@zephyr3d/scene 0.8.1 → 0.9.0

package/dist/shapes/tetrahedron.js.map

@@ -1 +1 @@
-{"version":3,"file":"tetrahedron.js","sources":["../../src/shapes/tetrahedron.ts"],"sourcesContent":["import { Vector3, type AABB, type Clonable } from '@zephyr3d/base';\r\nimport type { ShapeCreationOptions } from './shape';\r\nimport { Shape } from './shape';\r\n\r\n/**\r\n * Creation options for tetrahedron shape\r\n * @public\r\n */\r\nexport interface TetrahedronCreationOptions extends ShapeCreationOptions {\r\n  height?: number;\r\n  sizeX?: number;\r\n  sizeZ?: number;\r\n}\r\n\r\n/**\r\n * Tetrahedron shape\r\n * @public\r\n */\r\nexport class TetrahedronShape\r\n  extends Shape<TetrahedronCreationOptions>\r\n  implements Clonable<TetrahedronShape>\r\n{\r\n  static _defaultOptions = {\r\n    ...Shape._defaultOptions,\r\n    height: 1,\r\n    sizeX: 1,\r\n    sizeZ: 1\r\n  };\r\n\r\n  constructor(options?: TetrahedronCreationOptions) {\r\n    super(options);\r\n  }\r\n\r\n  clone() {\r\n    return new TetrahedronShape(this._options) as this;\r\n  }\r\n\r\n  get type() {\r\n    return 'Tetrahedron';\r\n  }\r\n\r\n  private static calculateTriangleNormal(v0: Vector3, v1: Vector3, v2: Vector3) {\r\n    const edge1 = Vector3.sub(v1, v0);\r\n    const edge2 = Vector3.sub(v2, v0);\r\n    return Vector3.normalize(Vector3.cross(edge1, edge2));\r\n  }\r\n\r\n  private static addTriangle(\r\n    v0: Vector3,\r\n    v1: Vector3,\r\n    v2: Vector3,\r\n    vertices: number[],\r\n    normals: number[],\r\n    tangents: number[],\r\n    uvs: number[],\r\n    indices: number[],\r\n    indexOffset: number,\r\n    currentVertexIndex: number\r\n  ) {\r\n    // Calculate normal\r\n    const normal = this.calculateTriangleNormal(v0, v1, v2);\r\n\r\n    // Add vertex\r\n    vertices.push(v0.x, v0.y, v0.z);\r\n    vertices.push(v1.x, v1.y, v1.z);\r\n    vertices.push(v2.x, v2.y, v2.z);\r\n\r\n    // Add normal\r\n    normals?.push(normal.x, normal.y, normal.z);\r\n    normals?.push(normal.x, normal.y, normal.z);\r\n    normals?.push(normal.x, normal.y, normal.z);\r\n\r\n    const uv0 = [0.5, 0];\r\n    const uv1 = [0, 1];\r\n    const uv2 = [1, 1];\r\n    // Add UV\r\n    uvs?.push(...uv0); // 顶点\r\n    uvs?.push(...uv1); // 左下\r\n    uvs?.push(...uv2); // 右下\r\n\r\n    if (tangents) {\r\n      const t = this.computeTangent(\r\n        [v0.x, v0.y, v0.z],\r\n        [v1.x, v1.y, v1.z],\r\n        [v2.x, v2.y, v2.z],\r\n        uv0,\r\n        uv1,\r\n        uv2,\r\n        [normal.x, normal.y, normal.z]\r\n      );\r\n      tangents.push(...t);\r\n      tangents.push(...t);\r\n      tangents.push(...t);\r\n    }\r\n\r\n    // Add index (CCW)\r\n    indices.push(indexOffset + currentVertexIndex);\r\n    indices.push(indexOffset + currentVertexIndex + 1);\r\n    indices.push(indexOffset + currentVertexIndex + 2);\r\n\r\n    return currentVertexIndex + 3;\r\n  }\r\n\r\n  static generateData(\r\n    opt: TetrahedronCreationOptions,\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\r\n    const height = options.height;\r\n    const sizeX = options.sizeX;\r\n    const sizeZ = options.sizeZ;\r\n\r\n    // Five vertices for the tetrahedron\r\n    const topVertex = new Vector3(0, height, 0);\r\n    const bottomVertices = [\r\n      new Vector3(sizeX, 0, sizeZ), // pxpz\r\n      new Vector3(sizeX, 0, -sizeZ), // pxnz\r\n      new Vector3(-sizeX, 0, -sizeZ), // nxnz\r\n      new Vector3(-sizeX, 0, sizeZ) // nxpz\r\n    ];\r\n\r\n    let _currentVertexIndex = 0;\r\n\r\n    // Right plane (top -> pxpz -> pxnz)\r\n    _currentVertexIndex = this.addTriangle(\r\n      topVertex,\r\n      bottomVertices[0], // pxpz\r\n      bottomVertices[1], // pxnz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Back plane (top -> pxnz -> nxnz)\r\n    _currentVertexIndex = this.addTriangle(\r\n      topVertex,\r\n      bottomVertices[1], // pxnz\r\n      bottomVertices[2], // nxnz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Left plane (top -> nxnz -> nxpz)\r\n    _currentVertexIndex = this.addTriangle(\r\n      topVertex,\r\n      bottomVertices[2], // nxnz\r\n      bottomVertices[3], // nxpz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Front plane (top -> nxpz -> pxpz)\r\n    _currentVertexIndex = this.addTriangle(\r\n      topVertex,\r\n      bottomVertices[3], // nxpz\r\n      bottomVertices[0], // pxpz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Bottom: split into two triangles\r\n    // triangle 1: pxpz -> nxpz -> pxnz\r\n    _currentVertexIndex = this.addTriangle(\r\n      bottomVertices[0], // pxpz\r\n      bottomVertices[3], // nxpz\r\n      bottomVertices[1], // pxnz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // triangle 2: pxnz -> nxpz -> nxnz\r\n    _currentVertexIndex = this.addTriangle(\r\n      bottomVertices[1], // pxnz\r\n      bottomVertices[3], // nxpz\r\n      bottomVertices[2], // nxnz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\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 + 1], vertices[i + 2]);\r\n      }\r\n    }\r\n\r\n    return 'triangle-list' as const;\r\n  }\r\n}\r\n\r\n/**\r\n * Tetrahedron shape\r\n * @public\r\n */\r\nexport class TetrahedronFrameShape\r\n  extends Shape<TetrahedronCreationOptions>\r\n  implements Clonable<TetrahedronShape>\r\n{\r\n  static _defaultOptions = {\r\n    ...Shape._defaultOptions,\r\n    height: 1,\r\n    sizeX: 1,\r\n    sizeZ: 1\r\n  };\r\n\r\n  constructor(options?: TetrahedronCreationOptions) {\r\n    super(options);\r\n  }\r\n\r\n  clone() {\r\n    return new TetrahedronShape(this._options) as this;\r\n  }\r\n\r\n  get type() {\r\n    return 'TetrahedronFrame' as const;\r\n  }\r\n\r\n  private static calculateTriangleNormal(v0: Vector3, v1: Vector3, v2: Vector3) {\r\n    const edge1 = Vector3.sub(v1, v0);\r\n    const edge2 = Vector3.sub(v2, v0);\r\n    return Vector3.normalize(Vector3.cross(edge1, edge2));\r\n  }\r\n\r\n  private static addLines(\r\n    v0: Vector3,\r\n    v1: Vector3,\r\n    v2: Vector3,\r\n    vertices: number[],\r\n    normals: number[],\r\n    tangents: number[],\r\n    uvs: number[],\r\n    indices: number[],\r\n    indexOffset: number,\r\n    currentVertexIndex: number\r\n  ) {\r\n    // Calculate normal\r\n    const normal = this.calculateTriangleNormal(v0, v1, v2);\r\n\r\n    // Add vertex\r\n    vertices.push(v0.x, v0.y, v0.z);\r\n    vertices.push(v1.x, v1.y, v1.z);\r\n    vertices.push(v2.x, v2.y, v2.z);\r\n\r\n    // Add normal\r\n    normals?.push(normal.x, normal.y, normal.z);\r\n    normals?.push(normal.x, normal.y, normal.z);\r\n    normals?.push(normal.x, normal.y, normal.z);\r\n\r\n    // Add UV\r\n    const uv0 = [0.5, 0];\r\n    const uv1 = [0, 1];\r\n    const uv2 = [1, 1];\r\n    uvs?.push(...uv0);\r\n    uvs?.push(...uv1);\r\n    uvs?.push(...uv2);\r\n\r\n    // Add tangents\r\n    if (tangents) {\r\n      const t = this.computeTangent(\r\n        [v0.x, v0.y, v0.z],\r\n        [v1.x, v1.y, v1.z],\r\n        [v2.x, v2.y, v2.z],\r\n        uv0,\r\n        uv1,\r\n        uv2,\r\n        [normal.x, normal.y, normal.z]\r\n      );\r\n      tangents.push(...t);\r\n      tangents.push(...t);\r\n      tangents.push(...t);\r\n    }\r\n\r\n    // Add index\r\n    indices.push(indexOffset + currentVertexIndex);\r\n    indices.push(indexOffset + currentVertexIndex + 1);\r\n    indices.push(indexOffset + currentVertexIndex + 1);\r\n    indices.push(indexOffset + currentVertexIndex + 2);\r\n    indices.push(indexOffset + currentVertexIndex + 2);\r\n    indices.push(indexOffset + currentVertexIndex);\r\n\r\n    return currentVertexIndex + 3;\r\n  }\r\n\r\n  static generateData(\r\n    opt: TetrahedronCreationOptions,\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\r\n    const height = options.height;\r\n    const sizeX = options.sizeX;\r\n    const sizeZ = options.sizeZ;\r\n\r\n    // Five vertices for the tetrahedron\r\n    const topVertex = new Vector3(0, height, 0);\r\n    const bottomVertices = [\r\n      new Vector3(sizeX, 0, sizeZ), // pxpz\r\n      new Vector3(sizeX, 0, -sizeZ), // pxnz\r\n      new Vector3(-sizeX, 0, -sizeZ), // nxnz\r\n      new Vector3(-sizeX, 0, sizeZ) // nxpz\r\n    ];\r\n\r\n    let _currentVertexIndex = 0;\r\n\r\n    // Right plane (top -> pxpz -> pxnz)\r\n    _currentVertexIndex = this.addLines(\r\n      topVertex,\r\n      bottomVertices[0], // pxpz\r\n      bottomVertices[1], // pxnz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Back plane (top -> pxnz -> nxnz)\r\n    _currentVertexIndex = this.addLines(\r\n      topVertex,\r\n      bottomVertices[1], // pxnz\r\n      bottomVertices[2], // nxnz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Left plane (top -> nxnz -> nxpz)\r\n    _currentVertexIndex = this.addLines(\r\n      topVertex,\r\n      bottomVertices[2], // nxnz\r\n      bottomVertices[3], // nxpz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Front plane (top -> nxpz -> pxpz)\r\n    _currentVertexIndex = this.addLines(\r\n      topVertex,\r\n      bottomVertices[3], // nxpz\r\n      bottomVertices[0], // pxpz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\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, 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+{"version":3,"file":"tetrahedron.js","sources":["../../src/shapes/tetrahedron.ts"],"sourcesContent":["import { Vector3, type AABB, type Clonable, type Ray } from '@zephyr3d/base';\r\nimport type { ShapeCreationOptions } from './shape';\r\nimport { Shape } from './shape';\r\n\r\n/**\r\n * Creation options for tetrahedron shape\r\n * @public\r\n */\r\nexport interface TetrahedronCreationOptions extends ShapeCreationOptions {\r\n  height?: number;\r\n  sizeX?: number;\r\n  sizeZ?: number;\r\n}\r\n\r\n/**\r\n * Tetrahedron shape\r\n * @public\r\n */\r\nexport class TetrahedronShape\r\n  extends Shape<TetrahedronCreationOptions>\r\n  implements Clonable<TetrahedronShape>\r\n{\r\n  static _defaultOptions = {\r\n    ...Shape._defaultOptions,\r\n    height: 1,\r\n    sizeX: 1,\r\n    sizeZ: 1\r\n  };\r\n\r\n  constructor(options?: TetrahedronCreationOptions) {\r\n    super(options);\r\n  }\r\n\r\n  clone() {\r\n    return new TetrahedronShape(this._options) as this;\r\n  }\r\n\r\n  get type() {\r\n    return 'Tetrahedron';\r\n  }\r\n\r\n  /**\r\n   * {@inheritDoc Primitive.raycast}\r\n   * @override\r\n   *\r\n   * Tests each triangular face of the tetrahedron with the Möller–Trumbore\r\n   * algorithm and returns the smallest non-negative t.\r\n   */\r\n  raycast(ray: Ray) {\r\n    const opt = this._options;\r\n    const height = opt.height ?? 1;\r\n    const sizeX = opt.sizeX ?? 1;\r\n    const sizeZ = opt.sizeZ ?? 1;\r\n\r\n    const top = [0, height, 0] as const;\r\n    const p0 = [sizeX, 0, sizeZ] as const; // pxpz\r\n    const p1 = [sizeX, 0, -sizeZ] as const; // pxnz\r\n    const p2 = [-sizeX, 0, -sizeZ] as const; // nxnz\r\n    const p3 = [-sizeX, 0, sizeZ] as const; // nxpz\r\n\r\n    // All six faces (4 side triangles + 2 bottom triangles)\r\n    const faces: [\r\n      readonly [number, number, number],\r\n      readonly [number, number, number],\r\n      readonly [number, number, number]\r\n    ][] = [\r\n      [top, p0, p1], // right\r\n      [top, p1, p2], // back\r\n      [top, p2, p3], // left\r\n      [top, p3, p0], // front\r\n      [p0, p3, p1], // bottom tri 1: pxpz -> nxpz -> pxnz\r\n      [p1, p3, p2] // bottom tri 2: pxnz -> nxpz -> nxnz\r\n    ];\r\n\r\n    let tMin = Infinity;\r\n    for (const [v0, v1, v2] of faces) {\r\n      const t = TetrahedronShape._rayTriangle(ray, v0, v1, v2);\r\n      if (t !== null && t < tMin) {\r\n        tMin = t;\r\n      }\r\n    }\r\n    return isFinite(tMin) ? tMin : null;\r\n  }\r\n\r\n  /**\r\n   * @internal Möller–Trumbore ray-triangle intersection.\r\n   * Returns t >= 0 on hit, null otherwise.\r\n   */\r\n  private static _rayTriangle(\r\n    ray: Ray,\r\n    v0: readonly [number, number, number],\r\n    v1: readonly [number, number, number],\r\n    v2: readonly [number, number, number]\r\n  ): number | null {\r\n    const eps = 1e-8;\r\n    const e1x = v1[0] - v0[0],\r\n      e1y = v1[1] - v0[1],\r\n      e1z = v1[2] - v0[2];\r\n    const e2x = v2[0] - v0[0],\r\n      e2y = v2[1] - v0[1],\r\n      e2z = v2[2] - v0[2];\r\n    const dx = ray.direction.x,\r\n      dy = ray.direction.y,\r\n      dz = ray.direction.z;\r\n    // h = D × e2\r\n    const hx = dy * e2z - dz * e2y;\r\n    const hy = dz * e2x - dx * e2z;\r\n    const hz = dx * e2y - dy * e2x;\r\n    const det = e1x * hx + e1y * hy + e1z * hz;\r\n    if (Math.abs(det) < eps) {\r\n      return null;\r\n    }\r\n    const invDet = 1 / det;\r\n    const sx = ray.origin.x - v0[0];\r\n    const sy = ray.origin.y - v0[1];\r\n    const sz = ray.origin.z - v0[2];\r\n    const u = (sx * hx + sy * hy + sz * hz) * invDet;\r\n    if (u < 0 || u > 1) {\r\n      return null;\r\n    }\r\n    // q = s × e1\r\n    const qx = sy * e1z - sz * e1y;\r\n    const qy = sz * e1x - sx * e1z;\r\n    const qz = sx * e1y - sy * e1x;\r\n    const v = (dx * qx + dy * qy + dz * qz) * invDet;\r\n    if (v < 0 || u + v > 1) {\r\n      return null;\r\n    }\r\n    const t = (e2x * qx + e2y * qy + e2z * qz) * invDet;\r\n    return t >= 0 ? t : null;\r\n  }\r\n\r\n  private static calculateTriangleNormal(v0: Vector3, v1: Vector3, v2: Vector3) {\r\n    const edge1 = Vector3.sub(v1, v0);\r\n    const edge2 = Vector3.sub(v2, v0);\r\n    return Vector3.normalize(Vector3.cross(edge1, edge2));\r\n  }\r\n\r\n  private static addTriangle(\r\n    v0: Vector3,\r\n    v1: Vector3,\r\n    v2: Vector3,\r\n    vertices: number[],\r\n    normals: number[],\r\n    tangents: number[],\r\n    uvs: number[],\r\n    indices: number[],\r\n    indexOffset: number,\r\n    currentVertexIndex: number\r\n  ) {\r\n    // Calculate normal\r\n    const normal = this.calculateTriangleNormal(v0, v1, v2);\r\n\r\n    // Add vertex\r\n    vertices.push(v0.x, v0.y, v0.z);\r\n    vertices.push(v1.x, v1.y, v1.z);\r\n    vertices.push(v2.x, v2.y, v2.z);\r\n\r\n    // Add normal\r\n    normals?.push(normal.x, normal.y, normal.z);\r\n    normals?.push(normal.x, normal.y, normal.z);\r\n    normals?.push(normal.x, normal.y, normal.z);\r\n\r\n    const uv0 = [0.5, 0];\r\n    const uv1 = [0, 1];\r\n    const uv2 = [1, 1];\r\n    // Add UV\r\n    uvs?.push(...uv0); // 顶点\r\n    uvs?.push(...uv1); // 左下\r\n    uvs?.push(...uv2); // 右下\r\n\r\n    if (tangents) {\r\n      const t = this.computeTangent(\r\n        [v0.x, v0.y, v0.z],\r\n        [v1.x, v1.y, v1.z],\r\n        [v2.x, v2.y, v2.z],\r\n        uv0,\r\n        uv1,\r\n        uv2,\r\n        [normal.x, normal.y, normal.z]\r\n      );\r\n      tangents.push(...t);\r\n      tangents.push(...t);\r\n      tangents.push(...t);\r\n    }\r\n\r\n    // Add index (CCW)\r\n    indices.push(indexOffset + currentVertexIndex);\r\n    indices.push(indexOffset + currentVertexIndex + 1);\r\n    indices.push(indexOffset + currentVertexIndex + 2);\r\n\r\n    return currentVertexIndex + 3;\r\n  }\r\n\r\n  static generateData(\r\n    opt: TetrahedronCreationOptions,\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\r\n    const height = options.height;\r\n    const sizeX = options.sizeX;\r\n    const sizeZ = options.sizeZ;\r\n\r\n    // Five vertices for the tetrahedron\r\n    const topVertex = new Vector3(0, height, 0);\r\n    const bottomVertices = [\r\n      new Vector3(sizeX, 0, sizeZ), // pxpz\r\n      new Vector3(sizeX, 0, -sizeZ), // pxnz\r\n      new Vector3(-sizeX, 0, -sizeZ), // nxnz\r\n      new Vector3(-sizeX, 0, sizeZ) // nxpz\r\n    ];\r\n\r\n    let _currentVertexIndex = 0;\r\n\r\n    // Right plane (top -> pxpz -> pxnz)\r\n    _currentVertexIndex = this.addTriangle(\r\n      topVertex,\r\n      bottomVertices[0], // pxpz\r\n      bottomVertices[1], // pxnz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Back plane (top -> pxnz -> nxnz)\r\n    _currentVertexIndex = this.addTriangle(\r\n      topVertex,\r\n      bottomVertices[1], // pxnz\r\n      bottomVertices[2], // nxnz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Left plane (top -> nxnz -> nxpz)\r\n    _currentVertexIndex = this.addTriangle(\r\n      topVertex,\r\n      bottomVertices[2], // nxnz\r\n      bottomVertices[3], // nxpz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Front plane (top -> nxpz -> pxpz)\r\n    _currentVertexIndex = this.addTriangle(\r\n      topVertex,\r\n      bottomVertices[3], // nxpz\r\n      bottomVertices[0], // pxpz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Bottom: split into two triangles\r\n    // triangle 1: pxpz -> nxpz -> pxnz\r\n    _currentVertexIndex = this.addTriangle(\r\n      bottomVertices[0], // pxpz\r\n      bottomVertices[3], // nxpz\r\n      bottomVertices[1], // pxnz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // triangle 2: pxnz -> nxpz -> nxnz\r\n    _currentVertexIndex = this.addTriangle(\r\n      bottomVertices[1], // pxnz\r\n      bottomVertices[3], // nxpz\r\n      bottomVertices[2], // nxnz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\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 + 1], vertices[i + 2]);\r\n      }\r\n    }\r\n\r\n    return 'triangle-list' as const;\r\n  }\r\n}\r\n\r\n/**\r\n * Tetrahedron shape\r\n * @public\r\n */\r\nexport class TetrahedronFrameShape\r\n  extends Shape<TetrahedronCreationOptions>\r\n  implements Clonable<TetrahedronShape>\r\n{\r\n  static _defaultOptions = {\r\n    ...Shape._defaultOptions,\r\n    height: 1,\r\n    sizeX: 1,\r\n    sizeZ: 1\r\n  };\r\n\r\n  constructor(options?: TetrahedronCreationOptions) {\r\n    super(options);\r\n  }\r\n\r\n  clone() {\r\n    return new TetrahedronShape(this._options) as this;\r\n  }\r\n\r\n  get type() {\r\n    return 'TetrahedronFrame' as const;\r\n  }\r\n\r\n  /**\r\n   * {@inheritDoc Primitive.raycast}\r\n   * @override\r\n   *\r\n   * Tests each triangular face of the tetrahedron with the Möller–Trumbore\r\n   * algorithm and returns the smallest non-negative t.\r\n   * The wireframe has the same overall geometry as the solid version.\r\n   */\r\n  raycast(ray: Ray) {\r\n    const opt = this._options;\r\n    const height = opt.height ?? 1;\r\n    const sizeX = opt.sizeX ?? 1;\r\n    const sizeZ = opt.sizeZ ?? 1;\r\n\r\n    const top = [0, height, 0] as const;\r\n    const p0 = [sizeX, 0, sizeZ] as const;\r\n    const p1 = [sizeX, 0, -sizeZ] as const;\r\n    const p2 = [-sizeX, 0, -sizeZ] as const;\r\n    const p3 = [-sizeX, 0, sizeZ] as const;\r\n\r\n    const faces: [\r\n      readonly [number, number, number],\r\n      readonly [number, number, number],\r\n      readonly [number, number, number]\r\n    ][] = [\r\n      [top, p0, p1],\r\n      [top, p1, p2],\r\n      [top, p2, p3],\r\n      [top, p3, p0]\r\n    ];\r\n\r\n    let tMin = Infinity;\r\n    for (const [v0, v1, v2] of faces) {\r\n      const t = TetrahedronFrameShape._rayTriangle(ray, v0, v1, v2);\r\n      if (t !== null && t < tMin) {\r\n        tMin = t;\r\n      }\r\n    }\r\n    return isFinite(tMin) ? tMin : null;\r\n  }\r\n\r\n  /** @internal Möller–Trumbore ray-triangle intersection */\r\n  private static _rayTriangle(\r\n    ray: Ray,\r\n    v0: readonly [number, number, number],\r\n    v1: readonly [number, number, number],\r\n    v2: readonly [number, number, number]\r\n  ): number | null {\r\n    const eps = 1e-8;\r\n    const e1x = v1[0] - v0[0],\r\n      e1y = v1[1] - v0[1],\r\n      e1z = v1[2] - v0[2];\r\n    const e2x = v2[0] - v0[0],\r\n      e2y = v2[1] - v0[1],\r\n      e2z = v2[2] - v0[2];\r\n    const dx = ray.direction.x,\r\n      dy = ray.direction.y,\r\n      dz = ray.direction.z;\r\n    const hx = dy * e2z - dz * e2y;\r\n    const hy = dz * e2x - dx * e2z;\r\n    const hz = dx * e2y - dy * e2x;\r\n    const det = e1x * hx + e1y * hy + e1z * hz;\r\n    if (Math.abs(det) < eps) {\r\n      return null;\r\n    }\r\n    const invDet = 1 / det;\r\n    const sx = ray.origin.x - v0[0];\r\n    const sy = ray.origin.y - v0[1];\r\n    const sz = ray.origin.z - v0[2];\r\n    const u = (sx * hx + sy * hy + sz * hz) * invDet;\r\n    if (u < 0 || u > 1) {\r\n      return null;\r\n    }\r\n    const qx = sy * e1z - sz * e1y;\r\n    const qy = sz * e1x - sx * e1z;\r\n    const qz = sx * e1y - sy * e1x;\r\n    const v = (dx * qx + dy * qy + dz * qz) * invDet;\r\n    if (v < 0 || u + v > 1) {\r\n      return null;\r\n    }\r\n    const t = (e2x * qx + e2y * qy + e2z * qz) * invDet;\r\n    return t >= 0 ? t : null;\r\n  }\r\n\r\n  private static calculateTriangleNormal(v0: Vector3, v1: Vector3, v2: Vector3) {\r\n    const edge1 = Vector3.sub(v1, v0);\r\n    const edge2 = Vector3.sub(v2, v0);\r\n    return Vector3.normalize(Vector3.cross(edge1, edge2));\r\n  }\r\n\r\n  private static addLines(\r\n    v0: Vector3,\r\n    v1: Vector3,\r\n    v2: Vector3,\r\n    vertices: number[],\r\n    normals: number[],\r\n    tangents: number[],\r\n    uvs: number[],\r\n    indices: number[],\r\n    indexOffset: number,\r\n    currentVertexIndex: number\r\n  ) {\r\n    // Calculate normal\r\n    const normal = this.calculateTriangleNormal(v0, v1, v2);\r\n\r\n    // Add vertex\r\n    vertices.push(v0.x, v0.y, v0.z);\r\n    vertices.push(v1.x, v1.y, v1.z);\r\n    vertices.push(v2.x, v2.y, v2.z);\r\n\r\n    // Add normal\r\n    normals?.push(normal.x, normal.y, normal.z);\r\n    normals?.push(normal.x, normal.y, normal.z);\r\n    normals?.push(normal.x, normal.y, normal.z);\r\n\r\n    // Add UV\r\n    const uv0 = [0.5, 0];\r\n    const uv1 = [0, 1];\r\n    const uv2 = [1, 1];\r\n    uvs?.push(...uv0);\r\n    uvs?.push(...uv1);\r\n    uvs?.push(...uv2);\r\n\r\n    // Add tangents\r\n    if (tangents) {\r\n      const t = this.computeTangent(\r\n        [v0.x, v0.y, v0.z],\r\n        [v1.x, v1.y, v1.z],\r\n        [v2.x, v2.y, v2.z],\r\n        uv0,\r\n        uv1,\r\n        uv2,\r\n        [normal.x, normal.y, normal.z]\r\n      );\r\n      tangents.push(...t);\r\n      tangents.push(...t);\r\n      tangents.push(...t);\r\n    }\r\n\r\n    // Add index\r\n    indices.push(indexOffset + currentVertexIndex);\r\n    indices.push(indexOffset + currentVertexIndex + 1);\r\n    indices.push(indexOffset + currentVertexIndex + 1);\r\n    indices.push(indexOffset + currentVertexIndex + 2);\r\n    indices.push(indexOffset + currentVertexIndex + 2);\r\n    indices.push(indexOffset + currentVertexIndex);\r\n\r\n    return currentVertexIndex + 3;\r\n  }\r\n\r\n  static generateData(\r\n    opt: TetrahedronCreationOptions,\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\r\n    const height = options.height;\r\n    const sizeX = options.sizeX;\r\n    const sizeZ = options.sizeZ;\r\n\r\n    // Five vertices for the tetrahedron\r\n    const topVertex = new Vector3(0, height, 0);\r\n    const bottomVertices = [\r\n      new Vector3(sizeX, 0, sizeZ), // pxpz\r\n      new Vector3(sizeX, 0, -sizeZ), // pxnz\r\n      new Vector3(-sizeX, 0, -sizeZ), // nxnz\r\n      new Vector3(-sizeX, 0, sizeZ) // nxpz\r\n    ];\r\n\r\n    let _currentVertexIndex = 0;\r\n\r\n    // Right plane (top -> pxpz -> pxnz)\r\n    _currentVertexIndex = this.addLines(\r\n      topVertex,\r\n      bottomVertices[0], // pxpz\r\n      bottomVertices[1], // pxnz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Back plane (top -> pxnz -> nxnz)\r\n    _currentVertexIndex = this.addLines(\r\n      topVertex,\r\n      bottomVertices[1], // pxnz\r\n      bottomVertices[2], // nxnz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Left plane (top -> nxnz -> nxpz)\r\n    _currentVertexIndex = this.addLines(\r\n      topVertex,\r\n      bottomVertices[2], // nxnz\r\n      bottomVertices[3], // nxpz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\r\n    );\r\n\r\n    // Front plane (top -> nxpz -> pxpz)\r\n    _currentVertexIndex = this.addLines(\r\n      topVertex,\r\n      bottomVertices[3], // nxpz\r\n      bottomVertices[0], // pxpz\r\n      vertices,\r\n      normals,\r\n      tangents,\r\n      uvs,\r\n      indices,\r\n      indexOffset,\r\n      _currentVertexIndex\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 + 1], vertices[i + 2]);\r\n      }\r\n    }\r\n\r\n    return 'line-list' as const;\r\n  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package/dist/shapes/torus.js

@@ -41,6 +41,179 @@ Triangle(n, m) = (VIndex(n, m), VIndex(n+1, m), VIndex(n+1, m+1), VIndex(n, m),
         return 'Torus';
     }
     /**
+   * {@inheritDoc Primitive.raycast}
+   * @override
+   *
+   * Analytically intersects a ray with a torus lying in the XZ plane.
+   * The torus has major radius R (outerRadius) and minor radius r (innerRadius).
+   *
+   * Equation of torus: (x²+y²+z²+R²-r²)² = 4R²(x²+z²)
+   * Substituting ray P(t) = O + t*D leads to a quartic in t which is solved
+   * with Ferrari's method.
+   */ raycast(ray) {
+        const R = this._options.outerRadius ?? 1; // major radius
+        const r = this._options.innerRadius ?? 0.3; // minor radius
+        const ox = ray.origin.x, oy = ray.origin.y, oz = ray.origin.z;
+        const dx = ray.direction.x, dy = ray.direction.y, dz = ray.direction.z;
+        // Let  f = |O|² + R² - r²
+        //      g = O·D           (dot product)
+        //      h = |D|²  (should be 1 for a normalised direction, kept general)
+        // Quartic: (h*t² + 2g*t + f)² = 4R²*((dx*t+ox)² + (dz*t+oz)²)
+        // Expand into  c4*t^4 + c3*t^3 + c2*t^2 + c1*t + c0 = 0
+        const OO = ox * ox + oy * oy + oz * oz;
+        const OD = ox * dx + oy * dy + oz * dz;
+        const DD = dx * dx + dy * dy + dz * dz;
+        const f = OO + R * R - r * r;
+        const g = OD;
+        const h = DD;
+        // XZ components only (for the 4R²(x²+z²) term)
+        const oxz2 = ox * ox + oz * oz; // ox² + oz²
+        const odxz = ox * dx + oz * dz; // ox*dx + oz*dz
+        const dxz2 = dx * dx + dz * dz; // dx² + dz²
+        // Quartic coefficients (from expanding both sides)
+        const R2 = 4 * R * R;
+        const c4 = h * h;
+        const c3 = 4 * h * g;
+        const c2 = 2 * h * f + 4 * g * g - R2 * dxz2;
+        const c1 = 4 * g * f - 2 * R2 * odxz;
+        const c0 = f * f - R2 * oxz2;
+        // Solve quartic c4*t^4 + c3*t^3 + c2*t^2 + c1*t + c0 = 0
+        const roots = TorusShape._solveQuartic(c4, c3, c2, c1, c0);
+        let tMin = Infinity;
+        for (const t of roots){
+            if (t >= 0 && t < tMin) {
+                tMin = t;
+            }
+        }
+        return isFinite(tMin) ? tMin : null;
+    }
+    /** @internal Solve quartic a*t^4+b*t^3+c*t^2+d*t+e=0, returns real roots */ static _solveQuartic(a, b, c, d, e) {
+        const eps = 1e-8;
+        if (Math.abs(a) < eps) {
+            return TorusShape._solveCubic(b, c, d, e);
+        }
+        // Depress quartic: divide by a and substitute t = u - b/(4a)
+        const inv_a = 1 / a;
+        const B = b * inv_a;
+        const C = c * inv_a;
+        const D = d * inv_a;
+        const E = e * inv_a;
+        const p = C - 3 / 8 * B * B;
+        const q = B * B * B / 8 - B * C / 2 + D;
+        const r2 = -3 / 256 * B * B * B * B + B * B * C / 16 - B * D / 4 + E;
+        let roots;
+        if (Math.abs(q) < eps) {
+            // Biquadratic: u^4 + p*u^2 + r2 = 0
+            const disc = p * p - 4 * r2;
+            if (disc < 0) {
+                return [];
+            }
+            const sqrtDisc = Math.sqrt(disc);
+            roots = [];
+            for (const sign of [
+                -1,
+                1
+            ]){
+                const w2 = (-p + sign * sqrtDisc) / 2;
+                if (w2 >= 0) {
+                    const w = Math.sqrt(w2);
+                    roots.push(w, -w);
+                }
+            }
+        } else {
+            // Ferrari: find a real root of the resolvent cubic
+            //   8m^3 + 8p*m^2 + (2p^2-8r2)*m - q^2 = 0
+            const cubicRoots = TorusShape._solveCubic(8, 8 * p, 2 * p * p - 8 * r2, -q * q);
+            // Pick the largest real root
+            let m = -Infinity;
+            for (const cr of cubicRoots){
+                if (cr > m) {
+                    m = cr;
+                }
+            }
+            if (!isFinite(m)) {
+                return [];
+            }
+            const sqrtM = m >= 0 ? Math.sqrt(m) : 0;
+            const disc1 = -(p + 2 * m) + q / (sqrtM + eps);
+            const disc2 = -(p + 2 * m) - q / (sqrtM + eps);
+            roots = [];
+            if (disc1 >= 0) {
+                const s = Math.sqrt(disc1);
+                roots.push(sqrtM + s, sqrtM - s);
+            }
+            if (disc2 >= 0) {
+                const s = Math.sqrt(disc2);
+                roots.push(-sqrtM + s, -sqrtM - s);
+            }
+        }
+        // Un-depress: t = u - B/4
+        const shift = B / 4;
+        return roots.map((u)=>u - shift);
+    }
+    /** @internal Solve cubic a*t^3+b*t^2+c*t+d=0, returns real roots (Cardano) */ static _solveCubic(a, b, c, d) {
+        const eps = 1e-8;
+        if (Math.abs(a) < eps) {
+            return TorusShape._solveQuadratic(b, c, d);
+        }
+        const inv_a = 1 / a;
+        const B = b * inv_a;
+        const C = c * inv_a;
+        const D = d * inv_a;
+        const p = C - B * B / 3;
+        const q = 2 * B * B * B / 27 - B * C / 3 + D;
+        const disc = q * q / 4 + p * p * p / 27;
+        const shift = -B / 3;
+        if (disc > eps) {
+            const sqrtDisc = Math.sqrt(disc);
+            const u = Math.cbrt(-q / 2 + sqrtDisc);
+            const v = Math.cbrt(-q / 2 - sqrtDisc);
+            return [
+                u + v + shift
+            ];
+        } else if (disc < -1e-8) {
+            const r = Math.sqrt(-p * p * p / 27);
+            const theta = Math.acos(Math.max(-1, Math.min(1, -q / (2 * r))));
+            const rCbrt = Math.cbrt(r);
+            return [
+                2 * rCbrt * Math.cos(theta / 3) + shift,
+                2 * rCbrt * Math.cos((theta + 2 * Math.PI) / 3) + shift,
+                2 * rCbrt * Math.cos((theta + 4 * Math.PI) / 3) + shift
+            ];
+        } else {
+            const u = Math.cbrt(-q / 2);
+            return [
+                2 * u + shift,
+                -u + shift
+            ];
+        }
+    }
+    /** @internal Solve quadratic a*t^2+b*t+c=0 */ static _solveQuadratic(a, b, c) {
+        const eps = 1e-8;
+        if (Math.abs(a) < eps) {
+            if (Math.abs(b) < eps) {
+                return [];
+            }
+            return [
+                -c / b
+            ];
+        }
+        const disc = b * b - 4 * a * c;
+        if (disc < 0) {
+            return [];
+        }
+        if (disc < eps) {
+            return [
+                -b / (2 * a)
+            ];
+        }
+        const s = Math.sqrt(disc);
+        return [
+            (-b - s) / (2 * a),
+            (-b + s) / (2 * a)
+        ];
+    }
+    /**
    * Generates the data for the torus shape
    * @param vertices - vertex positions
    * @param normals - vertex normals

package/dist/shapes/torus.js.map

@@ -1 +1 @@
-{"version":3,"file":"torus.js","sources":["../../src/shapes/torus.ts"],"sourcesContent":["import type { AABB, Clonable } from '@zephyr3d/base';\r\nimport type { ShapeCreationOptions } from './shape';\r\nimport { Shape } from './shape';\r\n\r\n/**\r\n * Creation options for torus shape\r\n * @public\r\n */\r\nexport interface TorusCreationOptions extends ShapeCreationOptions {\r\n  /** Slice count, default is 40 **/\r\n  numSlices?: number;\r\n  /** Segment count, default is 16 */\r\n  numSegments?: number;\r\n  /** Outer radius, default is 10 */\r\n  outerRadius?: number;\r\n  /** Inner radius, default is 3 */\r\n  innerRadius?: number;\r\n  /** Radial detail, default is 20*/\r\n  radialDetail?: number;\r\n}\r\n\r\n/*\r\nN slices\r\nM sides\r\nOR outter radius\r\nIR  inner radius\r\nUp (0, 1, 0)\r\n\r\nC(n) = (cos((n/N) * TwoPI) * OR, 0, sin((n/N) * twoPI * OR);\r\nTheta = m/M * TwoPI\r\nV(n, m) = C(n) * (1 + IR * cos(Theta) / OR) + Up * IR * sin(Theta)\r\nN(n, m) = normalize(V(n, m) - C(n))\r\nTC(n, m) = (m / M, n / N)\r\n\r\nVIndex(n, m) = n * (M + 1) + m\r\nTriangle(n, m) = (VIndex(n, m), VIndex(n+1, m), VIndex(n+1, m+1), VIndex(n, m), VIndex(n+1, m+1), VIndex(n, m+1))*/\r\n\r\n/**\r\n *\r\n * Torus shape\r\n *\r\n * @public\r\n */\r\nexport class TorusShape extends Shape<TorusCreationOptions> implements Clonable<TorusShape> {\r\n  static _defaultOptions = {\r\n    ...Shape._defaultOptions,\r\n    numSlices: 40,\r\n    numSegments: 16,\r\n    outerRadius: 1,\r\n    innerRadius: 0.3,\r\n    radialDetail: 20\r\n  };\r\n  /**\r\n   * Creates an instance of torus shape\r\n   * @param options - The creation options\r\n   */\r\n  constructor(options?: TorusCreationOptions) {\r\n    super(options);\r\n  }\r\n  clone() {\r\n    return new TorusShape(this._options) as this;\r\n  }\r\n  /** type of the shape */\r\n  get type() {\r\n    return 'Torus' as const;\r\n  }\r\n  /**\r\n   * Generates the data for the torus 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: TorusCreationOptions,\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 N = options.numSlices;\r\n    const M = options.numSegments;\r\n    const OR = options.outerRadius;\r\n    const IR = options.innerRadius;\r\n    for (let n = 0; n <= N; n++) {\r\n      const alpha = ((n % N) / N) * Math.PI * 2;\r\n      const cosA = Math.cos(alpha);\r\n      const sinA = Math.sin(alpha);\r\n      const cx = OR * cosA;\r\n      const cy = 0;\r\n      const cz = OR * sinA;\r\n      for (let m = 0; m <= M; m++) {\r\n        const theta = ((m % M) / M) * Math.PI * 2;\r\n        const cosT = Math.cos(theta);\r\n        const sinT = Math.sin(theta);\r\n        const t = 1 + (IR * cosT) / OR;\r\n        const s = IR * sinT;\r\n        const x = cx * t;\r\n        const y = cy * t + s;\r\n        const z = cz * t;\r\n        vertices.push(x, y, z);\r\n        if (normals) {\r\n          const nx = x - cx;\r\n          const ny = y - cy;\r\n          const nz = z - cz;\r\n          const mag = Math.hypot(nx, ny, nz);\r\n          normals.push(nx / mag, ny / mag, nz / mag);\r\n        }\r\n        if (uvs) {\r\n          uvs.push(m / M, n / N);\r\n        }\r\n        if (tangents) {\r\n          const tx = -sinT * cosA;\r\n          const ty = cosT;\r\n          const tz = -sinT * sinA;\r\n          tangents.push(tx, ty, tz, 1.0);\r\n        }\r\n      }\r\n    }\r\n    for (let n = 0; n < N; n++) {\r\n      for (let m = 0; m < M; m++) {\r\n        indices.push(n * (M + 1) + m + indexOffset);\r\n        indices.push((n + 1) * (M + 1) + m + 1 + indexOffset);\r\n        indices.push((n + 1) * (M + 1) + m + indexOffset);\r\n        indices.push(n * (M + 1) + m + indexOffset);\r\n        indices.push(n * (M + 1) + m + 1 + indexOffset);\r\n        indices.push((n + 1) * (M + 1) + m + 1 + indexOffset);\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 + 1], vertices[i + 2]);\r\n      }\r\n    }\r\n    return 'triangle-list' as const;\r\n  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+{"version":3,"file":"torus.js","sources":["../../src/shapes/torus.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 torus shape\r\n * @public\r\n */\r\nexport interface TorusCreationOptions extends ShapeCreationOptions {\r\n  /** Slice count, default is 40 **/\r\n  numSlices?: number;\r\n  /** Segment count, default is 16 */\r\n  numSegments?: number;\r\n  /** Outer radius, default is 10 */\r\n  outerRadius?: number;\r\n  /** Inner radius, default is 3 */\r\n  innerRadius?: number;\r\n  /** Radial detail, default is 20*/\r\n  radialDetail?: number;\r\n}\r\n\r\n/*\r\nN slices\r\nM sides\r\nOR outter radius\r\nIR  inner radius\r\nUp (0, 1, 0)\r\n\r\nC(n) = (cos((n/N) * TwoPI) * OR, 0, sin((n/N) * twoPI * OR);\r\nTheta = m/M * TwoPI\r\nV(n, m) = C(n) * (1 + IR * cos(Theta) / OR) + Up * IR * sin(Theta)\r\nN(n, m) = normalize(V(n, m) - C(n))\r\nTC(n, m) = (m / M, n / N)\r\n\r\nVIndex(n, m) = n * (M + 1) + m\r\nTriangle(n, m) = (VIndex(n, m), VIndex(n+1, m), VIndex(n+1, m+1), VIndex(n, m), VIndex(n+1, m+1), VIndex(n, m+1))*/\r\n\r\n/**\r\n *\r\n * Torus shape\r\n *\r\n * @public\r\n */\r\nexport class TorusShape extends Shape<TorusCreationOptions> implements Clonable<TorusShape> {\r\n  static _defaultOptions = {\r\n    ...Shape._defaultOptions,\r\n    numSlices: 40,\r\n    numSegments: 16,\r\n    outerRadius: 1,\r\n    innerRadius: 0.3,\r\n    radialDetail: 20\r\n  };\r\n  /**\r\n   * Creates an instance of torus shape\r\n   * @param options - The creation options\r\n   */\r\n  constructor(options?: TorusCreationOptions) {\r\n    super(options);\r\n  }\r\n  clone() {\r\n    return new TorusShape(this._options) as this;\r\n  }\r\n  /** type of the shape */\r\n  get type() {\r\n    return 'Torus' as const;\r\n  }\r\n  /**\r\n   * {@inheritDoc Primitive.raycast}\r\n   * @override\r\n   *\r\n   * Analytically intersects a ray with a torus lying in the XZ plane.\r\n   * The torus has major radius R (outerRadius) and minor radius r (innerRadius).\r\n   *\r\n   * Equation of torus: (x²+y²+z²+R²-r²)² = 4R²(x²+z²)\r\n   * Substituting ray P(t) = O + t*D leads to a quartic in t which is solved\r\n   * with Ferrari's method.\r\n   */\r\n  raycast(ray: Ray) {\r\n    const R = this._options.outerRadius ?? 1; // major radius\r\n    const r = this._options.innerRadius ?? 0.3; // minor radius\r\n\r\n    const ox = ray.origin.x,\r\n      oy = ray.origin.y,\r\n      oz = ray.origin.z;\r\n    const dx = ray.direction.x,\r\n      dy = ray.direction.y,\r\n      dz = ray.direction.z;\r\n\r\n    // Let  f = |O|² + R² - r²\r\n    //      g = O·D           (dot product)\r\n    //      h = |D|²  (should be 1 for a normalised direction, kept general)\r\n    // Quartic: (h*t² + 2g*t + f)² = 4R²*((dx*t+ox)² + (dz*t+oz)²)\r\n    // Expand into  c4*t^4 + c3*t^3 + c2*t^2 + c1*t + c0 = 0\r\n\r\n    const OO = ox * ox + oy * oy + oz * oz;\r\n    const OD = ox * dx + oy * dy + oz * dz;\r\n    const DD = dx * dx + dy * dy + dz * dz;\r\n\r\n    const f = OO + R * R - r * r;\r\n    const g = OD;\r\n    const h = DD;\r\n\r\n    // XZ components only (for the 4R²(x²+z²) term)\r\n    const oxz2 = ox * ox + oz * oz; // ox² + oz²\r\n    const odxz = ox * dx + oz * dz; // ox*dx + oz*dz\r\n    const dxz2 = dx * dx + dz * dz; // dx² + dz²\r\n\r\n    // Quartic coefficients (from expanding both sides)\r\n    const R2 = 4 * R * R;\r\n    const c4 = h * h;\r\n    const c3 = 4 * h * g;\r\n    const c2 = 2 * h * f + 4 * g * g - R2 * dxz2;\r\n    const c1 = 4 * g * f - 2 * R2 * odxz;\r\n    const c0 = f * f - R2 * oxz2;\r\n\r\n    // Solve quartic c4*t^4 + c3*t^3 + c2*t^2 + c1*t + c0 = 0\r\n    const roots = TorusShape._solveQuartic(c4, c3, c2, c1, c0);\r\n    let tMin = Infinity;\r\n    for (const t of roots) {\r\n      if (t >= 0 && t < tMin) {\r\n        tMin = t;\r\n      }\r\n    }\r\n    return isFinite(tMin) ? tMin : null;\r\n  }\r\n\r\n  /** @internal Solve quartic a*t^4+b*t^3+c*t^2+d*t+e=0, returns real roots */\r\n  private static _solveQuartic(a: number, b: number, c: number, d: number, e: number): number[] {\r\n    const eps = 1e-8;\r\n    if (Math.abs(a) < eps) {\r\n      return TorusShape._solveCubic(b, c, d, e);\r\n    }\r\n    // Depress quartic: divide by a and substitute t = u - b/(4a)\r\n    const inv_a = 1 / a;\r\n    const B = b * inv_a;\r\n    const C = c * inv_a;\r\n    const D = d * inv_a;\r\n    const E = e * inv_a;\r\n    const p = C - (3 / 8) * B * B;\r\n    const q = (B * B * B) / 8 - (B * C) / 2 + D;\r\n    const r2 = -(3 / 256) * B * B * B * B + (B * B * C) / 16 - (B * D) / 4 + E;\r\n\r\n    let roots: number[];\r\n    if (Math.abs(q) < eps) {\r\n      // Biquadratic: u^4 + p*u^2 + r2 = 0\r\n      const disc = p * p - 4 * r2;\r\n      if (disc < 0) {\r\n        return [];\r\n      }\r\n      const sqrtDisc = Math.sqrt(disc);\r\n      roots = [];\r\n      for (const sign of [-1, 1]) {\r\n        const w2 = (-p + sign * sqrtDisc) / 2;\r\n        if (w2 >= 0) {\r\n          const w = Math.sqrt(w2);\r\n          roots.push(w, -w);\r\n        }\r\n      }\r\n    } else {\r\n      // Ferrari: find a real root of the resolvent cubic\r\n      //   8m^3 + 8p*m^2 + (2p^2-8r2)*m - q^2 = 0\r\n      const cubicRoots = TorusShape._solveCubic(8, 8 * p, 2 * p * p - 8 * r2, -q * q);\r\n      // Pick the largest real root\r\n      let m = -Infinity;\r\n      for (const cr of cubicRoots) {\r\n        if (cr > m) {\r\n          m = cr;\r\n        }\r\n      }\r\n      if (!isFinite(m)) {\r\n        return [];\r\n      }\r\n\r\n      const sqrtM = m >= 0 ? Math.sqrt(m) : 0;\r\n      const disc1 = -(p + 2 * m) + q / (sqrtM + eps);\r\n      const disc2 = -(p + 2 * m) - q / (sqrtM + eps);\r\n      roots = [];\r\n      if (disc1 >= 0) {\r\n        const s = Math.sqrt(disc1);\r\n        roots.push(sqrtM + s, sqrtM - s);\r\n      }\r\n      if (disc2 >= 0) {\r\n        const s = Math.sqrt(disc2);\r\n        roots.push(-sqrtM + s, -sqrtM - s);\r\n      }\r\n    }\r\n    // Un-depress: t = u - B/4\r\n    const shift = B / 4;\r\n    return roots.map((u) => u - shift);\r\n  }\r\n\r\n  /** @internal Solve cubic a*t^3+b*t^2+c*t+d=0, returns real roots (Cardano) */\r\n  private static _solveCubic(a: number, b: number, c: number, d: number): number[] {\r\n    const eps = 1e-8;\r\n    if (Math.abs(a) < eps) {\r\n      return TorusShape._solveQuadratic(b, c, d);\r\n    }\r\n    const inv_a = 1 / a;\r\n    const B = b * inv_a;\r\n    const C = c * inv_a;\r\n    const D = d * inv_a;\r\n    const p = C - (B * B) / 3;\r\n    const q = (2 * B * B * B) / 27 - (B * C) / 3 + D;\r\n    const disc = (q * q) / 4 + (p * p * p) / 27;\r\n    const shift = -B / 3;\r\n    if (disc > eps) {\r\n      const sqrtDisc = Math.sqrt(disc);\r\n      const u = Math.cbrt(-q / 2 + sqrtDisc);\r\n      const v = Math.cbrt(-q / 2 - sqrtDisc);\r\n      return [u + v + shift];\r\n    } else if (disc < -eps) {\r\n      const r = Math.sqrt((-p * p * p) / 27);\r\n      const theta = Math.acos(Math.max(-1, Math.min(1, -q / (2 * r))));\r\n      const rCbrt = Math.cbrt(r);\r\n      return [\r\n        2 * rCbrt * Math.cos(theta / 3) + shift,\r\n        2 * rCbrt * Math.cos((theta + 2 * Math.PI) / 3) + shift,\r\n        2 * rCbrt * Math.cos((theta + 4 * Math.PI) / 3) + shift\r\n      ];\r\n    } else {\r\n      const u = Math.cbrt(-q / 2);\r\n      return [2 * u + shift, -u + shift];\r\n    }\r\n  }\r\n\r\n  /** @internal Solve quadratic a*t^2+b*t+c=0 */\r\n  private static _solveQuadratic(a: number, b: number, c: number): number[] {\r\n    const eps = 1e-8;\r\n    if (Math.abs(a) < eps) {\r\n      if (Math.abs(b) < eps) {\r\n        return [];\r\n      }\r\n      return [-c / b];\r\n    }\r\n    const disc = b * b - 4 * a * c;\r\n    if (disc < 0) {\r\n      return [];\r\n    }\r\n    if (disc < eps) {\r\n      return [-b / (2 * a)];\r\n    }\r\n    const s = Math.sqrt(disc);\r\n    return [(-b - s) / (2 * a), (-b + s) / (2 * a)];\r\n  }\r\n  /**\r\n   * Generates the data for the torus 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: TorusCreationOptions,\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 N = options.numSlices;\r\n    const M = options.numSegments;\r\n    const OR = options.outerRadius;\r\n    const IR = options.innerRadius;\r\n    for (let n = 0; n <= N; n++) {\r\n      const alpha = ((n % N) / N) * Math.PI * 2;\r\n      const cosA = Math.cos(alpha);\r\n      const sinA = Math.sin(alpha);\r\n      const cx = OR * cosA;\r\n      const cy = 0;\r\n      const cz = OR * sinA;\r\n      for (let m = 0; m <= M; m++) {\r\n        const theta = ((m % M) / M) * Math.PI * 2;\r\n        const cosT = Math.cos(theta);\r\n        const sinT = Math.sin(theta);\r\n        const t = 1 + (IR * cosT) / OR;\r\n        const s = IR * sinT;\r\n        const x = cx * t;\r\n        const y = cy * t + s;\r\n        const z = cz * t;\r\n        vertices.push(x, y, z);\r\n        if (normals) {\r\n          const nx = x - cx;\r\n          const ny = y - cy;\r\n          const nz = z - cz;\r\n          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package/dist/utility/blueprint/common/math.js

@@ -897,6 +897,116 @@ import { defineProps } from '../../serialization/types.js';
         return '';
     }
 }
+/**
+ * Rotate about axis node
+ *
+ * @remarks
+ * Rotates a position around a pivot along a normalized axis by a given angle.
+ * Angle input is in turns (1.0 = 360 degrees).
+ *
+ * Outputs:
+ * - Output 1: Rotated position (vec3)
+ *
+ * @example
+ * ```typescript
+ * const rotate = new RotateAboutAxisNode();
+ * rotate.connectInput(1, axisNode, 1); // normalized axis (vec3)
+ * rotate.connectInput(2, angleNode, 1); // angle in turns (float)
+ * rotate.connectInput(3, pivotNode, 1); // pivot (vec3)
+ * rotate.connectInput(4, posNode, 1); // position (vec3)
+ * ```
+ *
+ * @public
+ */ class RotateAboutAxisNode extends BaseGraphNode {
+    /**
+   * Creates a new rotate-about-axis node
+   *
+   * @remarks
+   * Initializes with four inputs and one output.
+   */ constructor(){
+        super();
+        this._inputs = [
+            {
+                id: 1,
+                name: 'NormalizedRotationAxis',
+                type: [
+                    'vec3'
+                ],
+                required: true
+            },
+            {
+                id: 2,
+                name: 'RotationAngle',
+                type: [
+                    'float'
+                ],
+                defaultValue: [
+                    0
+                ]
+            },
+            {
+                id: 3,
+                name: 'PivotPoint',
+                type: [
+                    'vec3'
+                ],
+                defaultValue: [
+                    0,
+                    0,
+                    0
+                ]
+            },
+            {
+                id: 4,
+                name: 'Position',
+                type: [
+                    'vec3'
+                ],
+                required: true
+            }
+        ];
+        this._outputs = [
+            {
+                id: 1,
+                name: ''
+            }
+        ];
+    }
+    /**
+   * Generates a string representation of this node
+   *
+   * @returns 'RotateAboutAxis'
+   */ toString() {
+        return 'RotateAboutAxis';
+    }
+    /**
+   * Gets the serialization descriptor for this node type
+   *
+   * @returns Serialization class descriptor
+   */ static getSerializationCls() {
+        return {
+            ctor: RotateAboutAxisNode,
+            name: 'RotateAboutAxisNode',
+            getProps () {
+                return [];
+            }
+        };
+    }
+    /**
+   * Validates the node state
+   *
+   * @returns Empty string (always valid beyond base validation)
+   */ validate() {
+        return super.validate();
+    }
+    /**
+   * Gets the output type
+   *
+   * @returns 'vec3'
+   */ getType() {
+        return 'vec3';
+    }
+}
 /**
  * Abstract base class for generic mathematical function nodes
  *
@@ -2503,5 +2613,5 @@ import { defineProps } from '../../serialization/types.js';
     }
 }
 
-export { AbsNode, AllConditionNode, AnyConditionNode, ArcCosNode, ArcSinNode, ArcTan2Node, ArcTanNode, ArccosineHNode, ArcsineHNode, ArctangentHNode, CeilNode, ClampNode, CompAddNode, CompComparisonNode, CompDivNode, CompMulNode, CompSubNode, CosHNode, CosNode, CrossProductNode, DDXNode, DDYNode, Degrees2RadiansNode, DistanceNode, DotProductNode, EqualNode, Exp2Node, ExpNode, FWidthNode, FaceForwardNode, FloorNode, FmaNode, FractNode, GenericMathNode, Hash1Node, Hash2Node, Hash3Node, InvSqrtNode, LengthNode, Log2Node, LogNode, LogicallyAndNode, LogicallyOrNode, MakeVectorNode, MaxNode, MinNode, MixNode, ModNode, NormalizeNode, NotEqualNode, PerlinNoise2DNode, PowNode, Radians2DegreesNode, ReflectNode, RefractNode, SaturateNode, SelectionNode, SignNode, SimplexNoise2DNode, SinHNode, SinNode, SmoothStepNode, SqrtNode, StepNode, SwizzleNode, TanHNode, TanNode, TransformNode };
+export { AbsNode, AllConditionNode, AnyConditionNode, ArcCosNode, ArcSinNode, ArcTan2Node, ArcTanNode, ArccosineHNode, ArcsineHNode, ArctangentHNode, CeilNode, ClampNode, CompAddNode, CompComparisonNode, CompDivNode, CompMulNode, CompSubNode, CosHNode, CosNode, CrossProductNode, DDXNode, DDYNode, Degrees2RadiansNode, DistanceNode, DotProductNode, EqualNode, Exp2Node, ExpNode, FWidthNode, FaceForwardNode, FloorNode, FmaNode, FractNode, GenericMathNode, Hash1Node, Hash2Node, Hash3Node, InvSqrtNode, LengthNode, Log2Node, LogNode, LogicallyAndNode, LogicallyOrNode, MakeVectorNode, MaxNode, MinNode, MixNode, ModNode, NormalizeNode, NotEqualNode, PerlinNoise2DNode, PowNode, Radians2DegreesNode, ReflectNode, RefractNode, RotateAboutAxisNode, SaturateNode, SelectionNode, SignNode, SimplexNoise2DNode, SinHNode, SinNode, SmoothStepNode, SqrtNode, StepNode, SwizzleNode, TanHNode, TanNode, TransformNode };
 //# sourceMappingURL=math.js.map