@zephyr3d/scene 0.9.26 → 0.10.0

package/dist/utility/sdf/bake.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"bake.js","sources":["../../../src/utility/sdf/bake.ts"],"sourcesContent":["import { closestPointOnTriangle, TriangleBVH } from './bvh';\r\n\r\n/**\r\n * Options of {@link bakeMeshSDF}.\r\n * @public\r\n */\r\nexport interface MeshSDFBakeOptions {\r\n  /** Scale on the {@link SDF_VOXELS_PER_UNIT} voxel density, before padding and clamp. Default 1. */\r\n  resolutionScale?: number;\r\n  /** World units one local mesh unit spans, which the density is measured in. Default 1. */\r\n  unitScale?: number;\r\n  /**\r\n   * Treat the mesh as a thin open surface (leaf, sail): unsigned distance less half a voxel.\r\n   * Default false.\r\n   */\r\n  twoSided?: boolean;\r\n  /** Rays per hemisphere for the inside/outside test, a square number. Default 49. */\r\n  signSamples?: number;\r\n  /** Voxels of empty space around the mesh bounds on every side. Default 2. */\r\n  padding?: number;\r\n  /** Max voxels per axis, padding included. Default 128, or 256 above resolution scale 1. */\r\n  maxResolution?: number;\r\n  /** Voxels per axis, at least. Default 8. */\r\n  minResolution?: number;\r\n}\r\n\r\n/**\r\n * A signed distance field over a mesh in its local space (negative inside, local units). Sample\r\n * `(i, j, k)` sits at voxel centre `boxMin + (i + 0.5, j + 0.5, k + 0.5) * voxelSize`, x fastest.\r\n *\r\n * @public\r\n */\r\nexport interface MeshSDFData {\r\n  /** Lower corner of the volume, the mesh bounds less the padding. */\r\n  boxMin: [number, number, number];\r\n  /** Upper corner of the volume, `boxMin + resolution * voxelSize`. */\r\n  boxMax: [number, number, number];\r\n  /** Voxels per axis. */\r\n  resolution: [number, number, number];\r\n  /** Edge of a voxel in local units. */\r\n  voxelSize: number;\r\n  /** Bounds of the mesh itself, inside the volume. */\r\n  meshBoxMin: [number, number, number];\r\n  meshBoxMax: [number, number, number];\r\n  twoSided: boolean;\r\n  /** Smallest and largest distance in the volume. */\r\n  minDistance: number;\r\n  maxDistance: number;\r\n  /** One distance per voxel. */\r\n  distances: Float32Array;\r\n}\r\n\r\n/**\r\n * Voxels per world unit (metre) of a baked field at resolution scale 1, matching UE5's\r\n * r.DistanceFields.DefaultVoxelDensity (0.2/cm). Scaled by {@link MeshSDFBakeOptions.unitScale}\r\n * since meshes keep their authored units.\r\n * @public\r\n */\r\nexport const SDF_VOXELS_PER_UNIT = 20;\r\n\r\n/** Voxels from the surface within which the sign is decided by rays; further voxels take it from their neighbours. */\r\nconst SIGN_BAND_VOXELS = 1;\r\n/** Length of a sign ray in voxel diagonals. */\r\nconst SIGN_TRACE_DIAGONALS = 4;\r\n/** Fraction of the sign rays that must hit a back face for a voxel to count as inside. */\r\nconst SIGN_BACK_FRACTION = 0.25;\r\n/** Voxels around a triangle's bounds seeded with its exact distance. */\r\nconst SEED_MARGIN = 1;\r\n\r\n/**\r\n * Unsigned distance per voxel by closest-triangle propagation: voxels near each triangle are\r\n * seeded with their exact distance, then fast sweeps in the eight diagonal orders pass each\r\n * voxel's nearest triangle to its neighbours. Rarely off by a small fraction of a voxel.\r\n */\r\nfunction computeUnsignedDistances(\r\n  positions: Float32Array,\r\n  indices: Uint32Array,\r\n  boxMin: [number, number, number],\r\n  resolution: [number, number, number],\r\n  h: number\r\n) {\r\n  const [nx, ny, nz] = resolution;\r\n  const count = nx * ny * nz;\r\n  const dist = new Float32Array(count).fill(Infinity);\r\n  const tri = new Int32Array(count).fill(-1);\r\n  const numTris = Math.floor(indices.length / 3);\r\n  const tmp = new Float32Array(3);\r\n  const triDist = (t: number, x: number, y: number, z: number) => {\r\n    const ia = indices[t * 3] * 3;\r\n    const ib = indices[t * 3 + 1] * 3;\r\n    const ic = indices[t * 3 + 2] * 3;\r\n    closestPointOnTriangle(\r\n      x,\r\n      y,\r\n      z,\r\n      positions[ia],\r\n      positions[ia + 1],\r\n      positions[ia + 2],\r\n      positions[ib],\r\n      positions[ib + 1],\r\n      positions[ib + 2],\r\n      positions[ic],\r\n      positions[ic + 1],\r\n      positions[ic + 2],\r\n      tmp\r\n    );\r\n    const dx = tmp[0] - x;\r\n    const dy = tmp[1] - y;\r\n    const dz = tmp[2] - z;\r\n    return dx * dx + dy * dy + dz * dz;\r\n  };\r\n  // Seed: exact squared distance in each triangle's own neighbourhood\r\n  for (let t = 0; t < numTris; t++) {\r\n    const lo = [Infinity, Infinity, Infinity];\r\n    const hi = [-Infinity, -Infinity, -Infinity];\r\n    for (let k = 0; k < 3; k++) {\r\n      const v = indices[t * 3 + k] * 3;\r\n      for (let c = 0; c < 3; c++) {\r\n        lo[c] = Math.min(lo[c], positions[v + c]);\r\n        hi[c] = Math.max(hi[c], positions[v + c]);\r\n      }\r\n    }\r\n    const i0 = Math.max(0, Math.floor((lo[0] - boxMin[0]) / h - 0.5) - SEED_MARGIN + 1);\r\n    const j0 = Math.max(0, Math.floor((lo[1] - boxMin[1]) / h - 0.5) - SEED_MARGIN + 1);\r\n    const k0 = Math.max(0, Math.floor((lo[2] - boxMin[2]) / h - 0.5) - SEED_MARGIN + 1);\r\n    const i1 = Math.min(nx - 1, Math.ceil((hi[0] - boxMin[0]) / h - 0.5) + SEED_MARGIN - 1);\r\n    const j1 = Math.min(ny - 1, Math.ceil((hi[1] - boxMin[1]) / h - 0.5) + SEED_MARGIN - 1);\r\n    const k1 = Math.min(nz - 1, Math.ceil((hi[2] - boxMin[2]) / h - 0.5) + SEED_MARGIN - 1);\r\n    for (let k = k0; k <= k1; k++) {\r\n      const z = boxMin[2] + (k + 0.5) * h;\r\n      for (let j = j0; j <= j1; j++) {\r\n        const y = boxMin[1] + (j + 0.5) * h;\r\n        let o = (k * ny + j) * nx + i0;\r\n        for (let i = i0; i <= i1; i++, o++) {\r\n          const d = triDist(t, boxMin[0] + (i + 0.5) * h, y, z);\r\n          if (d < dist[o]) {\r\n            dist[o] = d;\r\n            tri[o] = t;\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n  // Sweeps: each voxel tries the nearest triangles of its three predecessors along the order;\r\n  // one round of eight is as accurate as two\r\n  const strides = [1, nx, nx * ny];\r\n  for (let order = 0; order < 8; order++) {\r\n    const sx = order & 1 ? -1 : 1;\r\n    const sy = order & 2 ? -1 : 1;\r\n    const sz = order & 4 ? -1 : 1;\r\n    for (let kk = 0; kk < nz; kk++) {\r\n      const k = sz > 0 ? kk : nz - 1 - kk;\r\n      const z = boxMin[2] + (k + 0.5) * h;\r\n      for (let jj = 0; jj < ny; jj++) {\r\n        const j = sy > 0 ? jj : ny - 1 - jj;\r\n        const y = boxMin[1] + (j + 0.5) * h;\r\n        for (let ii = 0; ii < nx; ii++) {\r\n          const i = sx > 0 ? ii : nx - 1 - ii;\r\n          const o = (k * ny + j) * nx + i;\r\n          const x = boxMin[0] + (i + 0.5) * h;\r\n          const own = tri[o];\r\n          if (ii > 0) {\r\n            const t = tri[o - sx * strides[0]];\r\n            if (t >= 0 && t !== own) {\r\n              const d = triDist(t, x, y, z);\r\n              if (d < dist[o]) {\r\n                dist[o] = d;\r\n                tri[o] = t;\r\n              }\r\n            }\r\n          }\r\n          if (jj > 0) {\r\n            const t = tri[o - sy * strides[1]];\r\n            if (t >= 0 && t !== tri[o]) {\r\n              const d = triDist(t, x, y, z);\r\n              if (d < dist[o]) {\r\n                dist[o] = d;\r\n                tri[o] = t;\r\n              }\r\n            }\r\n          }\r\n          if (kk > 0) {\r\n            const t = tri[o - sz * strides[2]];\r\n            if (t >= 0 && t !== tri[o]) {\r\n              const d = triDist(t, x, y, z);\r\n              if (d < dist[o]) {\r\n                dist[o] = d;\r\n                tri[o] = t;\r\n              }\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n  for (let i = 0; i < count; i++) {\r\n    dist[i] = Math.sqrt(dist[i]);\r\n  }\r\n  return dist;\r\n}\r\n\r\n/**\r\n * Bakes the signed distance field of a triangle mesh on the CPU. Unsigned distance by\r\n * closest-triangle propagation; sign by back-face ray voting near the surface (as UE5's mesh\r\n * distance field builder), so open and single-sided meshes work without a closed surface.\r\n *\r\n * @param positions - Vertex positions, xyz per vertex.\r\n * @param indices - Three indices per triangle.\r\n * @public\r\n */\r\nexport function bakeMeshSDF(\r\n  positions: Float32Array,\r\n  indices: Uint32Array,\r\n  options?: MeshSDFBakeOptions\r\n): MeshSDFData {\r\n  const scale = Math.max(0.01, options?.resolutionScale ?? 1);\r\n  const twoSided = !!options?.twoSided;\r\n  const padding = Math.max(1, Math.floor(options?.padding ?? 2));\r\n  const maxRes = Math.max(4, Math.floor(options?.maxResolution ?? (scale > 1 ? 256 : 128)));\r\n  const minRes = Math.min(maxRes, Math.max(2, Math.floor(options?.minResolution ?? 8)));\r\n  const meshMin: [number, number, number] = [Infinity, Infinity, Infinity];\r\n  const meshMax: [number, number, number] = [-Infinity, -Infinity, -Infinity];\r\n  const numVerts = Math.floor(positions.length / 3);\r\n  // Only the vertices triangles use count towards the bounds\r\n  for (let i = 0; i < indices.length; i++) {\r\n    const v = indices[i];\r\n    if (v >= numVerts) {\r\n      throw new Error('bakeMeshSDF(): index out of range');\r\n    }\r\n    for (let c = 0; c < 3; c++) {\r\n      meshMin[c] = Math.min(meshMin[c], positions[v * 3 + c]);\r\n      meshMax[c] = Math.max(meshMax[c], positions[v * 3 + c]);\r\n    }\r\n  }\r\n  if (indices.length < 3) {\r\n    throw new Error('bakeMeshSDF(): the mesh has no triangles');\r\n  }\r\n  const extent = [meshMax[0] - meshMin[0], meshMax[1] - meshMin[1], meshMax[2] - meshMin[2]];\r\n  const longest = Math.max(extent[0], extent[1], extent[2], 1e-6);\r\n  const unitScale = options?.unitScale && options.unitScale > 0 ? options.unitScale : 1;\r\n  let voxelSize = 1 / (SDF_VOXELS_PER_UNIT * scale * unitScale);\r\n  // Fit the longest side, padding included, under the cap\r\n  voxelSize = Math.max(voxelSize, longest / (maxRes - 2 * padding));\r\n  const resolution: [number, number, number] = [0, 0, 0];\r\n  for (let c = 0; c < 3; c++) {\r\n    resolution[c] = Math.min(maxRes, Math.max(minRes, Math.ceil(extent[c] / voxelSize) + 2 * padding));\r\n  }\r\n  // Centre the mesh in the volume\r\n  const boxMin: [number, number, number] = [0, 0, 0];\r\n  const boxMax: [number, number, number] = [0, 0, 0];\r\n  for (let c = 0; c < 3; c++) {\r\n    const size = resolution[c] * voxelSize;\r\n    boxMin[c] = (meshMin[c] + meshMax[c]) * 0.5 - size * 0.5;\r\n    boxMax[c] = boxMin[c] + size;\r\n  }\r\n  const bvh = new TriangleBVH(positions, indices);\r\n  const [nx, ny, nz] = resolution;\r\n  const count = nx * ny * nz;\r\n  const distances = computeUnsignedDistances(positions, indices, boxMin, resolution, voxelSize);\r\n  if (twoSided) {\r\n    for (let i = 0; i < count; i++) {\r\n      distances[i] -= voxelSize * 0.5;\r\n    }\r\n  } else {\r\n    signDistances(distances, bvh, boxMin, resolution, voxelSize, options?.signSamples);\r\n  }\r\n  let minDistance = Infinity;\r\n  let maxDistance = -Infinity;\r\n  for (let i = 0; i < count; i++) {\r\n    minDistance = Math.min(minDistance, distances[i]);\r\n    maxDistance = Math.max(maxDistance, distances[i]);\r\n  }\r\n  return {\r\n    boxMin,\r\n    boxMax,\r\n    resolution,\r\n    voxelSize,\r\n    meshBoxMin: meshMin,\r\n    meshBoxMax: meshMax,\r\n    twoSided,\r\n    minDistance,\r\n    maxDistance,\r\n    distances\r\n  };\r\n}\r\n\r\n/** Deterministic 32-bit generator (mulberry32), so a mesh bakes the same every time. */\r\nfunction makeRandom(seed: number) {\r\n  let a = seed >>> 0;\r\n  return () => {\r\n    a = (a + 0x6d2b79f5) >>> 0;\r\n    let t = a;\r\n    t = Math.imul(t ^ (t >>> 15), t | 1);\r\n    t ^= t + Math.imul(t ^ (t >>> 7), t | 61);\r\n    return ((t ^ (t >>> 14)) >>> 0) / 4294967296;\r\n  };\r\n}\r\n\r\n/**\r\n * Stratified directions over the sphere: a square grid of jittered samples on\r\n * each hemisphere, mapped through the concentric disk [Shirley & Chiu 1997],\r\n * one hemisphere mirrored in z. xyz per direction.\r\n */\r\nfunction sphereDirections(perHemisphere: number) {\r\n  const dim = Math.max(1, Math.floor(Math.sqrt(perHemisphere)));\r\n  const random = makeRandom(0);\r\n  const dirs = new Float32Array(dim * dim * 2 * 3);\r\n  let n = 0;\r\n  // The two hemispheres interleave, so a prefix of the list covers both sides\r\n  for (let i = 0; i < dim; i++) {\r\n    for (let j = 0; j < dim; j++) {\r\n      for (let hemi = 0; hemi < 2; hemi++) {\r\n        const u = ((i + random()) / dim) * 2 - 1;\r\n        const v = ((j + random()) / dim) * 2 - 1;\r\n        let x = 0;\r\n        let y = 0;\r\n        let z = 1;\r\n        if (u !== 0 || v !== 0) {\r\n          let r: number;\r\n          let theta: number;\r\n          if (Math.abs(u) > Math.abs(v)) {\r\n            r = u;\r\n            theta = (Math.PI / 4) * (v / u);\r\n          } else {\r\n            r = v;\r\n            theta = Math.PI / 2 - (Math.PI / 4) * (u / v);\r\n          }\r\n          const r2 = r * r;\r\n          const s = Math.sqrt(2 - r2);\r\n          x = r * Math.cos(theta) * s;\r\n          y = r * Math.sin(theta) * s;\r\n          z = 1 - r2;\r\n        }\r\n        dirs[n++] = x;\r\n        dirs[n++] = y;\r\n        dirs[n++] = hemi === 0 ? z : -z;\r\n      }\r\n    }\r\n  }\r\n  return dirs;\r\n}\r\n\r\n/**\r\n * Signs the unsigned distances. Voxels within SIGN_BAND_VOXELS of the surface are inside when\r\n * they hit anything and more than SIGN_BACK_FRACTION of the rays hit a back face (UE5 mesh\r\n * distance field criterion). Six-connected regions beyond the band are outside if they reach the\r\n * volume border, else take the majority sign of their surrounding band voxels.\r\n */\r\nfunction signDistances(\r\n  distances: Float32Array,\r\n  bvh: TriangleBVH,\r\n  boxMin: [number, number, number],\r\n  resolution: [number, number, number],\r\n  h: number,\r\n  samples?: number\r\n) {\r\n  const [nx, ny, nz] = resolution;\r\n  const count = nx * ny * nz;\r\n  const dirs = sphereDirections(Math.max(1, Math.floor(samples ?? 49)));\r\n  const numDirs = dirs.length / 3;\r\n  const band = SIGN_BAND_VOXELS * h;\r\n  const traceDistance = SIGN_TRACE_DIAGONALS * Math.sqrt(3) * h;\r\n  // Pulled back a little so a ray starting on a triangle still crosses it\r\n  const pullback = 1e-4 * traceDistance;\r\n  const tMax = traceDistance + pullback;\r\n  const needBack = SIGN_BACK_FRACTION * numDirs;\r\n  // 0: beyond the band, 1: outside, 2: inside\r\n  const side = new Uint8Array(count);\r\n  for (let k = 0; k < nz; k++) {\r\n    const z = boxMin[2] + (k + 0.5) * h;\r\n    for (let j = 0; j < ny; j++) {\r\n      const y = boxMin[1] + (j + 0.5) * h;\r\n      for (let i = 0; i < nx; i++) {\r\n        const index = i + j * nx + k * nx * ny;\r\n        if (distances[index] > band) {\r\n          continue;\r\n        }\r\n        const x = boxMin[0] + (i + 0.5) * h;\r\n        let hit = 0;\r\n        let hitBack = 0;\r\n        // Stops once the back faces seen settle it either way\r\n        for (let d = 0; d < numDirs && hitBack <= needBack && hitBack + numDirs - d > needBack; d++) {\r\n          const dx = dirs[d * 3];\r\n          const dy = dirs[d * 3 + 1];\r\n          const dz = dirs[d * 3 + 2];\r\n          const t = bvh.rayNearestHit(\r\n            x - dx * pullback,\r\n            y - dy * pullback,\r\n            z - dz * pullback,\r\n            dx,\r\n            dy,\r\n            dz,\r\n            tMax\r\n          );\r\n          if (t !== 0) {\r\n            hit++;\r\n            if (t < 0) {\r\n              hitBack++;\r\n            }\r\n          }\r\n        }\r\n        side[index] = hit > 0 && hitBack > needBack ? 2 : 1;\r\n      }\r\n    }\r\n  }\r\n  // Regions beyond the band, six-connected\r\n  const queue = new Int32Array(count);\r\n  const region = new Int32Array(count).fill(-1);\r\n  const strides = [1, nx, nx * ny];\r\n  for (let seed = 0; seed < count; seed++) {\r\n    if (side[seed] !== 0 || region[seed] >= 0) {\r\n      continue;\r\n    }\r\n    let head = 0;\r\n    let tail = 0;\r\n    let border = false;\r\n    let inside = 0;\r\n    let outside = 0;\r\n    queue[tail++] = seed;\r\n    region[seed] = seed;\r\n    while (head < tail) {\r\n      const v = queue[head++];\r\n      const vi = v % nx;\r\n      const vj = ((v - vi) / nx) % ny;\r\n      const vk = (v - vi - vj * nx) / (nx * ny);\r\n      const coord = [vi, vj, vk];\r\n      for (let axis = 0; axis < 3; axis++) {\r\n        for (let step = -1; step <= 1; step += 2) {\r\n          const c = coord[axis] + step;\r\n          if (c < 0 || c >= resolution[axis]) {\r\n            border = true;\r\n            continue;\r\n          }\r\n          const w = v + step * strides[axis];\r\n          const s = side[w];\r\n          if (s === 0) {\r\n            if (region[w] < 0) {\r\n              region[w] = seed;\r\n              queue[tail++] = w;\r\n            }\r\n          } else if (s === 2) {\r\n            inside++;\r\n          } else {\r\n            outside++;\r\n          }\r\n        }\r\n      }\r\n    }\r\n    if (!border && inside > outside) {\r\n      for (let q = 0; q < tail; q++) {\r\n        side[queue[q]] = 2;\r\n      }\r\n    }\r\n  }\r\n  for (let i = 0; i < count; i++) {\r\n    if (side[i] === 2) {\r\n      distances[i] = -distances[i];\r\n    }\r\n  }\r\n}\r\n\r\n/**\r\n * Trilinear sample of a baked field at a local position; outside the volume, the nearest border\r\n * sample plus the distance to the volume.\r\n * @public\r\n */\r\nexport function sampleMeshSDF(sdf: MeshSDFData, x: number, y: number, z: number) {\r\n  const [nx, ny, nz] = sdf.resolution;\r\n  const h = sdf.voxelSize;\r\n  const cx = Math.min(Math.max(x, sdf.boxMin[0]), sdf.boxMax[0]);\r\n  const cy = Math.min(Math.max(y, sdf.boxMin[1]), sdf.boxMax[1]);\r\n  const cz = Math.min(Math.max(z, sdf.boxMin[2]), sdf.boxMax[2]);\r\n  const outside = Math.hypot(x - cx, y - cy, z - cz);\r\n  const fx = Math.min(Math.max((cx - sdf.boxMin[0]) / h - 0.5, 0), nx - 1);\r\n  const fy = Math.min(Math.max((cy - sdf.boxMin[1]) / h - 0.5, 0), ny - 1);\r\n  const fz = Math.min(Math.max((cz - sdf.boxMin[2]) / h - 0.5, 0), nz - 1);\r\n  const i0 = Math.min(Math.floor(fx), nx - 2 < 0 ? 0 : nx - 2);\r\n  const j0 = Math.min(Math.floor(fy), ny - 2 < 0 ? 0 : ny - 2);\r\n  const k0 = Math.min(Math.floor(fz), nz - 2 < 0 ? 0 : nz - 2);\r\n  const i1 = Math.min(i0 + 1, nx - 1);\r\n  const j1 = Math.min(j0 + 1, ny - 1);\r\n  const k1 = Math.min(k0 + 1, nz - 1);\r\n  const tx = fx - i0;\r\n  const ty = fy - j0;\r\n  const tz = fz - k0;\r\n  const d = sdf.distances;\r\n  const at = (i: number, j: number, k: number) => d[(k * ny + j) * nx + i];\r\n  const c00 = at(i0, j0, k0) * (1 - tx) + at(i1, j0, k0) * tx;\r\n  const c10 = at(i0, j1, k0) * (1 - tx) + at(i1, j1, k0) * tx;\r\n  const c01 = at(i0, j0, k1) * (1 - tx) + at(i1, j0, k1) * tx;\r\n  const c11 = at(i0, j1, k1) * (1 - tx) + at(i1, j1, k1) * tx;\r\n  const c0 = c00 * (1 - ty) + c10 * ty;\r\n  const c1 = c01 * (1 - ty) + c11 * ty;\r\n  return c0 * (1 - tz) + c1 * tz + 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package/dist/utility/sdf/bvh.js

@@ -0,0 +1,576 @@
+/** Most triangles a leaf holds. */ const LEAF_SIZE = 4;
+/** Split candidates per axis for the surface area heuristic. */ const SAH_BINS = 12;
+/**
+ * Immutable BVH over a triangle soup for CPU closest-point and ray queries. Nodes are flattened
+ * depth first (left child follows its parent, `offset` holds the right); a leaf has `count > 0`
+ * and covers `[first, first + count)` of {@link TriangleBVH.order}.
+ *
+ * @public
+ */ class TriangleBVH {
+    /** Vertex positions, xyz per vertex. */ positions;
+    /** Three vertex indices per triangle. */ indices;
+    /** Triangle indices in leaf order. */ order;
+    /** Node bounds, minX minY minZ maxX maxY maxZ per node. */ bounds;
+    /** Per node: right child for an interior node, first triangle for a leaf. */ offset;
+    /** Per node: triangles in a leaf, 0 for an interior node. */ count;
+    _numNodes;
+    constructor(positions, indices){
+        this.positions = positions;
+        this.indices = indices;
+        const numTris = Math.floor(indices.length / 3);
+        this.order = new Uint32Array(numTris);
+        const maxNodes = Math.max(1, 2 * numTris);
+        this.bounds = new Float32Array(maxNodes * 6);
+        this.offset = new Uint32Array(maxNodes);
+        this.count = new Uint32Array(maxNodes);
+        this._numNodes = 0;
+        const centroids = new Float32Array(numTris * 3);
+        const triBounds = new Float32Array(numTris * 6);
+        for(let t = 0; t < numTris; t++){
+            this.order[t] = t;
+            let minX = Infinity;
+            let minY = Infinity;
+            let minZ = Infinity;
+            let maxX = -Infinity;
+            let maxY = -Infinity;
+            let maxZ = -Infinity;
+            for(let k = 0; k < 3; k++){
+                const v = indices[t * 3 + k] * 3;
+                const x = positions[v];
+                const y = positions[v + 1];
+                const z = positions[v + 2];
+                minX = Math.min(minX, x);
+                minY = Math.min(minY, y);
+                minZ = Math.min(minZ, z);
+                maxX = Math.max(maxX, x);
+                maxY = Math.max(maxY, y);
+                maxZ = Math.max(maxZ, z);
+            }
+            triBounds.set([
+                minX,
+                minY,
+                minZ,
+                maxX,
+                maxY,
+                maxZ
+            ], t * 6);
+            centroids[t * 3] = (minX + maxX) * 0.5;
+            centroids[t * 3 + 1] = (minY + maxY) * 0.5;
+            centroids[t * 3 + 2] = (minZ + maxZ) * 0.5;
+        }
+        if (numTris > 0) {
+            this._build(0, numTris, centroids, triBounds);
+        } else {
+            this._numNodes = 1;
+            this.bounds.set([
+                0,
+                0,
+                0,
+                0,
+                0,
+                0
+            ]);
+        }
+    }
+    /** Nodes in the tree. */ get numNodes() {
+        return this._numNodes;
+    }
+    /** Triangles in the tree. */ get numTriangles() {
+        return this.order.length;
+    }
+    /**
+   * Squared distance from a point to the nearest triangle, or `maxDistSq` when
+   * none is nearer than that.
+   * @param out - Receives the closest point when one is found nearer than `maxDistSq`.
+   */ closestDistanceSq(px, py, pz, maxDistSq = Infinity, out) {
+        if (this.order.length === 0) {
+            return maxDistSq;
+        }
+        let best = maxDistSq;
+        const stack = this._stack;
+        let sp = 0;
+        stack[sp++] = 0;
+        while(sp > 0){
+            const node = stack[--sp];
+            if (boxDistSq(this.bounds, node, px, py, pz) >= best) {
+                continue;
+            }
+            const count = this.count[node];
+            if (count > 0) {
+                const first = this.offset[node];
+                for(let i = first; i < first + count; i++){
+                    const d = this._triangleDistSq(this.order[i], px, py, pz);
+                    if (d < best) {
+                        best = d;
+                        if (out) {
+                            out[0] = this._closest[0];
+                            out[1] = this._closest[1];
+                            out[2] = this._closest[2];
+                        }
+                    }
+                }
+            } else {
+                // Nearer child last, so it is popped first and tightens `best` early
+                const left = node + 1;
+                const right = this.offset[node];
+                const dl = boxDistSq(this.bounds, left, px, py, pz);
+                const dr = boxDistSq(this.bounds, right, px, py, pz);
+                if (dl < dr) {
+                    stack[sp++] = right;
+                    stack[sp++] = left;
+                } else {
+                    stack[sp++] = left;
+                    stack[sp++] = right;
+                }
+            }
+        }
+        return best;
+    }
+    /**
+   * Every ray parameter `t > 0` at which a ray crosses a triangle, unsorted.
+   * @param dir - Ray direction; need not be unit length, `t` is in its units.
+   * @returns Number of hits written to `hits`, at most its length.
+   */ rayHits(ox, oy, oz, dx, dy, dz, hits) {
+        if (this.order.length === 0) {
+            return 0;
+        }
+        const ix = 1 / dx;
+        const iy = 1 / dy;
+        const iz = 1 / dz;
+        const stack = this._stack;
+        let sp = 0;
+        let n = 0;
+        stack[sp++] = 0;
+        while(sp > 0){
+            const node = stack[--sp];
+            if (!rayHitsBox(this.bounds, node, ox, oy, oz, ix, iy, iz)) {
+                continue;
+            }
+            const count = this.count[node];
+            if (count > 0) {
+                const first = this.offset[node];
+                for(let i = first; i < first + count && n < hits.length; i++){
+                    const t = this._rayTriangle(this.order[i], ox, oy, oz, dx, dy, dz);
+                    if (t > 0) {
+                        hits[n++] = t;
+                    }
+                }
+            } else {
+                stack[sp++] = node + 1;
+                stack[sp++] = this.offset[node];
+            }
+        }
+        return n;
+    }
+    /**
+   * The nearest triangle a ray crosses within `tMax`.
+   * @param dir - Unit ray direction.
+   * @returns The hit's ray parameter, negated for a back face (winding normal along `dir`);
+   * 0 when nothing is hit within `tMax`.
+   */ rayNearestHit(ox, oy, oz, dx, dy, dz, tMax) {
+        if (this.order.length === 0) {
+            return 0;
+        }
+        const ix = 1 / dx;
+        const iy = 1 / dy;
+        const iz = 1 / dz;
+        const stack = this._stack;
+        let sp = 0;
+        let best = tMax;
+        let back = false;
+        stack[sp++] = 0;
+        while(sp > 0){
+            const node = stack[--sp];
+            if (rayBoxEntry(this.bounds, node, ox, oy, oz, ix, iy, iz) > best) {
+                continue;
+            }
+            const count = this.count[node];
+            if (count > 0) {
+                const first = this.offset[node];
+                for(let i = first; i < first + count; i++){
+                    const t = this._rayTriangle(this.order[i], ox, oy, oz, dx, dy, dz);
+                    if (t > 0 && t <= best) {
+                        best = t;
+                        back = this._lastHitBack;
+                    }
+                }
+            } else {
+                stack[sp++] = node + 1;
+                stack[sp++] = this.offset[node];
+            }
+        }
+        return best < tMax ? back ? -best : best : 0;
+    }
+    _stack = new Uint32Array(256);
+    _closest = new Float32Array(3);
+    /** Whether the last triangle `_rayTriangle` hit faced away from the ray. */ _lastHitBack = false;
+    /** @internal */ _build(first, count, centroids, triBounds) {
+        const node = this._numNodes++;
+        const b = this.bounds;
+        let minX = Infinity;
+        let minY = Infinity;
+        let minZ = Infinity;
+        let maxX = -Infinity;
+        let maxY = -Infinity;
+        let maxZ = -Infinity;
+        let cMinX = Infinity;
+        let cMinY = Infinity;
+        let cMinZ = Infinity;
+        let cMaxX = -Infinity;
+        let cMaxY = -Infinity;
+        let cMaxZ = -Infinity;
+        for(let i = first; i < first + count; i++){
+            const t = this.order[i];
+            minX = Math.min(minX, triBounds[t * 6]);
+            minY = Math.min(minY, triBounds[t * 6 + 1]);
+            minZ = Math.min(minZ, triBounds[t * 6 + 2]);
+            maxX = Math.max(maxX, triBounds[t * 6 + 3]);
+            maxY = Math.max(maxY, triBounds[t * 6 + 4]);
+            maxZ = Math.max(maxZ, triBounds[t * 6 + 5]);
+            cMinX = Math.min(cMinX, centroids[t * 3]);
+            cMinY = Math.min(cMinY, centroids[t * 3 + 1]);
+            cMinZ = Math.min(cMinZ, centroids[t * 3 + 2]);
+            cMaxX = Math.max(cMaxX, centroids[t * 3]);
+            cMaxY = Math.max(cMaxY, centroids[t * 3 + 1]);
+            cMaxZ = Math.max(cMaxZ, centroids[t * 3 + 2]);
+        }
+        b[node * 6] = minX;
+        b[node * 6 + 1] = minY;
+        b[node * 6 + 2] = minZ;
+        b[node * 6 + 3] = maxX;
+        b[node * 6 + 4] = maxY;
+        b[node * 6 + 5] = maxZ;
+        const extents = [
+            cMaxX - cMinX,
+            cMaxY - cMinY,
+            cMaxZ - cMinZ
+        ];
+        const cMin = [
+            cMinX,
+            cMinY,
+            cMinZ
+        ];
+        const split = count > LEAF_SIZE ? this._findSplit(first, count, centroids, triBounds, cMin, extents, [
+            minX,
+            minY,
+            minZ,
+            maxX,
+            maxY,
+            maxZ
+        ]) : null;
+        if (!split) {
+            this.offset[node] = first;
+            this.count[node] = count;
+            return node;
+        }
+        // Partition in place around the chosen bin boundary
+        const { axis, pos } = split;
+        let i = first;
+        let j = first + count - 1;
+        while(i <= j){
+            if (centroids[this.order[i] * 3 + axis] < pos) {
+                i++;
+            } else {
+                const tmp = this.order[i];
+                this.order[i] = this.order[j];
+                this.order[j] = tmp;
+                j--;
+            }
+        }
+        let leftCount = i - first;
+        if (leftCount === 0 || leftCount === count) {
+            leftCount = count >> 1;
+        }
+        this.count[node] = 0;
+        this._build(first, leftCount, centroids, triBounds);
+        this.offset[node] = this._build(first + leftCount, count - leftCount, centroids, triBounds);
+        return node;
+    }
+    /** Binned SAH; null when no split beats a leaf. @internal */ _findSplit(first, count, centroids, triBounds, cMin, extents, nodeBounds) {
+        let bestCost = count;
+        let bestAxis = -1;
+        let bestPos = 0;
+        const binCount = new Uint32Array(SAH_BINS);
+        const binBounds = new Float32Array(SAH_BINS * 6);
+        const rightArea = new Float32Array(SAH_BINS);
+        for(let axis = 0; axis < 3; axis++){
+            if (extents[axis] <= 1e-12) {
+                continue;
+            }
+            binCount.fill(0);
+            for(let k = 0; k < SAH_BINS; k++){
+                binBounds.set([
+                    Infinity,
+                    Infinity,
+                    Infinity,
+                    -Infinity,
+                    -Infinity,
+                    -Infinity
+                ], k * 6);
+            }
+            const scale = SAH_BINS / extents[axis];
+            for(let i = first; i < first + count; i++){
+                const t = this.order[i];
+                const k = Math.min(SAH_BINS - 1, Math.floor((centroids[t * 3 + axis] - cMin[axis]) * scale));
+                binCount[k]++;
+                for(let c = 0; c < 3; c++){
+                    binBounds[k * 6 + c] = Math.min(binBounds[k * 6 + c], triBounds[t * 6 + c]);
+                    binBounds[k * 6 + 3 + c] = Math.max(binBounds[k * 6 + 3 + c], triBounds[t * 6 + 3 + c]);
+                }
+            }
+            // Sweep from the right for the area of everything past each boundary
+            const acc = [
+                Infinity,
+                Infinity,
+                Infinity,
+                -Infinity,
+                -Infinity,
+                -Infinity
+            ];
+            let accCount = 0;
+            const rightCount = new Uint32Array(SAH_BINS);
+            for(let k = SAH_BINS - 1; k > 0; k--){
+                grow(acc, binBounds, k);
+                accCount += binCount[k];
+                rightArea[k] = area(acc);
+                rightCount[k] = accCount;
+            }
+            const left = [
+                Infinity,
+                Infinity,
+                Infinity,
+                -Infinity,
+                -Infinity,
+                -Infinity
+            ];
+            let leftCount = 0;
+            const parentArea = Math.max(area(nodeBounds), 1e-12);
+            for(let k = 1; k < SAH_BINS; k++){
+                grow(left, binBounds, k - 1);
+                leftCount += binCount[k - 1];
+                if (leftCount === 0 || rightCount[k] === 0) {
+                    continue;
+                }
+                const cost = 0.125 + (area(left) * leftCount + rightArea[k] * rightCount[k]) / parentArea;
+                if (cost < bestCost) {
+                    bestCost = cost;
+                    bestAxis = axis;
+                    bestPos = cMin[axis] + k * extents[axis] / SAH_BINS;
+                }
+            }
+        }
+        return bestAxis < 0 ? null : {
+            axis: bestAxis,
+            pos: bestPos
+        };
+    }
+    /** @internal */ _triangleDistSq(t, px, py, pz) {
+        const p = this.positions;
+        const ia = this.indices[t * 3] * 3;
+        const ib = this.indices[t * 3 + 1] * 3;
+        const ic = this.indices[t * 3 + 2] * 3;
+        closestPointOnTriangle(px, py, pz, p[ia], p[ia + 1], p[ia + 2], p[ib], p[ib + 1], p[ib + 2], p[ic], p[ic + 1], p[ic + 2], this._closest);
+        const dx = this._closest[0] - px;
+        const dy = this._closest[1] - py;
+        const dz = this._closest[2] - pz;
+        return dx * dx + dy * dy + dz * dz;
+    }
+    /** Möller-Trumbore, both faces; 0 for a miss. @internal */ _rayTriangle(t, ox, oy, oz, dx, dy, dz) {
+        const p = this.positions;
+        const ia = this.indices[t * 3] * 3;
+        const ib = this.indices[t * 3 + 1] * 3;
+        const ic = this.indices[t * 3 + 2] * 3;
+        const ax = p[ia];
+        const ay = p[ia + 1];
+        const az = p[ia + 2];
+        const e1x = p[ib] - ax;
+        const e1y = p[ib + 1] - ay;
+        const e1z = p[ib + 2] - az;
+        const e2x = p[ic] - ax;
+        const e2y = p[ic + 1] - ay;
+        const e2z = p[ic + 2] - az;
+        const qx = dy * e2z - dz * e2y;
+        const qy = dz * e2x - dx * e2z;
+        const qz = dx * e2y - dy * e2x;
+        const det = e1x * qx + e1y * qy + e1z * qz;
+        if (Math.abs(det) < 1e-20) {
+            return 0;
+        }
+        // det = -dir . (e1 x e2): negative when the ray runs along the winding normal
+        this._lastHitBack = det < 0;
+        const inv = 1 / det;
+        const sx = ox - ax;
+        const sy = oy - ay;
+        const sz = oz - az;
+        const u = (sx * qx + sy * qy + sz * qz) * inv;
+        if (u < 0 || u > 1) {
+            return 0;
+        }
+        const rx = sy * e1z - sz * e1y;
+        const ry = sz * e1x - sx * e1z;
+        const rz = sx * e1y - sy * e1x;
+        const v = (dx * rx + dy * ry + dz * rz) * inv;
+        if (v < 0 || u + v > 1) {
+            return 0;
+        }
+        const tt = (e2x * rx + e2y * ry + e2z * rz) * inv;
+        return tt > 0 ? tt : 0;
+    }
+}
+function nanTo(v, fallback) {
+    return v !== v ? fallback : v;
+}
+function grow(acc, b, k) {
+    if (b[k * 6] > b[k * 6 + 3]) {
+        return;
+    }
+    for(let c = 0; c < 3; c++){
+        acc[c] = Math.min(acc[c], b[k * 6 + c]);
+        acc[3 + c] = Math.max(acc[3 + c], b[k * 6 + 3 + c]);
+    }
+}
+function area(b) {
+    const x = b[3] - b[0];
+    const y = b[4] - b[1];
+    const z = b[5] - b[2];
+    return x < 0 || y < 0 || z < 0 ? 0 : 2 * (x * y + y * z + z * x);
+}
+function boxDistSq(b, node, px, py, pz) {
+    const o = node * 6;
+    const dx = Math.max(b[o] - px, 0, px - b[o + 3]);
+    const dy = Math.max(b[o + 1] - py, 0, py - b[o + 4]);
+    const dz = Math.max(b[o + 2] - pz, 0, pz - b[o + 5]);
+    return dx * dx + dy * dy + dz * dz;
+}
+/** Ray parameter at which a ray enters node bounds, Infinity when it misses them. */ function rayBoxEntry(b, node, ox, oy, oz, ix, iy, iz) {
+    const o = node * 6;
+    let t0x = (b[o] - ox) * ix;
+    let t1x = (b[o + 3] - ox) * ix;
+    if (t0x > t1x) {
+        const t = t0x;
+        t0x = t1x;
+        t1x = t;
+    }
+    let t0y = (b[o + 1] - oy) * iy;
+    let t1y = (b[o + 4] - oy) * iy;
+    if (t0y > t1y) {
+        const t = t0y;
+        t0y = t1y;
+        t1y = t;
+    }
+    let t0z = (b[o + 2] - oz) * iz;
+    let t1z = (b[o + 5] - oz) * iz;
+    if (t0z > t1z) {
+        const t = t0z;
+        t0z = t1z;
+        t1z = t;
+    }
+    const tNear = Math.max(nanTo(t0x, -Infinity), nanTo(t0y, -Infinity), nanTo(t0z, -Infinity), 0);
+    const tFar = Math.min(nanTo(t1x, Infinity), nanTo(t1y, Infinity), nanTo(t1z, Infinity));
+    return tNear <= tFar ? tNear : Infinity;
+}
+function rayHitsBox(b, node, ox, oy, oz, ix, iy, iz) {
+    const o = node * 6;
+    let t0x = (b[o] - ox) * ix;
+    let t1x = (b[o + 3] - ox) * ix;
+    if (t0x > t1x) {
+        const t = t0x;
+        t0x = t1x;
+        t1x = t;
+    }
+    let t0y = (b[o + 1] - oy) * iy;
+    let t1y = (b[o + 4] - oy) * iy;
+    if (t0y > t1y) {
+        const t = t0y;
+        t0y = t1y;
+        t1y = t;
+    }
+    let t0z = (b[o + 2] - oz) * iz;
+    let t1z = (b[o + 5] - oz) * iz;
+    if (t0z > t1z) {
+        const t = t0z;
+        t0z = t1z;
+        t1z = t;
+    }
+    // NaN from 0 * Infinity (origin on a slab face of an axis-parallel ray) is no constraint
+    const tNear = Math.max(nanTo(t0x, -Infinity), nanTo(t0y, -Infinity), nanTo(t0z, -Infinity), 0);
+    const tFar = Math.min(nanTo(t1x, Infinity), nanTo(t1y, Infinity), nanTo(t1z, Infinity));
+    return tNear <= tFar;
+}
+/**
+ * Closest point on triangle abc to p (Ericson, Real-Time Collision Detection 5.1.5).
+ * @internal
+ */ function closestPointOnTriangle(px, py, pz, ax, ay, az, bx, by, bz, cx, cy, cz, out) {
+    const abx = bx - ax;
+    const aby = by - ay;
+    const abz = bz - az;
+    const acx = cx - ax;
+    const acy = cy - ay;
+    const acz = cz - az;
+    const apx = px - ax;
+    const apy = py - ay;
+    const apz = pz - az;
+    const d1 = abx * apx + aby * apy + abz * apz;
+    const d2 = acx * apx + acy * apy + acz * apz;
+    if (d1 <= 0 && d2 <= 0) {
+        out[0] = ax;
+        out[1] = ay;
+        out[2] = az;
+        return;
+    }
+    const bpx = px - bx;
+    const bpy = py - by;
+    const bpz = pz - bz;
+    const d3 = abx * bpx + aby * bpy + abz * bpz;
+    const d4 = acx * bpx + acy * bpy + acz * bpz;
+    if (d3 >= 0 && d4 <= d3) {
+        out[0] = bx;
+        out[1] = by;
+        out[2] = bz;
+        return;
+    }
+    const vc = d1 * d4 - d3 * d2;
+    if (vc <= 0 && d1 >= 0 && d3 <= 0) {
+        const v = d1 / (d1 - d3);
+        out[0] = ax + v * abx;
+        out[1] = ay + v * aby;
+        out[2] = az + v * abz;
+        return;
+    }
+    const cpx = px - cx;
+    const cpy = py - cy;
+    const cpz = pz - cz;
+    const d5 = abx * cpx + aby * cpy + abz * cpz;
+    const d6 = acx * cpx + acy * cpy + acz * cpz;
+    if (d6 >= 0 && d5 <= d6) {
+        out[0] = cx;
+        out[1] = cy;
+        out[2] = cz;
+        return;
+    }
+    const vb = d5 * d2 - d1 * d6;
+    if (vb <= 0 && d2 >= 0 && d6 <= 0) {
+        const w = d2 / (d2 - d6);
+        out[0] = ax + w * acx;
+        out[1] = ay + w * acy;
+        out[2] = az + w * acz;
+        return;
+    }
+    const va = d3 * d6 - d5 * d4;
+    if (va <= 0 && d4 - d3 >= 0 && d5 - d6 >= 0) {
+        const w = (d4 - d3) / (d4 - d3 + (d5 - d6));
+        out[0] = bx + w * (cx - bx);
+        out[1] = by + w * (cy - by);
+        out[2] = bz + w * (cz - bz);
+        return;
+    }
+    const denom = 1 / (va + vb + vc);
+    const v = vb * denom;
+    const w = vc * denom;
+    out[0] = ax + abx * v + acx * w;
+    out[1] = ay + aby * v + acy * w;
+    out[2] = az + abz * v + acz * w;
+}
+
+export { TriangleBVH, closestPointOnTriangle };
+//# sourceMappingURL=bvh.js.map