@zephyr3d/scene 0.9.2 → 0.9.4

package/dist/shapes/torus.js

@@ -85,68 +85,100 @@ Triangle(n, m) = (VIndex(n, m), VIndex(n+1, m), VIndex(n+1, m+1), VIndex(n, m),
         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) {
+        return TorusShape._solvePolynomialReal([
+            a,
+            b,
+            c,
+            d,
+            e
+        ]);
+    }
+    /** @internal Solve a low-degree polynomial and return all real roots */ static _solvePolynomialReal(coeffs) {
         const eps = 1e-8;
-        if (Math.abs(a) < eps) {
-            return TorusShape._solveCubic(b, c, d, e);
+        while(coeffs.length > 0 && Math.abs(coeffs[0]) < eps){
+            coeffs = coeffs.slice(1);
         }
-        // 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 degree = coeffs.length - 1;
+        if (degree <= 0) {
+            return [];
+        }
+        if (degree === 1) {
+            return [
+                -coeffs[1] / coeffs[0]
+            ];
+        }
+        if (degree === 2) {
+            return TorusShape._solveQuadratic(coeffs[0], coeffs[1], coeffs[2]);
+        }
+        if (degree === 3) {
+            return TorusShape._solveCubic(coeffs[0], coeffs[1], coeffs[2], coeffs[3]);
+        }
+        const leading = coeffs[0];
+        let bound = 1;
+        for(let i = 1; i < coeffs.length; i++){
+            bound = Math.max(bound, 1 + Math.abs(coeffs[i] / leading));
+        }
+        const derivative = coeffs.slice(0, -1).map((coef, index)=>coef * (degree - index));
+        const criticalPoints = TorusShape._solvePolynomialReal(derivative).filter((value)=>value > -bound - eps && value < bound + eps).sort((a, b)=>a - b);
+        const roots = [];
+        for (const value of criticalPoints){
+            if (Math.abs(TorusShape._evaluatePolynomial(coeffs, value)) < 1e-7) {
+                TorusShape._pushUniqueRoot(roots, value);
             }
-            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);
-                }
+        }
+        const points = [
+            -bound,
+            ...criticalPoints,
+            bound
+        ];
+        for(let i = 0; i < points.length - 1; i++){
+            const left = points[i];
+            const right = points[i + 1];
+            if (right - left < eps) {
+                continue;
             }
-        } 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;
-                }
+            const fLeft = TorusShape._evaluatePolynomial(coeffs, left);
+            const fRight = TorusShape._evaluatePolynomial(coeffs, right);
+            if (Math.abs(fLeft) < 1e-7) {
+                TorusShape._pushUniqueRoot(roots, left);
             }
-            if (!isFinite(m)) {
-                return [];
+            if (Math.abs(fRight) < 1e-7) {
+                TorusShape._pushUniqueRoot(roots, right);
             }
-            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 (fLeft * fRight < 0) {
+                TorusShape._pushUniqueRoot(roots, TorusShape._bisectPolynomialRoot(coeffs, left, right));
             }
-            if (disc2 >= 0) {
-                const s = Math.sqrt(disc2);
-                roots.push(-sqrtM + s, -sqrtM - s);
+        }
+        return roots.sort((a, b)=>a - b);
+    }
+    /** @internal Evaluate a polynomial with coefficients in descending order */ static _evaluatePolynomial(coeffs, t) {
+        let result = 0;
+        for(let i = 0; i < coeffs.length; i++){
+            result = result * t + coeffs[i];
+        }
+        return result;
+    }
+    /** @internal Bisect a real root in an interval with opposite signs */ static _bisectPolynomialRoot(coeffs, left, right) {
+        let fLeft = TorusShape._evaluatePolynomial(coeffs, left);
+        for(let i = 0; i < 64; i++){
+            const mid = (left + right) * 0.5;
+            const fMid = TorusShape._evaluatePolynomial(coeffs, mid);
+            if (Math.abs(fMid) < 1e-12) {
+                return mid;
             }
+            if (fLeft * fMid <= 0) {
+                right = mid;
+            } else {
+                left = mid;
+                fLeft = fMid;
+            }
+        }
+        return (left + right) * 0.5;
+    }
+    /** @internal Add a root if it is not already represented in the list */ static _pushUniqueRoot(roots, value) {
+        if (!roots.some((root)=>Math.abs(root - value) < 1e-7)) {
+            roots.push(value);
         }
-        // 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;
@@ -169,13 +201,12 @@ Triangle(n, m) = (VIndex(n, m), VIndex(n+1, m), VIndex(n+1, m+1), VIndex(n, m),
                 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);
+            const theta = Math.acos(Math.max(-1, Math.min(1, -q / 2 / Math.sqrt(-p * p * p / 27))));
+            const rho = 2 * Math.sqrt(-p / 3);
             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
+                rho * Math.cos(theta / 3) + shift,
+                rho * Math.cos((theta + 2 * Math.PI) / 3) + shift,
+                rho * Math.cos((theta + 4 * Math.PI) / 3) + shift
             ];
         } else {
             const u = Math.cbrt(-q / 2);

package/dist/shapes/torus.js.map

@@ -1 +1 @@
-{"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   * 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 + R^2 - r^2\r\n    //      g = dot(O, D)\r\n    //      h = |D|^2 (normally 1 for a normalized direction, kept general here)\r\n    // Quartic: (h*t^2 + 2g*t + f)^2 = 4R^2*((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          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   * 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 + R^2 - r^2\r\n    //      g = dot(O, D)\r\n    //      h = |D|^2 (normally 1 for a normalized direction, kept general here)\r\n    // Quartic: (h*t^2 + 2g*t + f)^2 = 4R^2*((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    return TorusShape._solvePolynomialReal([a, b, c, d, e]);\r\n  }\r\n\r\n  /** @internal Solve a low-degree polynomial and return all real roots */\r\n  private static _solvePolynomialReal(coeffs: number[]): number[] {\r\n    const eps = 1e-8;\r\n    while (coeffs.length > 0 && Math.abs(coeffs[0]) < eps) {\r\n      coeffs = coeffs.slice(1);\r\n    }\r\n    const degree = coeffs.length - 1;\r\n    if (degree <= 0) {\r\n      return [];\r\n    }\r\n    if (degree === 1) {\r\n      return [-coeffs[1] / coeffs[0]];\r\n    }\r\n    if (degree === 2) {\r\n      return TorusShape._solveQuadratic(coeffs[0], coeffs[1], coeffs[2]);\r\n    }\r\n    if (degree === 3) {\r\n      return TorusShape._solveCubic(coeffs[0], coeffs[1], coeffs[2], coeffs[3]);\r\n    }\r\n\r\n    const leading = coeffs[0];\r\n    let bound = 1;\r\n    for (let i = 1; i < coeffs.length; i++) {\r\n      bound = Math.max(bound, 1 + Math.abs(coeffs[i] / leading));\r\n    }\r\n\r\n    const derivative = coeffs.slice(0, -1).map((coef, index) => coef * (degree - index));\r\n    const criticalPoints = TorusShape._solvePolynomialReal(derivative)\r\n      .filter((value) => value > -bound - eps && value < bound + eps)\r\n      .sort((a, b) => a - b);\r\n    const roots: number[] = [];\r\n    for (const value of criticalPoints) {\r\n      if (Math.abs(TorusShape._evaluatePolynomial(coeffs, value)) < 1e-7) {\r\n        TorusShape._pushUniqueRoot(roots, value);\r\n      }\r\n    }\r\n\r\n    const points = [-bound, ...criticalPoints, bound];\r\n    for (let i = 0; i < points.length - 1; i++) {\r\n      const left = points[i];\r\n      const right = points[i + 1];\r\n      if (right - left < eps) {\r\n        continue;\r\n      }\r\n      const fLeft = TorusShape._evaluatePolynomial(coeffs, left);\r\n      const fRight = TorusShape._evaluatePolynomial(coeffs, right);\r\n      if (Math.abs(fLeft) < 1e-7) {\r\n        TorusShape._pushUniqueRoot(roots, left);\r\n      }\r\n      if (Math.abs(fRight) < 1e-7) {\r\n        TorusShape._pushUniqueRoot(roots, right);\r\n      }\r\n      if (fLeft * fRight < 0) {\r\n        TorusShape._pushUniqueRoot(roots, TorusShape._bisectPolynomialRoot(coeffs, left, right));\r\n      }\r\n    }\r\n    return roots.sort((a, b) => a - b);\r\n  }\r\n\r\n  /** @internal Evaluate a polynomial with coefficients in descending order */\r\n  private static _evaluatePolynomial(coeffs: number[], t: number) {\r\n    let result = 0;\r\n    for (let i = 0; i < coeffs.length; i++) {\r\n      result = result * t + coeffs[i];\r\n    }\r\n    return result;\r\n  }\r\n\r\n  /** @internal Bisect a real root in an interval with opposite signs */\r\n  private static _bisectPolynomialRoot(coeffs: number[], left: number, right: number) {\r\n    let fLeft = TorusShape._evaluatePolynomial(coeffs, left);\r\n    for (let i = 0; i < 64; i++) {\r\n      const mid = (left + right) * 0.5;\r\n      const fMid = TorusShape._evaluatePolynomial(coeffs, mid);\r\n      if (Math.abs(fMid) < 1e-12) {\r\n        return mid;\r\n      }\r\n      if (fLeft * fMid <= 0) {\r\n        right = mid;\r\n      } else {\r\n        left = mid;\r\n        fLeft = fMid;\r\n      }\r\n    }\r\n    return (left + right) * 0.5;\r\n  }\r\n\r\n  /** @internal Add a root if it is not already represented in the list */\r\n  private static _pushUniqueRoot(roots: number[], value: number) {\r\n    if (!roots.some((root) => Math.abs(root - value) < 1e-7)) {\r\n      roots.push(value);\r\n    }\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 theta = Math.acos(Math.max(-1, Math.min(1, -q / 2 / Math.sqrt((-p * p * p) / 27))));\r\n      const rho = 2 * Math.sqrt(-p / 3);\r\n      return [\r\n        rho * Math.cos(theta / 3) + shift,\r\n        rho * Math.cos((theta + 2 * Math.PI) / 3) + shift,\r\n        rho * 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          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 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package/dist/src/animation/animation.js

@@ -0,0 +1,127 @@
+/**
+ * Animation that contains multiple tracks
+ * @public
+ */ class AnimationClip {
+    /** @internal */ _name;
+    /** @internal */ _animationSet;
+    /** @internal */ _embedded;
+    /** @internal */ _duration;
+    /** @internal */ _autoPlay;
+    /** @internal */ _tracks;
+    _weight;
+    /** @internal */ _skeletons;
+    /**
+   * Creates an animation instance
+   * @param name - Name of the animation
+   * @param model - Parent node if this is a skeleton animation
+   */ constructor(name, animationSet, embedded = false){
+        this._name = name;
+        this._animationSet = animationSet;
+        this._embedded = embedded;
+        this._tracks = new Map();
+        this._duration = 0;
+        this._weight = 1;
+        this._autoPlay = false;
+        this._skeletons = new Set();
+    }
+    /** Whether this is an embedded animation */ get embedded() {
+        return this._embedded;
+    }
+    /** AnimationSet this animation belongs to */ get animationSet() {
+        return this._animationSet;
+    }
+    /** Animatoin weight */ get weight() {
+        return this._weight;
+    }
+    set weight(val) {
+        this._weight = val;
+    }
+    /** Whether animation should play automatically when loaded */ get autoPlay() {
+        return this._autoPlay;
+    }
+    set autoPlay(val) {
+        this._autoPlay = val;
+    }
+    /** Disposes self */ dispose() {
+        this._tracks = null;
+        this._skeletons?.forEach((val, key)=>key.dispose());
+        this._skeletons = null;
+    }
+    /** Gets the name of the animation */ get name() {
+        return this._name;
+    }
+    /** Gets all the tracks of this animation */ get tracks() {
+        return this._tracks;
+    }
+    /** Gets all skeletons */ get skeletons() {
+        return this._skeletons;
+    }
+    /** The duration of the animation */ get timeDuration() {
+        return this._duration;
+    }
+    set timeDuration(val) {
+        this._duration = val;
+    }
+    /**
+   * Adds a skeleton to the animation
+   * @param skeleton - The skeleton to be added
+   * @param meshList - The meshes controlled by the skeleton
+   * @param boundingBoxInfo - Bounding box information for the skeleton
+   */ addSkeleton(skeleton) {
+        this._skeletons.add(skeleton);
+    }
+    /**
+   * Deletes an animation track from this animation
+   * @param track - The track to delete
+   * @returns self
+   */ deleteTrack(track) {
+        if (track?.animation !== this) {
+            console.error('Cannot delete animation track which is not belongs to THIS animation');
+        }
+        for (const k of this._tracks.keys()){
+            const tracks = this._tracks.get(k);
+            const index = tracks.indexOf(track);
+            if (index >= 0) {
+                tracks.splice(index, 1);
+            }
+        }
+        return this;
+    }
+    /**
+   * Adds an animation track to this animation
+   * @param target - The node that will be controlled by the track
+   * @param track - The track to be added
+   * @returns self
+   */ addTrack(target, track) {
+        if (!track) {
+            return;
+        }
+        if (track.animation) {
+            if (track.animation === this) {
+                return;
+            } else {
+                console.error('Track is already in another animation');
+                return;
+            }
+        }
+        const blendId = track.getBlendId();
+        const tracks = this._tracks.get(target);
+        if (tracks && tracks.findIndex((track)=>track.getBlendId() === blendId) >= 0) {
+            console.error('Tracks with same BlendId could not be added to same animation');
+            return;
+        }
+        track.animation = this;
+        let trackInfo = this._tracks.get(target);
+        if (!trackInfo) {
+            trackInfo = [];
+            this._tracks.set(target, trackInfo);
+        }
+        trackInfo.push(track);
+        this._duration = Math.max(this._duration, track.getDuration() ?? 0);
+        track.reset(target);
+        return this;
+    }
+}
+
+export { AnimationClip };
+//# sourceMappingURL=animation.js.map

package/dist/src/animation/animation.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"animation.js","sources":["../../../src/animation/animation.ts"],"sourcesContent":["import type { AnimationSet } from './animationset';\r\nimport type { AnimationTrack } from './animationtrack';\r\nimport type { Skeleton } from './skeleton';\r\n\r\n/**\r\n * Animation that contains multiple tracks\r\n * @public\r\n */\r\nexport class AnimationClip {\r\n  /** @internal */\r\n  protected _name: string;\r\n  /** @internal */\r\n  protected _animationSet: AnimationSet;\r\n  /** @internal */\r\n  protected _embedded: boolean;\r\n  /** @internal */\r\n  protected _duration: number;\r\n  /** @internal */\r\n  protected _autoPlay: boolean;\r\n  /** @internal */\r\n  protected _tracks: Map<object, AnimationTrack[]>;\r\n  protected _weight: number;\r\n  /** @internal */\r\n  protected _skeletons: Set<Skeleton>;\r\n  /**\r\n   * Creates an animation instance\r\n   * @param name - Name of the animation\r\n   * @param model - Parent node if this is a skeleton animation\r\n   */\r\n  constructor(name: string, animationSet: AnimationSet, embedded = false) {\r\n    this._name = name;\r\n    this._animationSet = animationSet;\r\n    this._embedded = embedded;\r\n    this._tracks = new Map();\r\n    this._duration = 0;\r\n    this._weight = 1;\r\n    this._autoPlay = false;\r\n    this._skeletons = new Set();\r\n  }\r\n  /** Whether this is an embedded animation */\r\n  get embedded(): boolean {\r\n    return this._embedded;\r\n  }\r\n  /** AnimationSet this animation belongs to */\r\n  get animationSet() {\r\n    return this._animationSet;\r\n  }\r\n  /** Animatoin weight */\r\n  get weight() {\r\n    return this._weight;\r\n  }\r\n  set weight(val: number) {\r\n    this._weight = val;\r\n  }\r\n  /** Whether animation should play automatically when loaded */\r\n  get autoPlay() {\r\n    return this._autoPlay;\r\n  }\r\n  set autoPlay(val: boolean) {\r\n    this._autoPlay = val;\r\n  }\r\n  /** Disposes self */\r\n  dispose() {\r\n    this._tracks = null;\r\n    this._skeletons?.forEach((val, key) => key.dispose());\r\n    this._skeletons = null;\r\n  }\r\n  /** Gets the name of the animation */\r\n  get name(): string {\r\n    return this._name;\r\n  }\r\n  /** Gets all the tracks of this animation */\r\n  get tracks() {\r\n    return this._tracks;\r\n  }\r\n  /** Gets all skeletons */\r\n  get skeletons() {\r\n    return this._skeletons;\r\n  }\r\n  /** The duration of the animation */\r\n  get timeDuration(): number {\r\n    return this._duration;\r\n  }\r\n  set timeDuration(val: number) {\r\n    this._duration = val;\r\n  }\r\n  /**\r\n   * Adds a skeleton to the animation\r\n   * @param skeleton - The skeleton to be added\r\n   * @param meshList - The meshes controlled by the skeleton\r\n   * @param boundingBoxInfo - Bounding box information for the skeleton\r\n   */\r\n  addSkeleton(skeleton: Skeleton) {\r\n    this._skeletons.add(skeleton);\r\n  }\r\n  /**\r\n   * Deletes an animation track from this animation\r\n   * @param track - The track to delete\r\n   * @returns self\r\n   */\r\n  deleteTrack(track: AnimationTrack): this {\r\n    if (track?.animation !== this) {\r\n      console.error('Cannot delete animation track which is not belongs to THIS animation');\r\n    }\r\n    for (const k of this._tracks.keys()) {\r\n      const tracks = this._tracks.get(k);\r\n      const index = tracks.indexOf(track);\r\n      if (index >= 0) {\r\n        tracks.splice(index, 1);\r\n      }\r\n    }\r\n    return this;\r\n  }\r\n  /**\r\n   * Adds an animation track to this animation\r\n   * @param target - The node that will be controlled by the track\r\n   * @param track - The track to be added\r\n   * @returns self\r\n   */\r\n  addTrack(target: object, track: AnimationTrack): this {\r\n    if (!track) {\r\n      return;\r\n    }\r\n    if (track.animation) {\r\n      if (track.animation === this) {\r\n        return;\r\n      } else {\r\n        console.error('Track is already in another animation');\r\n        return;\r\n      }\r\n    }\r\n    const blendId = track.getBlendId();\r\n    const tracks = this._tracks.get(target);\r\n    if (tracks && tracks.findIndex((track) => track.getBlendId() === blendId) >= 0) {\r\n      console.error('Tracks with same BlendId could not be added to same animation');\r\n      return;\r\n    }\r\n    track.animation = this;\r\n    let trackInfo = this._tracks.get(target);\r\n    if (!trackInfo) {\r\n      trackInfo = [];\r\n      this._tracks.set(target, trackInfo);\r\n    }\r\n    trackInfo.push(track);\r\n    this._duration = Math.max(this._duration, track.getDuration() ?? 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