r\n      1 + indexOffset,\r\n      2 + indexOffset,\r\n      2 + indexOffset,\r\n      3 + indexOffset,\r\n      3 + indexOffset,\r\n      0 + indexOffset,\r\n      0 + indexOffset,\r\n      5 + indexOffset,\r\n      1 + indexOffset,\r\n      4 + indexOffset,\r\n      2 + indexOffset,\r\n      7 + indexOffset,\r\n      3 + indexOffset,\r\n      6 + indexOffset,\r\n      6 + indexOffset,\r\n      5 + indexOffset,\r\n      5 + indexOffset,\r\n      4 + indexOffset,\r\n      4 + indexOffset,\r\n      7 + indexOffset,\r\n      7 + indexOffset,\r\n      6 + indexOffset\r\n    );\r\n    vertices?.push(...topFacePos, ...bottomFacePos);\r\n    normals?.push(...topFacenormal!, ...bottomFaceNormal!);\r\n    uvs?.push(...uv!, ...uv!, ...uv!, ...uv!, ...uv!, ...uv!);\r\n    if (tangents) {\r\n      const pushFaceTangent = (tx: number, ty: number, tz: number) => {\r\n        tangents.push(tx, ty, tz, 1.0, tx, ty, tz, 1.0, tx, ty, tz, 1.0, tx, ty, tz, 1.0);\r\n      };\r\n      // Top (+Y): u -> +X\r\n      pushFaceTangent(+1, 0, 0);\r\n      // Front (+Z): u -> +X\r\n      pushFaceTangent(+1, 0, 0);\r\n      // Right (+X): u -> -Z\r\n      pushFaceTangent(0, 0, -1);\r\n      // Back (-Z): u -> -X\r\n      pushFaceTangent(-1, 0, 0);\r\n      // Left (-X): u -> +Z\r\n      pushFaceTangent(0, 0, +1);\r\n      // Bottom (-Y): u -> +X\r\n      pushFaceTangent(+1, 0, 0);\r\n    }\r\n    Shape._transform(options.transform, vertices, normals, start);\r\n    if (bbox || vertexCallback) {\r\n      for (let i = start; i < vertices.length - 2; i += 3) {\r\n        if (bbox) {\r\n          bbox.minPoint.x = Math.min(bbox.minPoint.x, vertices[i]);\r\n          bbox.minPoint.y = Math.min(bbox.minPoint.y, vertices[i + 1]);\r\n          bbox.minPoint.z = Math.min(bbox.minPoint.z, vertices[i + 2]);\r\n          bbox.maxPoint.x = Math.max(bbox.maxPoint.x, vertices[i]);\r\n          bbox.maxPoint.y = Math.max(bbox.maxPoint.y, vertices[i + 1]);\r\n          bbox.maxPoint.z = Math.max(bbox.maxPoint.z, vertices[i + 2]);\r\n        }\r\n        vertexCallback?.((i - start) / 3, vertices[i], vertices[i + 1], vertices[i + 2]);\r\n      }\r\n    }\r\n    return 'line-list' as const;\r\n  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+{"version":3,"file":"box.js","sources":["../../src/shapes/box.ts"],"sourcesContent":["import type { AABB, Clonable, DeepRequireOptionals, Ray } from '@zephyr3d/base';\r\nimport type { ShapeCreationOptions } from './shape';\r\nimport { Shape } from './shape';\r\n\r\n/**\r\n * Creation options for box shape\r\n * @public\r\n */\r\nexport interface BoxCreationOptions extends ShapeCreationOptions {\r\n  /** Size of all axises, default 1 */\r\n  size?: number;\r\n  /** Size of axis x, default 1 */\r\n  sizeX?: number;\r\n  /** Size of axis y, default 1 */\r\n  sizeY?: number;\r\n  /** Size of axis z, default 1 */\r\n  sizeZ?: number;\r\n  /** Anchor */\r\n  anchor?: number;\r\n  /** Anchor X */\r\n  anchorX?: number;\r\n  /** Anchor Y */\r\n  anchorY?: number;\r\n  /** Anchor Z */\r\n  anchorZ?: number;\r\n}\r\n\r\n/**\r\n * Box shape\r\n * @public\r\n */\r\nexport class BoxShape extends Shape<BoxCreationOptions> implements Clonable<BoxShape> {\r\n  static _defaultOptions = {\r\n    ...Shape._defaultOptions,\r\n    size: 1,\r\n    anchor: 0.5\r\n  };\r\n  /**\r\n   * Creates an instance of box shape\r\n   * @param options - The creation options\r\n   */\r\n  constructor(options?: BoxCreationOptions) {\r\n    super(options);\r\n  }\r\n  clone() {\r\n    return new BoxShape(this._options) as this;\r\n  }\r\n  /** type of the shape */\r\n  get type() {\r\n    return 'Box' as const;\r\n  }\r\n  /**\r\n   * {@inheritDoc Primitive.raycast}\r\n   * @override\r\n   */\r\n  raycast(ray: Ray) {\r\n    const sizeX = this._options.sizeX ?? this._options.size ?? 1;\r\n    const sizeY = this._options.sizeY ?? this._options.size ?? 1;\r\n    const sizeZ = this._options.sizeZ ?? this._options.size ?? 1;\r\n    const anchorX = this._options.anchorX ?? this._options.anchor ?? 0.5;\r\n    const anchorY = this._options.anchorY ?? this._options.anchor ?? 0.5;\r\n    const anchorZ = this._options.anchorZ ?? this._options.anchor ?? 0.5;\r\n    return BoxShape._raycastAABB(\r\n      ray,\r\n      -anchorX * sizeX,\r\n      -anchorY * sizeY,\r\n      -anchorZ * sizeZ,\r\n      (1 - anchorX) * sizeX,\r\n      (1 - anchorY) * sizeY,\r\n      (1 - anchorZ) * sizeZ\r\n    );\r\n  }\r\n  /** @internal AABB slab test: returns t >= 0 on hit, null otherwise */\r\n  private static _raycastAABB(\r\n    ray: Ray,\r\n    minx: number,\r\n    miny: number,\r\n    minz: number,\r\n    maxx: number,\r\n    maxy: number,\r\n    maxz: number\r\n  ): number | null {\r\n    const ox = ray.origin.x;\r\n    const oy = ray.origin.y;\r\n    const oz = ray.origin.z;\r\n    const dx = ray.direction.x;\r\n    const dy = ray.direction.y;\r\n    const dz = ray.direction.z;\r\n    let tmin = -Infinity;\r\n    let tmax = Infinity;\r\n    // X slab\r\n    if (Math.abs(dx) < 1e-10) {\r\n      if (ox < minx || ox > maxx) {\r\n        return null;\r\n      }\r\n    } else {\r\n      const invDx = 1 / dx;\r\n      let t1 = (minx - ox) * invDx;\r\n      let t2 = (maxx - ox) * invDx;\r\n      if (t1 > t2) {\r\n        const tmp = t1;\r\n        t1 = t2;\r\n        t2 = tmp;\r\n      }\r\n      tmin = Math.max(tmin, t1);\r\n      tmax = Math.min(tmax, t2);\r\n      if (tmin > tmax) {\r\n        return null;\r\n      }\r\n    }\r\n    // Y slab\r\n    if (Math.abs(dy) < 1e-10) {\r\n      if (oy < miny || oy > maxy) {\r\n        return null;\r\n      }\r\n    } else {\r\n      const invDy = 1 / dy;\r\n      let t1 = (miny - oy) * invDy;\r\n      let t2 = (maxy - oy) * invDy;\r\n      if (t1 > t2) {\r\n        const tmp = t1;\r\n        t1 = t2;\r\n        t2 = tmp;\r\n      }\r\n      tmin = Math.max(tmin, t1);\r\n      tmax = Math.min(tmax, t2);\r\n      if (tmin > tmax) {\r\n        return null;\r\n      }\r\n    }\r\n    // Z slab\r\n    if (Math.abs(dz) < 1e-10) {\r\n      if (oz < minz || oz > maxz) {\r\n        return null;\r\n      }\r\n    } else {\r\n      const invDz = 1 / dz;\r\n      let t1 = (minz - oz) * invDz;\r\n      let t2 = (maxz - oz) * invDz;\r\n      if (t1 > t2) {\r\n        const tmp = t1;\r\n        t1 = t2;\r\n        t2 = tmp;\r\n      }\r\n      tmin = Math.max(tmin, t1);\r\n      tmax = Math.min(tmax, t2);\r\n      if (tmin > tmax) {\r\n        return null;\r\n      }\r\n    }\r\n    return tmin >= 0 ? tmin : tmax >= 0 ? tmax : null;\r\n  }\r\n  /**\r\n   * Generates the data for the box shape\r\n   * @param vertices - vertex positions\r\n   * @param normals - vertex normals\r\n   * @param uvs - vertex uvs\r\n   * @param indices - vertex indices\r\n   */\r\n  static generateData(\r\n    opt: BoxCreationOptions,\r\n    vertices: number[],\r\n    normals: number[],\r\n    tangents: number[],\r\n    uvs: number[],\r\n    indices: number[],\r\n    bbox?: AABB,\r\n    indexOffset?: number,\r\n    vertexCallback?: (index: number, x: number, y: number, z: number) => void\r\n  ) {\r\n    const options = Object.assign({}, this._defaultOptions, opt ?? {});\r\n    indexOffset = indexOffset ?? 0;\r\n    const start = vertices.length;\r\n    const sizeX = options?.sizeX ?? options?.size ?? 1;\r\n    const sizeY = options?.sizeY ?? options?.size ?? 1;\r\n    const sizeZ = options?.sizeZ ?? options?.size ?? 1;\r\n    const anchorX = options.anchorX ?? options.anchor;\r\n    const anchorY = options.anchorY ?? options.anchor;\r\n    const anchorZ = options.anchorZ ?? options.anchor;\r\n    const minx = -anchorX * sizeX;\r\n    const maxx = minx + sizeX;\r\n    const miny = -anchorY * sizeY;\r\n    const maxy = miny + sizeY;\r\n    const minz = -anchorZ * sizeZ;\r\n    const maxz = minz + sizeZ;\r\n    const uv = uvs ? [0, 0, 0, 1, 1, 1, 1, 0] : null;\r\n    const topFacePos = [minx, maxy, minz, minx, maxy, maxz, maxx, maxy, maxz, maxx, maxy, minz];\r\n    const topFacenormal = normals ? [0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0] : null;\r\n    const frontFacePos = [minx, maxy, maxz, minx, miny, maxz, maxx, miny, maxz, maxx, maxy, maxz];\r\n    const frontFaceNormal = normals ? [0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1] : null;\r\n    const rightFacePos = [maxx, maxy, maxz, maxx, miny, maxz, maxx, miny, minz, maxx, maxy, minz];\r\n    const rightFaceNormal = normals ? [1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0] : null;\r\n    const backFacePos = [maxx, maxy, minz, maxx, miny, minz, minx, miny, minz, minx, maxy, minz];\r\n    const backFaceNormal = normals ? [0, 0, -1, 0, 0, -1, 0, 0, -1, 0, 0, -1] : null;\r\n    const leftFacePos = [minx, maxy, minz, minx, miny, minz, minx, miny, maxz, minx, maxy, maxz];\r\n    const leftFaceNormal = normals ? [-1, 0, 0, -1, 0, 0, -1, 0, 0, -1, 0, 0] : null;\r\n    const bottomFacePos = [minx, miny, maxz, minx, miny, minz, maxx, miny, minz, maxx, miny, maxz];\r\n    const bottomFaceNormal = normals ? [0, -1, 0, 0, -1, 0, 0, -1, 0, 0, -1, 0] : null;\r\n    indices?.push(\r\n      0 + indexOffset,\r\n      1 + indexOffset,\r\n      2 + indexOffset,\r\n      0 + indexOffset,\r\n      2 + indexOffset,\r\n      3 + indexOffset,\r\n      4 + indexOffset,\r\n      5 + indexOffset,\r\n      6 + indexOffset,\r\n      4 + indexOffset,\r\n      6 + indexOffset,\r\n      7 + indexOffset,\r\n      8 + indexOffset,\r\n      9 + indexOffset,\r\n      10 + indexOffset,\r\n      8 + indexOffset,\r\n      10 + indexOffset,\r\n      11 + indexOffset,\r\n      12 + indexOffset,\r\n      13 + indexOffset,\r\n      14 + indexOffset,\r\n      12 + indexOffset,\r\n      14 + indexOffset,\r\n      15 + indexOffset,\r\n      16 + indexOffset,\r\n      17 + indexOffset,\r\n      18 + indexOffset,\r\n      16 + indexOffset,\r\n      18 + indexOffset,\r\n      19 + indexOffset,\r\n      20 + indexOffset,\r\n      21 + indexOffset,\r\n      22 + indexOffset,\r\n      20 + indexOffset,\r\n      22 + indexOffset,\r\n      23 + indexOffset\r\n    );\r\n    vertices?.push(\r\n      ...topFacePos,\r\n      ...frontFacePos,\r\n      ...rightFacePos,\r\n      ...backFacePos,\r\n      ...leftFacePos,\r\n      ...bottomFacePos\r\n    );\r\n    normals?.push(\r\n      ...topFacenormal!,\r\n      ...frontFaceNormal!,\r\n      ...rightFaceNormal!,\r\n      ...backFaceNormal!,\r\n      ...leftFaceNormal!,\r\n      ...bottomFaceNormal!\r\n    );\r\n    uvs?.push(...uv!, ...uv!, ...uv!, ...uv!, ...uv!, ...uv!);\r\n    if (tangents) {\r\n      const pushFaceTangent = (tx: number, ty: number, tz: number) => {\r\n        tangents.push(tx, ty, tz, 1.0, tx, ty, tz, 1.0, tx, ty, tz, 1.0, tx, ty, tz, 1.0);\r\n      };\r\n      // Top (+Y): u -> +X\r\n      pushFaceTangent(+1, 0, 0);\r\n      // Front (+Z): u -> +X\r\n      pushFaceTangent(+1, 0, 0);\r\n      // Right (+X): u -> -Z\r\n      pushFaceTangent(0, 0, -1);\r\n      // Back (-Z): u -> -X （与 front 相反，保持 TBN 右手一致）\r\n      pushFaceTangent(-1, 0, 0);\r\n      // Left (-X): u -> +Z\r\n      pushFaceTangent(0, 0, +1);\r\n      // Bottom (-Y): u -> +X\r\n      pushFaceTangent(+1, 0, 0);\r\n    }\r\n    Shape._transform(options.transform, vertices, normals, start);\r\n    if (bbox || vertexCallback) {\r\n      for (let i = start; i < vertices.length - 2; i += 3) {\r\n        if (bbox) {\r\n          bbox.minPoint.x = Math.min(bbox.minPoint.x, vertices[i]);\r\n          bbox.minPoint.y = Math.min(bbox.minPoint.y, vertices[i + 1]);\r\n          bbox.minPoint.z = Math.min(bbox.minPoint.z, vertices[i + 2]);\r\n          bbox.maxPoint.x = Math.max(bbox.maxPoint.x, vertices[i]);\r\n          bbox.maxPoint.y = Math.max(bbox.maxPoint.y, vertices[i + 1]);\r\n          bbox.maxPoint.z = Math.max(bbox.maxPoint.z, vertices[i + 2]);\r\n        }\r\n        vertexCallback?.((i - start) / 3, vertices[i], vertices[i + 1], vertices[i + 2]);\r\n      }\r\n    }\r\n    return 'triangle-list' as const;\r\n  }\r\n  /** Box width */\r\n  get width() {\r\n    return this._options.sizeX ?? this._options.size ?? 1;\r\n  }\r\n  /** Box height */\r\n  get height() {\r\n    return this._options.sizeY ?? this._options.size ?? 1;\r\n  }\r\n  /** Box depth */\r\n  get depth() {\r\n    return this._options.sizeZ ?? this._options.size ?? 1;\r\n  }\r\n}\r\n\r\n/**\r\n * Wireframe box shape\r\n * @public\r\n */\r\nexport class BoxFrameShape extends Shape<BoxCreationOptions> implements Clonable<BoxFrameShape> {\r\n  static _defaultOptions = {\r\n    ...Shape._defaultOptions,\r\n    size: 1,\r\n    sizeX: 1,\r\n    sizeY: 1,\r\n    sizeZ: 1,\r\n    anchor: 0.5,\r\n    anchorX: 0.5,\r\n    anchorY: 0.5,\r\n    anchorZ: 0.5\r\n  };\r\n  /**\r\n   * Creates an instance of wireframe box shape\r\n   * @param options - The creation options\r\n   */\r\n  constructor(options?: BoxCreationOptions) {\r\n    super(options);\r\n  }\r\n  clone() {\r\n    return new BoxFrameShape(this._options) as this;\r\n  }\r\n  /** type of the shape */\r\n  get type() {\r\n    return 'BoxFrame' as const;\r\n  }\r\n  /**\r\n   * {@inheritDoc Primitive.raycast}\r\n   * @override\r\n   */\r\n  raycast(ray: Ray) {\r\n    const sizeX = this._options.sizeX ?? this._options.size ?? 1;\r\n    const sizeY = this._options.sizeY ?? this._options.size ?? 1;\r\n    const sizeZ = this._options.sizeZ ?? this._options.size ?? 1;\r\n    const anchorX = this._options.anchorX ?? this._options.anchor ?? 0.5;\r\n    const anchorY = this._options.anchorY ?? this._options.anchor ?? 0.5;\r\n    const anchorZ = this._options.anchorZ ?? this._options.anchor ?? 0.5;\r\n    return BoxFrameShape._raycastAABB(\r\n      ray,\r\n      -anchorX * sizeX,\r\n      -anchorY * sizeY,\r\n      -anchorZ * sizeZ,\r\n      (1 - anchorX) * sizeX,\r\n      (1 - anchorY) * sizeY,\r\n      (1 - anchorZ) * sizeZ\r\n    );\r\n  }\r\n  /** @internal AABB slab test: returns t >= 0 on hit, null otherwise */\r\n  private static _raycastAABB(\r\n    ray: Ray,\r\n    minx: number,\r\n    miny: number,\r\n    minz: number,\r\n    maxx: number,\r\n    maxy: number,\r\n    maxz: number\r\n  ): number | null {\r\n    const ox = ray.origin.x;\r\n    const oy = ray.origin.y;\r\n    const oz = ray.origin.z;\r\n    const dx = ray.direction.x;\r\n    const dy = ray.direction.y;\r\n    const dz = ray.direction.z;\r\n    let tmin = -Infinity;\r\n    let tmax = Infinity;\r\n    if (Math.abs(dx) < 1e-10) {\r\n      if (ox < minx || ox > maxx) {\r\n        return null;\r\n      }\r\n    } else {\r\n      const invDx = 1 / dx;\r\n      let t1 = (minx - ox) * invDx;\r\n      let t2 = (maxx - ox) * invDx;\r\n      if (t1 > t2) {\r\n        const tmp = t1;\r\n        t1 = t2;\r\n        t2 = tmp;\r\n      }\r\n      tmin = Math.max(tmin, t1);\r\n      tmax = Math.min(tmax, t2);\r\n      if (tmin > tmax) {\r\n        return null;\r\n      }\r\n    }\r\n    if (Math.abs(dy) < 1e-10) {\r\n      if (oy < miny || oy > maxy) {\r\n        return null;\r\n      }\r\n    } else {\r\n      const invDy = 1 / dy;\r\n      let t1 = (miny - oy) * invDy;\r\n      let t2 = (maxy - oy) * invDy;\r\n      if (t1 > t2) {\r\n        const tmp = t1;\r\n        t1 = t2;\r\n        t2 = tmp;\r\n      }\r\n      tmin = Math.max(tmin, t1);\r\n      tmax = Math.min(tmax, t2);\r\n      if (tmin > tmax) {\r\n        return null;\r\n      }\r\n    }\r\n    if (Math.abs(dz) < 1e-10) {\r\n      if (oz < minz || oz > maxz) {\r\n        return null;\r\n      }\r\n    } else {\r\n      const invDz = 1 / dz;\r\n      let t1 = (minz - oz) * invDz;\r\n      let t2 = (maxz - oz) * invDz;\r\n      if (t1 > t2) {\r\n        const tmp = t1;\r\n        t1 = t2;\r\n        t2 = tmp;\r\n      }\r\n      tmin = Math.max(tmin, t1);\r\n      tmax = Math.min(tmax, t2);\r\n      if (tmin > tmax) {\r\n        return null;\r\n      }\r\n    }\r\n    return tmin >= 0 ? tmin : tmax >= 0 ? tmax : null;\r\n  }\r\n  /**\r\n   * Generates the data for the box shape\r\n   * @param vertices - vertex positions\r\n   * @param normals - vertex normals\r\n   * @param uvs - vertex uvs\r\n   * @param indices - vertex indices\r\n   */\r\n  static generateData(\r\n    options: DeepRequireOptionals<BoxCreationOptions>,\r\n    vertices: number[],\r\n    normals: number[],\r\n    tangents: number[],\r\n    uvs: number[],\r\n    indices: number[],\r\n    bbox?: AABB,\r\n    indexOffset?: number,\r\n    vertexCallback?: (index: number, x: number, y: number, z: number) => void\r\n  ) {\r\n    options = Object.assign({}, this._defaultOptions, options ?? {});\r\n    indexOffset = indexOffset ?? 0;\r\n    const start = vertices.length;\r\n    const sizeX = options?.sizeX ?? options?.size ?? 1;\r\n    const sizeY = options?.sizeY ?? options?.size ?? 1;\r\n    const sizeZ = options?.sizeZ ?? options?.size ?? 1;\r\n    const anchorX = options.anchorX ?? options.anchor;\r\n    const anchorY = options.anchorY ?? options.anchor;\r\n    const anchorZ = options.anchorZ ?? options.anchor;\r\n    const minx = -anchorX * sizeX;\r\n    const maxx = minx + sizeX;\r\n    const miny = -anchorY * sizeY;\r\n    const maxy = miny + sizeY;\r\n    const minz = -anchorZ * sizeZ;\r\n    const maxz = minz + sizeZ;\r\n    const uv = uvs ? [0, 0, 0, 1, 1, 1, 1, 0] : null;\r\n    const topFacePos = [minx, maxy, minz, minx, maxy, maxz, maxx, maxy, maxz, maxx, maxy, minz];\r\n    const topFacenormal = normals ? [0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0] : null;\r\n    const bottomFacePos = [minx, miny, maxz, minx, miny, minz, maxx, miny, minz, maxx, miny, maxz];\r\n    const bottomFaceNormal = normals ? [0, -1, 0, 0, -1, 0, 0, -1, 0, 0, -1, 0] : null;\r\n    indices?.push(\r\n      0 + indexOffset,\r\n      1 + indexOffset,\r\n      1 + indexOffset,\r\n      2 + indexOffset,\r\n      2 + indexOffset,\r\n      3 + indexOffset,\r\n      3 + indexOffset,\r\n      0 + indexOffset,\r\n      0 + indexOffset,\r\n      5 + indexOffset,\r\n      1 + indexOffset,\r\n      4 + indexOffset,\r\n      2 + indexOffset,\r\n      7 + indexOffset,\r\n      3 + indexOffset,\r\n      6 + indexOffset,\r\n      6 + indexOffset,\r\n      5 + indexOffset,\r\n      5 + indexOffset,\r\n      4 + indexOffset,\r\n      4 + indexOffset,\r\n      7 + indexOffset,\r\n      7 + indexOffset,\r\n      6 + indexOffset\r\n    );\r\n    vertices?.push(...topFacePos, ...bottomFacePos);\r\n    normals?.push(...topFacenormal!, ...bottomFaceNormal!);\r\n    uvs?.push(...uv!, ...uv!, ...uv!, ...uv!, ...uv!, ...uv!);\r\n    if (tangents) {\r\n      const pushFaceTangent = (tx: number, ty: number, tz: number) => {\r\n        tangents.push(tx, ty, tz, 1.0, tx, ty, tz, 1.0, tx, ty, tz, 1.0, tx, ty, tz, 1.0);\r\n      };\r\n      // Top (+Y): u -> +X\r\n      pushFaceTangent(+1, 0, 0);\r\n      // Front (+Z): u -> +X\r\n      pushFaceTangent(+1, 0, 0);\r\n      // Right (+X): u -> -Z\r\n      pushFaceTangent(0, 0, -1);\r\n      // Back (-Z): u -> -X\r\n      pushFaceTangent(-1, 0, 0);\r\n      // Left (-X): u -> +Z\r\n      pushFaceTangent(0, 0, +1);\r\n      // Bottom (-Y): u -> +X\r\n      pushFaceTangent(+1, 0, 0);\r\n    }\r\n    Shape._transform(options.transform, vertices, normals, start);\r\n    if (bbox || vertexCallback) {\r\n      for (let i = start; i < vertices.length - 2; i += 3) {\r\n        if (bbox) {\r\n          bbox.minPoint.x = Math.min(bbox.minPoint.x, vertices[i]);\r\n          bbox.minPoint.y = Math.min(bbox.minPoint.y, vertices[i + 1]);\r\n          bbox.minPoint.z = Math.min(bbox.minPoint.z, vertices[i + 2]);\r\n          bbox.maxPoint.x = Math.max(bbox.maxPoint.x, vertices[i]);\r\n          bbox.maxPoint.y = Math.max(bbox.maxPoint.y, vertices[i + 1]);\r\n          bbox.maxPoint.z = Math.max(bbox.maxPoint.z, vertices[i + 2]);\r\n        }\r\n        vertexCallback?.((i - start) / 3, vertices[i], vertices[i + 1], vertices[i + 2]);\r\n      }\r\n    }\r\n    return 'line-list' as const;\r\n  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package/dist/shapes/capsule.js

@@ -0,0 +1,216 @@
+import { Shape } from './shape.js';
+
+/**
+ * Capsule shape
+ * @public
+ */ class CapsuleShape extends Shape {
+    static _defaultOptions = {
+        ...Shape._defaultOptions,
+        radius: 1,
+        height: 1,
+        radialDetail: 20,
+        hemisphereDetail: 10,
+        heightDetail: 1,
+        anchor: 0.5
+    };
+    /**
+   * Creates an instance of capsule shape
+   * @param options - The creation options
+   */ constructor(options){
+        super(options);
+    }
+    clone() {
+        return new CapsuleShape(this._options);
+    }
+    /** type of the shape */ get type() {
+        return 'Capsule';
+    }
+    /** Capsule radius */ get radius() {
+        return this._options.radius ?? 1;
+    }
+    /** Capsule body height */ get height() {
+        return this._options.height ?? 1;
+    }
+    /** Capsule total height */ get totalHeight() {
+        return this.height + this.radius * 2;
+    }
+    /**
+   * {@inheritDoc Primitive.raycast}
+   * @override
+   *
+   * Analytically intersects a ray with a capsule aligned along the Y axis.
+   *
+   * The capsule consists of:
+   *   - A cylindrical body between y = bottomCenterY and y = topCenterY
+   *     (both at distance `radius` from the respective hemispheres).
+   *   - A bottom hemisphere centred at (0, bottomCenterY, 0).
+   *   - A top    hemisphere centred at (0, topCenterY,    0).
+   *
+   * The offset from the world origin is determined by the `anchor` parameter.
+   */ raycast(ray) {
+        const opt = this._options;
+        const radius = Math.abs(opt.radius ?? 1);
+        const height = Math.max(0, opt.height ?? 1);
+        const anchor = opt.anchor ?? 0.5;
+        const totalH = height + radius * 2;
+        const minY = -anchor * totalH;
+        const botY = minY + radius;
+        const topY = botY + height;
+        const ox = ray.origin.x;
+        const oy = ray.origin.y;
+        const oz = ray.origin.z;
+        const dx = ray.direction.x;
+        const dy = ray.direction.y;
+        const dz = ray.direction.z;
+        const r2 = radius * radius;
+        const eps = 1e-10;
+        let tMin = Infinity;
+        // Cylindrical body (only when height > 0)
+        if (height > eps) {
+            const A = dx * dx + dz * dz;
+            const B = 2 * (ox * dx + oz * dz);
+            const C = ox * ox + oz * oz - r2;
+            if (A > eps) {
+                const disc = B * B - 4 * A * C;
+                if (disc >= 0) {
+                    const sqrtDisc = Math.sqrt(disc);
+                    const inv2A = 1 / (2 * A);
+                    for (const sign of [
+                        -1,
+                        1
+                    ]){
+                        const t = (-B + sign * sqrtDisc) * inv2A;
+                        if (t >= 0) {
+                            const hitY = oy + t * dy;
+                            if (hitY >= botY - eps && hitY <= topY + eps) {
+                                tMin = Math.min(tMin, t);
+                            }
+                        }
+                    }
+                }
+            }
+        }
+        // Hemisphere helper
+        const testHemisphere = (cy, isTop)=>{
+            const ocy = oy - cy;
+            const A = dx * dx + dy * dy + dz * dz;
+            const B = 2 * (ox * dx + ocy * dy + oz * dz);
+            const C = ox * ox + ocy * ocy + oz * oz - r2;
+            const disc = B * B - 4 * A * C;
+            if (disc < 0) {
+                return;
+            }
+            const sqrtDisc = Math.sqrt(disc);
+            const inv2A = 1 / (2 * A);
+            for (const sign of [
+                -1,
+                1
+            ]){
+                const t = (-B + sign * sqrtDisc) * inv2A;
+                if (t < 0) {
+                    continue;
+                }
+                const hitY = oy + t * dy;
+                if (isTop ? hitY >= topY - eps : hitY <= botY + eps) {
+                    tMin = Math.min(tMin, t);
+                }
+            }
+        };
+        testHemisphere(botY, false);
+        testHemisphere(topY, true);
+        return isFinite(tMin) ? tMin : null;
+    }
+    /**
+   * Generates the data for the capsule shape
+   * @param vertices - vertex positions
+   * @param normals - vertex normals
+   * @param uvs - vertex uvs
+   * @param indices - vertex indices
+   */ static generateData(opt, vertices, normals, tangents, uvs, indices, bbox, indexOffset, vertexCallback) {
+        const options = Object.assign({}, this._defaultOptions, opt ?? {});
+        indexOffset = indexOffset ?? 0;
+        const start = vertices.length;
+        const radius = Math.abs(options.radius ?? 1);
+        const height = Math.max(0, options.height ?? 1);
+        const radialDetail = Math.max(3, Math.floor(options.radialDetail ?? 20));
+        const hemisphereDetail = Math.max(2, Math.floor(options.hemisphereDetail ?? 10));
+        const heightDetail = height > 0 ? Math.max(1, Math.floor(options.heightDetail ?? 1)) : 0;
+        const totalHeight = height + radius * 2;
+        const minY = -(options.anchor ?? 0.5) * totalHeight;
+        const bottomCenterY = minY + radius;
+        const topCenterY = bottomCenterY + height;
+        const rings = [];
+        const quarterPiStep = Math.PI / 2 / hemisphereDetail;
+        for(let i = 0; i <= hemisphereDetail; i++){
+            const theta = -Math.PI / 2 + i * quarterPiStep;
+            rings.push({
+                y: bottomCenterY + radius * Math.sin(theta),
+                radius: radius * Math.cos(theta),
+                normalScale: Math.cos(theta),
+                normalY: Math.sin(theta)
+            });
+        }
+        for(let i = 1; i < heightDetail; i++){
+            const t = i / heightDetail;
+            rings.push({
+                y: bottomCenterY + height * t,
+                radius,
+                normalScale: 1,
+                normalY: 0
+            });
+        }
+        for(let i = height > 0 ? 0 : 1; i <= hemisphereDetail; i++){
+            const theta = i * quarterPiStep;
+            rings.push({
+                y: topCenterY + radius * Math.sin(theta),
+                radius: radius * Math.cos(theta),
+                normalScale: Math.cos(theta),
+                normalY: Math.sin(theta)
+            });
+        }
+        const pushRing = (ring)=>{
+            const v = totalHeight > 0 ? (ring.y - minY) / totalHeight : 0.5;
+            for(let i = 0; i <= radialDetail; i++){
+                const u = i / radialDetail;
+                const theta = u * Math.PI * 2;
+                const sinTheta = Math.sin(theta);
+                const cosTheta = Math.cos(theta);
+                vertices.push(ring.radius * sinTheta, ring.y, ring.radius * cosTheta);
+                normals?.push(ring.normalScale * sinTheta, ring.normalY, ring.normalScale * cosTheta);
+                tangents?.push(ring.radius > 1e-6 ? cosTheta : 1, 0, ring.radius > 1e-6 ? -sinTheta : 0, 1);
+                uvs?.push(u, v);
+            }
+        };
+        for (const ring of rings){
+            pushRing(ring);
+        }
+        const stride = radialDetail + 1;
+        for(let y = 0; y < rings.length - 1; y++){
+            for(let x = 0; x < radialDetail; x++){
+                const bottomLeft = y * stride + x;
+                const bottomRight = bottomLeft + 1;
+                const topLeft = bottomLeft + stride;
+                const topRight = topLeft + 1;
+                indices.push(topLeft + indexOffset, bottomLeft + indexOffset, bottomRight + indexOffset, topLeft + indexOffset, bottomRight + indexOffset, topRight + indexOffset);
+            }
+        }
+        Shape._transform(options.transform, vertices, normals, start);
+        if (bbox || vertexCallback) {
+            for(let i = start; i < vertices.length - 2; i += 3){
+                if (bbox) {
+                    bbox.minPoint.x = Math.min(bbox.minPoint.x, vertices[i]);
+                    bbox.minPoint.y = Math.min(bbox.minPoint.y, vertices[i + 1]);
+                    bbox.minPoint.z = Math.min(bbox.minPoint.z, vertices[i + 2]);
+                    bbox.maxPoint.x = Math.max(bbox.maxPoint.x, vertices[i]);
+                    bbox.maxPoint.y = Math.max(bbox.maxPoint.y, vertices[i + 1]);
+                    bbox.maxPoint.z = Math.max(bbox.maxPoint.z, vertices[i + 2]);
+                }
+                vertexCallback?.((i - start) / 3, vertices[i], vertices[i + 1], vertices[i + 2]);
+            }
+        }
+        return 'triangle-list';
+    }
+}
+
+export { CapsuleShape };
+//# sourceMappingURL=capsule.js.map

package/dist/shapes/capsule.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"capsule.js","sources":["../../src/shapes/capsule.ts"],"sourcesContent":["import type { AABB, Clonable, Ray } from '@zephyr3d/base';\r\nimport type { ShapeCreationOptions } from './shape';\r\nimport { Shape } from './shape';\r\n\r\n/**\r\n * Creation options for capsule shape\r\n * @public\r\n */\r\nexport interface CapsuleCreationOptions extends ShapeCreationOptions {\r\n  /** Radius of the capsule hemispheres, default is 1 */\r\n  radius?: number;\r\n  /** Height of the cylindrical body between the two hemispheres, default is 1 */\r\n  height?: number;\r\n  /** Radial detail, default is 20 */\r\n  radialDetail?: number;\r\n  /** Vertical detail for each hemisphere, default is 10 */\r\n  hemisphereDetail?: number;\r\n  /** Vertical detail of the cylindrical body, default is 1 */\r\n  heightDetail?: number;\r\n  /**\r\n   * Anchor point along the capsule total height, default is 0.5.\r\n   * 0 puts the bottom tip at y=0, 0.5 centers the capsule at origin.\r\n   */\r\n  anchor?: number;\r\n}\r\n\r\ntype CapsuleRing = {\r\n  y: number;\r\n  radius: number;\r\n  normalScale: number;\r\n  normalY: number;\r\n};\r\n\r\n/**\r\n * Capsule shape\r\n * @public\r\n */\r\nexport class CapsuleShape extends Shape<CapsuleCreationOptions> implements Clonable<CapsuleShape> {\r\n  static _defaultOptions = {\r\n    ...Shape._defaultOptions,\r\n    radius: 1,\r\n    height: 1,\r\n    radialDetail: 20,\r\n    hemisphereDetail: 10,\r\n    heightDetail: 1,\r\n    anchor: 0.5\r\n  };\r\n  /**\r\n   * Creates an instance of capsule shape\r\n   * @param options - The creation options\r\n   */\r\n  constructor(options?: CapsuleCreationOptions) {\r\n    super(options);\r\n  }\r\n  clone() {\r\n    return new CapsuleShape(this._options) as this;\r\n  }\r\n  /** type of the shape */\r\n  get type() {\r\n    return 'Capsule' as const;\r\n  }\r\n  /** Capsule radius */\r\n  get radius() {\r\n    return this._options.radius ?? 1;\r\n  }\r\n  /** Capsule body height */\r\n  get height() {\r\n    return this._options.height ?? 1;\r\n  }\r\n  /** Capsule total height */\r\n  get totalHeight() {\r\n    return this.height + this.radius * 2;\r\n  }\r\n  /**\r\n   * {@inheritDoc Primitive.raycast}\r\n   * @override\r\n   *\r\n   * Analytically intersects a ray with a capsule aligned along the Y axis.\r\n   *\r\n   * The capsule consists of:\r\n   *   - A cylindrical body between y = bottomCenterY and y = topCenterY\r\n   *     (both at distance `radius` from the respective hemispheres).\r\n   *   - A bottom hemisphere centred at (0, bottomCenterY, 0).\r\n   *   - A top    hemisphere centred at (0, topCenterY,    0).\r\n   *\r\n   * The offset from the world origin is determined by the `anchor` parameter.\r\n   */\r\n  raycast(ray: Ray) {\r\n    const opt = this._options;\r\n    const radius = Math.abs(opt.radius ?? 1);\r\n    const height = Math.max(0, opt.height ?? 1);\r\n    const anchor = opt.anchor ?? 0.5;\r\n    const totalH = height + radius * 2;\r\n    const minY = -anchor * totalH;\r\n    const botY = minY + radius;\r\n    const topY = botY + height;\r\n\r\n    const ox = ray.origin.x;\r\n    const oy = ray.origin.y;\r\n    const oz = ray.origin.z;\r\n    const dx = ray.direction.x;\r\n    const dy = ray.direction.y;\r\n    const dz = ray.direction.z;\r\n    const r2 = radius * radius;\r\n    const eps = 1e-10;\r\n\r\n    let tMin = Infinity;\r\n\r\n    // Cylindrical body (only when height > 0)\r\n    if (height > eps) {\r\n      const A = dx * dx + dz * dz;\r\n      const B = 2 * (ox * dx + oz * dz);\r\n      const C = ox * ox + oz * oz - r2;\r\n      if (A > eps) {\r\n        const disc = B * B - 4 * A * C;\r\n        if (disc >= 0) {\r\n          const sqrtDisc = Math.sqrt(disc);\r\n          const inv2A = 1 / (2 * A);\r\n          for (const sign of [-1, 1]) {\r\n            const t = (-B + sign * sqrtDisc) * inv2A;\r\n            if (t >= 0) {\r\n              const hitY = oy + t * dy;\r\n              if (hitY >= botY - eps && hitY <= topY + eps) {\r\n                tMin = Math.min(tMin, t);\r\n              }\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n\r\n    // Hemisphere helper\r\n    const testHemisphere = (cy: number, isTop: boolean) => {\r\n      const ocy = oy - cy;\r\n      const A = dx * dx + dy * dy + dz * dz;\r\n      const B = 2 * (ox * dx + ocy * dy + oz * dz);\r\n      const C = ox * ox + ocy * ocy + oz * oz - r2;\r\n      const disc = B * B - 4 * A * C;\r\n      if (disc < 0) {\r\n        return;\r\n      }\r\n      const sqrtDisc = Math.sqrt(disc);\r\n      const inv2A = 1 / (2 * A);\r\n      for (const sign of [-1, 1]) {\r\n        const t = (-B + sign * sqrtDisc) * inv2A;\r\n        if (t < 0) {\r\n          continue;\r\n        }\r\n        const hitY = oy + t * dy;\r\n        if (isTop ? hitY >= topY - eps : hitY <= botY + eps) {\r\n          tMin = Math.min(tMin, t);\r\n        }\r\n      }\r\n    };\r\n\r\n    testHemisphere(botY, false);\r\n    testHemisphere(topY, true);\r\n\r\n    return isFinite(tMin) ? tMin : null;\r\n  }\r\n  /**\r\n   * Generates the data for the capsule shape\r\n   * @param vertices - vertex positions\r\n   * @param normals - vertex normals\r\n   * @param uvs - vertex uvs\r\n   * @param indices - vertex indices\r\n   */\r\n  static generateData(\r\n    opt: CapsuleCreationOptions,\r\n    vertices: number[],\r\n    normals: number[],\r\n    tangents: number[],\r\n    uvs: number[],\r\n    indices: number[],\r\n    bbox?: AABB,\r\n    indexOffset?: number,\r\n    vertexCallback?: (index: number, x: number, y: number, z: number) => void\r\n  ) {\r\n    const options = Object.assign({}, this._defaultOptions, opt ?? {});\r\n    indexOffset = indexOffset ?? 0;\r\n    const start = vertices.length;\r\n    const radius = Math.abs(options.radius ?? 1);\r\n    const height = Math.max(0, options.height ?? 1);\r\n    const radialDetail = Math.max(3, Math.floor(options.radialDetail ?? 20));\r\n    const hemisphereDetail = Math.max(2, Math.floor(options.hemisphereDetail ?? 10));\r\n    const heightDetail = height > 0 ? Math.max(1, Math.floor(options.heightDetail ?? 1)) : 0;\r\n    const totalHeight = height + radius * 2;\r\n    const minY = -(options.anchor ?? 0.5) * totalHeight;\r\n    const bottomCenterY = minY + radius;\r\n    const topCenterY = bottomCenterY + height;\r\n    const rings: CapsuleRing[] = [];\r\n    const quarterPiStep = Math.PI / 2 / hemisphereDetail;\r\n\r\n    for (let i = 0; i <= hemisphereDetail; i++) {\r\n      const theta = -Math.PI / 2 + i * quarterPiStep;\r\n      rings.push({\r\n        y: bottomCenterY + radius * Math.sin(theta),\r\n        radius: radius * Math.cos(theta),\r\n        normalScale: Math.cos(theta),\r\n        normalY: Math.sin(theta)\r\n      });\r\n    }\r\n\r\n    for (let i = 1; i < heightDetail; i++) {\r\n      const t = i / heightDetail;\r\n      rings.push({\r\n        y: bottomCenterY + height * t,\r\n        radius,\r\n        normalScale: 1,\r\n        normalY: 0\r\n      });\r\n    }\r\n\r\n    for (let i = height > 0 ? 0 : 1; i <= hemisphereDetail; i++) {\r\n      const theta = i * quarterPiStep;\r\n      rings.push({\r\n        y: topCenterY + radius * Math.sin(theta),\r\n        radius: radius * Math.cos(theta),\r\n        normalScale: Math.cos(theta),\r\n        normalY: Math.sin(theta)\r\n      });\r\n    }\r\n\r\n    const pushRing = (ring: CapsuleRing) => {\r\n      const v = totalHeight > 0 ? (ring.y - minY) / totalHeight : 0.5;\r\n      for (let i = 0; i <= radialDetail; i++) {\r\n        const u = i / radialDetail;\r\n        const theta = u * Math.PI * 2;\r\n        const sinTheta = Math.sin(theta);\r\n        const cosTheta = Math.cos(theta);\r\n        vertices.push(ring.radius * sinTheta, ring.y, ring.radius * cosTheta);\r\n        normals?.push(ring.normalScale * sinTheta, ring.normalY, ring.normalScale * cosTheta);\r\n        tangents?.push(ring.radius > 1e-6 ? cosTheta : 1, 0, ring.radius > 1e-6 ? -sinTheta : 0, 1);\r\n        uvs?.push(u, v);\r\n      }\r\n    };\r\n\r\n    for (const ring of rings) {\r\n      pushRing(ring);\r\n    }\r\n\r\n    const stride = radialDetail + 1;\r\n    for (let y = 0; y < rings.length - 1; y++) {\r\n      for (let x = 0; x < radialDetail; x++) {\r\n        const bottomLeft = y * stride + x;\r\n        const bottomRight = bottomLeft + 1;\r\n        const topLeft = bottomLeft + stride;\r\n        const topRight = topLeft + 1;\r\n        indices.push(\r\n          topLeft + indexOffset,\r\n          bottomLeft + indexOffset,\r\n          bottomRight + indexOffset,\r\n          topLeft + indexOffset,\r\n          bottomRight + indexOffset,\r\n          topRight + indexOffset\r\n        );\r\n      }\r\n    }\r\n\r\n    Shape._transform(options.transform, vertices, normals, start);\r\n    if (bbox || vertexCallback) {\r\n      for (let i = start; i < vertices.length - 2; i += 3) {\r\n        if (bbox) {\r\n          bbox.minPoint.x = Math.min(bbox.minPoint.x, vertices[i]);\r\n          bbox.minPoint.y = Math.min(bbox.minPoint.y, vertices[i + 1]);\r\n          bbox.minPoint.z = Math.min(bbox.minPoint.z, vertices[i + 2]);\r\n          bbox.maxPoint.x = Math.max(bbox.maxPoint.x, vertices[i]);\r\n          bbox.maxPoint.y = Math.max(bbox.maxPoint.y, vertices[i + 1]);\r\n          bbox.maxPoint.z = Math.max(bbox.maxPoint.z, vertices[i + 2]);\r\n        }\r\n        vertexCallback?.((i - start) / 3, vertices[i], vertices[i 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