@zephyr3d/scene 0.9.1 → 0.9.3

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

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

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

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