@zephyr3d/scene 0.9.26 → 0.10.0

package/dist/animation/gpu_animation_driver.js

@@ -0,0 +1,289 @@
+import { tryGetApp } from '../app/api.js';
+import { AnimationBank } from './animation_bank.js';
+import { NodeEulerRotationTrack } from './eulerrotationtrack.js';
+import { NodeRotationTrack } from './rotationtrack.js';
+import { NodeScaleTrack } from './scaletrack.js';
+import { NodeTranslationTrack } from './translationtrack.js';
+
+/** Joint tracks a bank can bake */ function isJointTrack(track) {
+    return track instanceof NodeTranslationTrack || track instanceof NodeRotationTrack || track instanceof NodeEulerRotationTrack || track instanceof NodeScaleTrack;
+}
+/** Banks shared by the instances of a model, by model and skin binding */ const sharedBanks = new Map();
+let nextDriverId = 0;
+/**
+ * Plays the skeletal animation of an {@link AnimationSet} with animation bank tracks while it
+ * allows, see {@link AnimationSet.gpuAnimation}.
+ *
+ * @remarks
+ * The animation set keeps advancing playback time, loops, ranges and events; only the posing
+ * of the joints is replaced: each skin binding the clip animates is skinned by a bank track that
+ * is set to the playback time every frame. Banks are baked a clip at a time on first use and
+ * shared by every instance of the same model.
+ *
+ * Playback falls back to the joint nodes, at once and without a visible jump, whenever a frame
+ * does not meet the conditions of a bank: exactly one active clip, animating joints only, no
+ * skeleton modifier, no GPU cloth, and nothing attached to the joints that would follow them.
+ *
+ * @internal
+ */ class GpuAnimationDriver {
+    _set;
+    _id;
+    _tracks;
+    /** Shared bank keys acquired by this driver, by skin binding */ _bankKeys;
+    _clipInfo;
+    _clip;
+    _time;
+    _structureTag;
+    _structureCheckedTag;
+    _structureOk;
+    /** Frames the model has held a still pose with no clip active, see update() */ _idleFrames;
+    _onStructureChanged;
+    constructor(animationSet){
+        this._set = animationSet;
+        this._id = ++nextDriverId;
+        this._tracks = new Map();
+        this._bankKeys = new Map();
+        this._clipInfo = new WeakMap();
+        this._clip = null;
+        this._time = 0;
+        this._structureTag = 0;
+        this._structureCheckedTag = -1;
+        this._structureOk = false;
+        this._idleFrames = 0;
+        this._onStructureChanged = ()=>{
+            this._structureTag++;
+        };
+        animationSet.model.on('nodeattached', this._onStructureChanged);
+        animationSet.model.on('noderemoved', this._onStructureChanged);
+    }
+    /** Whether the pose currently comes from bank tracks */ get active() {
+        return this._tracks.size > 0;
+    }
+    /**
+   * Pose the model for this frame by bank tracks if the conditions allow.
+   *
+   * @param clip - The only active clip, or null if none or more than one is active
+   * @param time - Playback time of the clip
+   * @returns true if bank tracks pose the model, so the joints are not to be posed this frame
+   */ update(clip, time) {
+        if (!clip) {
+            return this.updateIdle();
+        }
+        this._idleFrames = 0;
+        const bindings = this.getClipBindings(clip);
+        if (!bindings || !this.canDrive(bindings)) {
+            this.leave(true);
+            return false;
+        }
+        if (clip !== this._clip) {
+            // Joints the new clip leaves alone keep the pose they had on the regular path
+            this.syncJoints();
+            if (!this.untouchedJointsAtBindPose(clip, bindings)) {
+                this.leave(false);
+                return false;
+            }
+        }
+        for (const binding of bindings){
+            const bank = this.acquireBank(binding);
+            const index = bank.addClip(this._set, binding, clip.name);
+            if (index < 0) {
+                this.leave(false);
+                return false;
+            }
+            let track = this._tracks.get(binding);
+            if (!track) {
+                track = bank.createTrack(index, {
+                    position: time,
+                    autoPlay: false,
+                    loop: false
+                });
+                track.attach(this._set.model, binding);
+                this._tracks.set(binding, track);
+            } else if (track.entryIndex !== index) {
+                track.setClip(index, time);
+            }
+            track.position = time;
+        }
+        this._clip = clip;
+        this._time = time;
+        return true;
+    }
+    /**
+   * With no clip active the pose does not change, so once the palettes hold it the skin bindings
+   * stop rewriting them, and with that the skinned meshes stop recomputing their bounds.
+   *
+   * @remarks
+   * Two frames are left to the regular path first: the first writes the pose, and the second
+   * writes it again so the previous pose equals the current one and the meshes show no motion.
+   */ updateIdle() {
+        this.leave(true);
+        const bindings = this._set.skinBindings.map((ref)=>ref.get()).filter((binding)=>!!binding);
+        if (bindings.length === 0 || !this.canDrive(bindings)) {
+            this._idleFrames = 0;
+            return false;
+        }
+        return ++this._idleFrames > 2;
+    }
+    /**
+   * Hand the pose back to the joint nodes.
+   *
+   * @param sync - Pose the joints as the clip was at the last frame posed by bank tracks
+   */ leave(sync = true) {
+        if (this._tracks.size > 0) {
+            if (sync) {
+                this.syncJoints();
+            }
+            for (const track of this._tracks.values()){
+                track.dispose();
+            }
+            this._tracks.clear();
+        }
+        this._clip = null;
+    }
+    /** Release the tracks and shared banks of this driver */ dispose() {
+        this.leave(false);
+        for (const key of this._bankKeys.values()){
+            const shared = sharedBanks.get(key);
+            if (shared && --shared.refs === 0) {
+                shared.bank.dispose();
+                sharedBanks.delete(key);
+            }
+        }
+        this._bankKeys.clear();
+        this._set.model.off('nodeattached', this._onStructureChanged);
+        this._set.model.off('noderemoved', this._onStructureChanged);
+    }
+    /** Conditions checked every frame, as they change without the scene graph changing */ canDrive(bindings) {
+        // Clips may be edited in the editor while a bank holds an older bake of them
+        if (tryGetApp()?.editorMode === 'editor') {
+            return false;
+        }
+        for (const binding of bindings){
+            if (binding.rig.modifiers.length > 0) {
+                return false;
+            }
+        }
+        if (this._structureCheckedTag !== this._structureTag) {
+            this._structureCheckedTag = this._structureTag;
+            this._structureOk = this.checkStructure(bindings);
+        }
+        return this._structureOk;
+    }
+    /**
+   * No GPU cloth, no mesh with skinning suspended, and nothing but joints below the joints,
+   * which would otherwise follow joint nodes that bank tracks no longer move
+   */ checkStructure(bindings) {
+        const joints = new Set();
+        for (const binding of bindings){
+            for (const joint of binding.joints){
+                joints.add(joint);
+            }
+        }
+        for (const joint of joints){
+            if (joint.children.some((child)=>!joints.has(child))) {
+                return false;
+            }
+        }
+        let ok = true;
+        this._set.model.iterate((node)=>{
+            if (node.gpuClothComponents.length > 0 || node.isMesh() && node.suspendSkinning) {
+                ok = false;
+            }
+            return !ok;
+        });
+        return ok;
+    }
+    /** Skin bindings a clip animates, or null if it animates anything other than their joints */ getClipBindings(clip) {
+        if (this._clipInfo.has(clip)) {
+            return this._clipInfo.get(clip);
+        }
+        const rigByJoint = new Map();
+        for (const ref of this._set.skinBindings){
+            const rig = ref.get()?.rig;
+            if (rig) {
+                for (const joint of rig.joints){
+                    rigByJoint.set(joint, rig);
+                }
+                if (rig.rootJoint) {
+                    rigByJoint.set(rig.rootJoint, rig);
+                }
+            }
+        }
+        const rigs = new Set();
+        let result = null;
+        let ok = clip.tracks.size > 0;
+        for (const [target, tracks] of clip.tracks){
+            const rig = rigByJoint.get(target);
+            if (!rig || !tracks.every(isJointTrack)) {
+                ok = false;
+                break;
+            }
+            rigs.add(rig);
+        }
+        if (ok) {
+            result = this._set.skinBindings.map((ref)=>ref.get()).filter((binding)=>!!binding && rigs.has(binding.rig));
+            if (result.length === 0) {
+                result = null;
+            }
+        }
+        this._clipInfo.set(clip, result);
+        return result;
+    }
+    /** A bank bakes the joints a clip leaves alone at their bind pose, so they must be there */ untouchedJointsAtBindPose(clip, bindings) {
+        for (const binding of bindings){
+            for (const joint of binding.joints){
+                if (clip.tracks.has(joint)) {
+                    continue;
+                }
+                const pose = binding.rig.getBindPoseForJoint(joint);
+                if (pose && !(joint.position.equalsTo(pose.position, 1e-5) && joint.rotation.equalsTo(pose.rotation, 1e-5) && joint.scale.equalsTo(pose.scale, 1e-5))) {
+                    return false;
+                }
+            }
+        }
+        return true;
+    }
+    /** Pose the joint nodes as the last clip posed by bank tracks was at its last time */ syncJoints() {
+        const clip = this._clip;
+        if (!clip || this._tracks.size === 0) {
+            return;
+        }
+        for (const [target, tracks] of clip.tracks){
+            for (const track of tracks){
+                // The same mapping from clip time to track time as AnimationSet.update()
+                const t = clip.timeDuration > 0 ? this._time / clip.timeDuration * track.getDuration() : 0;
+                track.applyState(target, track.calculateState(target, t));
+            }
+        }
+    }
+    /**
+   * The bank of a skin binding, shared by the instances of the model: keyed by the prefab or model
+   * asset the model was created from and the index of the binding in it
+   */ acquireBank(binding) {
+        let key = this._bankKeys.get(binding);
+        if (!key) {
+            const prefabId = this._set.model.getPrefabNode()?.prefabId;
+            const index = this._set.skinBindings.findIndex((ref)=>ref.get() === binding);
+            key = `${prefabId || `driver:${this._id}`}|${index}|${binding.joints.length}`;
+            let shared = sharedBanks.get(key);
+            if (!shared || !shared.bank.isCompatible(binding)) {
+                // An incompatible bank under the same key comes from an edited copy of the model
+                key = shared ? `driver:${this._id}|${index}` : key;
+                shared = sharedBanks.get(key);
+                if (!shared) {
+                    shared = {
+                        bank: new AnimationBank(this._set, binding, []),
+                        refs: 0
+                    };
+                    sharedBanks.set(key, shared);
+                }
+            }
+            shared.refs++;
+            this._bankKeys.set(binding, key);
+        }
+        return sharedBanks.get(key).bank;
+    }
+}
+
+export { GpuAnimationDriver };
+//# sourceMappingURL=gpu_animation_driver.js.map

package/dist/animation/gpu_animation_driver.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"gpu_animation_driver.js","sources":["../../src/animation/gpu_animation_driver.ts"],"sourcesContent":["import type { Nullable } from '@zephyr3d/base';\r\nimport { tryGetApp } from '../app/api';\r\nimport type { SceneNode } from '../scene/scene_node';\r\nimport type { AnimationClip } from './animation';\r\nimport { AnimationBank } from './animation_bank';\r\nimport type { AnimationBankTrack } from './animation_bank';\r\nimport type { AnimationSet } from './animationset';\r\nimport { NodeEulerRotationTrack } from './eulerrotationtrack';\r\nimport { NodeRotationTrack } from './rotationtrack';\r\nimport { NodeScaleTrack } from './scaletrack';\r\nimport type { SkeletonRig, SkinBinding } from './skeleton';\r\nimport { NodeTranslationTrack } from './translationtrack';\r\n\r\n/** Joint tracks a bank can bake */\r\nfunction isJointTrack(track: object) {\r\n  return (\r\n    track instanceof NodeTranslationTrack ||\r\n    track instanceof NodeRotationTrack ||\r\n    track instanceof NodeEulerRotationTrack ||\r\n    track instanceof NodeScaleTrack\r\n  );\r\n}\r\n\r\n/** Banks shared by the instances of a model, by model and skin binding */\r\nconst sharedBanks: Map<string, { bank: AnimationBank; refs: number }> = new Map();\r\nlet nextDriverId = 0;\r\n\r\n/**\r\n * Plays the skeletal animation of an {@link AnimationSet} with animation bank tracks while it\r\n * allows, see {@link AnimationSet.gpuAnimation}.\r\n *\r\n * @remarks\r\n * The animation set keeps advancing playback time, loops, ranges and events; only the posing\r\n * of the joints is replaced: each skin binding the clip animates is skinned by a bank track that\r\n * is set to the playback time every frame. Banks are baked a clip at a time on first use and\r\n * shared by every instance of the same model.\r\n *\r\n * Playback falls back to the joint nodes, at once and without a visible jump, whenever a frame\r\n * does not meet the conditions of a bank: exactly one active clip, animating joints only, no\r\n * skeleton modifier, no GPU cloth, and nothing attached to the joints that would follow them.\r\n *\r\n * @internal\r\n */\r\nexport class GpuAnimationDriver {\r\n  private readonly _set: AnimationSet;\r\n  private readonly _id: number;\r\n  private readonly _tracks: Map<SkinBinding, AnimationBankTrack>;\r\n  /** Shared bank keys acquired by this driver, by skin binding */\r\n  private readonly _bankKeys: Map<SkinBinding, string>;\r\n  private readonly _clipInfo: WeakMap<AnimationClip, Nullable<SkinBinding[]>>;\r\n  private _clip: Nullable<AnimationClip>;\r\n  private _time: number;\r\n  private _structureTag: number;\r\n  private _structureCheckedTag: number;\r\n  private _structureOk: boolean;\r\n  /** Frames the model has held a still pose with no clip active, see update() */\r\n  private _idleFrames: number;\r\n  private readonly _onStructureChanged: () => void;\r\n  constructor(animationSet: AnimationSet) {\r\n    this._set = animationSet;\r\n    this._id = ++nextDriverId;\r\n    this._tracks = new Map();\r\n    this._bankKeys = new Map();\r\n    this._clipInfo = new WeakMap();\r\n    this._clip = null;\r\n    this._time = 0;\r\n    this._structureTag = 0;\r\n    this._structureCheckedTag = -1;\r\n    this._structureOk = false;\r\n    this._idleFrames = 0;\r\n    this._onStructureChanged = () => {\r\n      this._structureTag++;\r\n    };\r\n    animationSet.model.on('nodeattached', this._onStructureChanged);\r\n    animationSet.model.on('noderemoved', this._onStructureChanged);\r\n  }\r\n  /** Whether the pose currently comes from bank tracks */\r\n  get active() {\r\n    return this._tracks.size > 0;\r\n  }\r\n  /**\r\n   * Pose the model for this frame by bank tracks if the conditions allow.\r\n   *\r\n   * @param clip - The only active clip, or null if none or more than one is active\r\n   * @param time - Playback time of the clip\r\n   * @returns true if bank tracks pose the model, so the joints are not to be posed this frame\r\n   */\r\n  update(clip: Nullable<AnimationClip>, time: number) {\r\n    if (!clip) {\r\n      return this.updateIdle();\r\n    }\r\n    this._idleFrames = 0;\r\n    const bindings = this.getClipBindings(clip);\r\n    if (!bindings || !this.canDrive(bindings)) {\r\n      this.leave(true);\r\n      return false;\r\n    }\r\n    if (clip !== this._clip) {\r\n      // Joints the new clip leaves alone keep the pose they had on the regular path\r\n      this.syncJoints();\r\n      if (!this.untouchedJointsAtBindPose(clip, bindings)) {\r\n        this.leave(false);\r\n        return false;\r\n      }\r\n    }\r\n    for (const binding of bindings) {\r\n      const bank = this.acquireBank(binding);\r\n      const index = bank.addClip(this._set, binding, clip.name);\r\n      if (index < 0) {\r\n        this.leave(false);\r\n        return false;\r\n      }\r\n      let track = this._tracks.get(binding);\r\n      if (!track) {\r\n        track = bank.createTrack(index, { position: time, autoPlay: false, loop: false });\r\n        track.attach(this._set.model, binding);\r\n        this._tracks.set(binding, track);\r\n      } else if (track.entryIndex !== index) {\r\n        track.setClip(index, time);\r\n      }\r\n      track.position = time;\r\n    }\r\n    this._clip = clip;\r\n    this._time = time;\r\n    return true;\r\n  }\r\n  /**\r\n   * With no clip active the pose does not change, so once the palettes hold it the skin bindings\r\n   * stop rewriting them, and with that the skinned meshes stop recomputing their bounds.\r\n   *\r\n   * @remarks\r\n   * Two frames are left to the regular path first: the first writes the pose, and the second\r\n   * writes it again so the previous pose equals the current one and the meshes show no motion.\r\n   */\r\n  private updateIdle() {\r\n    this.leave(true);\r\n    const bindings = this._set.skinBindings\r\n      .map((ref) => ref.get())\r\n      .filter((binding): binding is SkinBinding => !!binding);\r\n    if (bindings.length === 0 || !this.canDrive(bindings)) {\r\n      this._idleFrames = 0;\r\n      return false;\r\n    }\r\n    return ++this._idleFrames > 2;\r\n  }\r\n  /**\r\n   * Hand the pose back to the joint nodes.\r\n   *\r\n   * @param sync - Pose the joints as the clip was at the last frame posed by bank tracks\r\n   */\r\n  leave(sync = true) {\r\n    if (this._tracks.size > 0) {\r\n      if (sync) {\r\n        this.syncJoints();\r\n      }\r\n      for (const track of this._tracks.values()) {\r\n        track.dispose();\r\n      }\r\n      this._tracks.clear();\r\n    }\r\n    this._clip = null;\r\n  }\r\n  /** Release the tracks and shared banks of this driver */\r\n  dispose() {\r\n    this.leave(false);\r\n    for (const key of this._bankKeys.values()) {\r\n      const shared = sharedBanks.get(key);\r\n      if (shared && --shared.refs === 0) {\r\n        shared.bank.dispose();\r\n        sharedBanks.delete(key);\r\n      }\r\n    }\r\n    this._bankKeys.clear();\r\n    this._set.model.off('nodeattached', this._onStructureChanged);\r\n    this._set.model.off('noderemoved', this._onStructureChanged);\r\n  }\r\n  /** Conditions checked every frame, as they change without the scene graph changing */\r\n  private canDrive(bindings: SkinBinding[]) {\r\n    // Clips may be edited in the editor while a bank holds an older bake of them\r\n    if (tryGetApp()?.editorMode === 'editor') {\r\n      return false;\r\n    }\r\n    for (const binding of bindings) {\r\n      if (binding.rig.modifiers.length > 0) {\r\n        return false;\r\n      }\r\n    }\r\n    if (this._structureCheckedTag !== this._structureTag) {\r\n      this._structureCheckedTag = this._structureTag;\r\n      this._structureOk = this.checkStructure(bindings);\r\n    }\r\n    return this._structureOk;\r\n  }\r\n  /**\r\n   * No GPU cloth, no mesh with skinning suspended, and nothing but joints below the joints,\r\n   * which would otherwise follow joint nodes that bank tracks no longer move\r\n   */\r\n  private checkStructure(bindings: SkinBinding[]) {\r\n    const joints = new Set<SceneNode>();\r\n    for (const binding of bindings) {\r\n      for (const joint of binding.joints) {\r\n        joints.add(joint);\r\n      }\r\n    }\r\n    for (const joint of joints) {\r\n      if (joint.children.some((child) => !joints.has(child))) {\r\n        return false;\r\n      }\r\n    }\r\n    let ok = true;\r\n    this._set.model.iterate((node) => {\r\n      if (node.gpuClothComponents.length > 0 || (node.isMesh() && node.suspendSkinning)) {\r\n        ok = false;\r\n      }\r\n      return !ok;\r\n    });\r\n    return ok;\r\n  }\r\n  /** Skin bindings a clip animates, or null if it animates anything other than their joints */\r\n  private getClipBindings(clip: AnimationClip) {\r\n    if (this._clipInfo.has(clip)) {\r\n      return this._clipInfo.get(clip)!;\r\n    }\r\n    const rigByJoint = new Map<object, SkeletonRig>();\r\n    for (const ref of this._set.skinBindings) {\r\n      const rig = ref.get()?.rig;\r\n      if (rig) {\r\n        for (const joint of rig.joints) {\r\n          rigByJoint.set(joint, rig);\r\n        }\r\n        if (rig.rootJoint) {\r\n          rigByJoint.set(rig.rootJoint, rig);\r\n        }\r\n      }\r\n    }\r\n    const rigs = new Set<SkeletonRig>();\r\n    let result: Nullable<SkinBinding[]> = null;\r\n    let ok = clip.tracks.size > 0;\r\n    for (const [target, tracks] of clip.tracks) {\r\n      const rig = rigByJoint.get(target);\r\n      if (!rig || !tracks.every(isJointTrack)) {\r\n        ok = false;\r\n        break;\r\n      }\r\n      rigs.add(rig);\r\n    }\r\n    if (ok) {\r\n      result = this._set.skinBindings\r\n        .map((ref) => ref.get())\r\n        .filter((binding): binding is SkinBinding => !!binding && rigs.has(binding.rig));\r\n      if (result.length === 0) {\r\n        result = null;\r\n      }\r\n    }\r\n    this._clipInfo.set(clip, result);\r\n    return result;\r\n  }\r\n  /** A bank bakes the joints a clip leaves alone at their bind pose, so they must be there */\r\n  private untouchedJointsAtBindPose(clip: AnimationClip, bindings: SkinBinding[]) {\r\n    for (const binding of bindings) {\r\n      for (const joint of binding.joints) {\r\n        if (clip.tracks.has(joint)) {\r\n          continue;\r\n        }\r\n        const pose = binding.rig.getBindPoseForJoint(joint);\r\n        if (\r\n          pose &&\r\n          !(\r\n            joint.position.equalsTo(pose.position, 1e-5) &&\r\n            joint.rotation.equalsTo(pose.rotation, 1e-5) &&\r\n            joint.scale.equalsTo(pose.scale, 1e-5)\r\n          )\r\n        ) {\r\n          return false;\r\n        }\r\n      }\r\n    }\r\n    return true;\r\n  }\r\n  /** Pose the joint nodes as the last clip posed by bank tracks was at its last time */\r\n  private syncJoints() {\r\n    const clip = this._clip;\r\n    if (!clip || this._tracks.size === 0) {\r\n      return;\r\n    }\r\n    for (const [target, tracks] of clip.tracks) {\r\n      for (const track of tracks) {\r\n        // The same mapping from clip time to track time as AnimationSet.update()\r\n        const t = clip.timeDuration > 0 ? (this._time / clip.timeDuration) * track.getDuration() : 0;\r\n        track.applyState(target, track.calculateState(target, t));\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * The bank of a skin binding, shared by the instances of the model: keyed by the prefab or model\r\n   * asset the model was created from and the index of the binding in it\r\n   */\r\n  private acquireBank(binding: SkinBinding) {\r\n    let key = this._bankKeys.get(binding);\r\n    if (!key) {\r\n      const prefabId = this._set.model.getPrefabNode()?.prefabId;\r\n      const index = this._set.skinBindings.findIndex((ref) => ref.get() === binding);\r\n      key = `${prefabId || `driver:${this._id}`}|${index}|${binding.joints.length}`;\r\n      let shared = sharedBanks.get(key);\r\n      if (!shared || !shared.bank.isCompatible(binding)) {\r\n        // An incompatible bank under the same key comes from an edited copy of the model\r\n        key = shared ? `driver:${this._id}|${index}` : key;\r\n        shared = sharedBanks.get(key);\r\n        if (!shared) {\r\n          shared = { bank: new AnimationBank(this._set, binding, []), refs: 0 };\r\n          sharedBanks.set(key, shared);\r\n        }\r\n      }\r\n      shared.refs++;\r\n      this._bankKeys.set(binding, key);\r\n    }\r\n    return sharedBanks.get(key)!.bank;\r\n  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package/dist/animation/joint_dynamics/collision.js

@@ -184,11 +184,39 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
  *
  * @public
  */ function pushoutFromCollider(colR, colRW, point, ptR, out) {
+    if (colR.boxHalfExtents) {
+        return pushoutFromBox(colRW, colR.boxHalfExtents, ptR.pointRadius, point, out);
+    }
     if (colR.height <= EPSILON) {
         return pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptR.pointRadius, point, out);
     }
     return pushoutFromCapsule(colR, colRW, point, ptR, out);
 }
+/** Pushes a point out of an oriented box collider. */ function pushoutFromBox(colRW, halfExtents, pointRadius, point, out) {
+    const delta = Vector3.sub(point, colRW.positionCurrent, _pushoutSphereDirection);
+    const local = new Vector3(Vector3.dot(delta, colRW.boxAxes[0]), Vector3.dot(delta, colRW.boxAxes[1]), Vector3.dot(delta, colRW.boxAxes[2]));
+    const target = new Vector3(halfExtents.x + pointRadius, halfExtents.y + pointRadius, halfExtents.z + pointRadius);
+    const penetration = new Vector3(target.x - Math.abs(local.x), target.y - Math.abs(local.y), target.z - Math.abs(local.z));
+    if (penetration.x < 0 || penetration.y < 0 || penetration.z < 0) {
+        return writeCollisionResult(out, false, point, !out);
+    }
+    let axis = 0;
+    let minPenetration = penetration.x;
+    if (penetration.y < minPenetration) {
+        axis = 1;
+        minPenetration = penetration.y;
+    }
+    if (penetration.z < minPenetration) {
+        axis = 2;
+        minPenetration = penetration.z;
+    }
+    const value = axis === 0 ? local.x : axis === 1 ? local.y : local.z;
+    const sign = value < 0 ? -1 : 1;
+    const result = point.clone();
+    const correction = Vector3.scale(colRW.boxAxes[axis], minPenetration * sign, new Vector3());
+    Vector3.add(result, correction, result);
+    return writeCollisionResult(out, true, result, !out);
+}
 /**
  * Pushes a point out of a capsule collider.
  *
@@ -244,11 +272,37 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
  *
  * @public
  */ function pushInFromCollider(colR, colRW, point, out) {
+    if (colR.boxHalfExtents) {
+        return pushInFromBox(colRW, colR.boxHalfExtents, point, out);
+    }
     if (colR.height <= EPSILON) {
         return pushInFromSphere(colRW.positionCurrent, colRW.radius, point, out);
     }
     return pushInFromCapsule(colR, colRW, point, out);
 }
+/** Pulls a point back inside an oriented box collider. */ function pushInFromBox(colRW, halfExtents, point, out) {
+    const delta = Vector3.sub(point, colRW.positionCurrent, _pushInSphereDirection);
+    const local = new Vector3(Vector3.dot(delta, colRW.boxAxes[0]), Vector3.dot(delta, colRW.boxAxes[1]), Vector3.dot(delta, colRW.boxAxes[2]));
+    const excess = new Vector3(Math.abs(local.x) - halfExtents.x, Math.abs(local.y) - halfExtents.y, Math.abs(local.z) - halfExtents.z);
+    if (excess.x <= 0 && excess.y <= 0 && excess.z <= 0) {
+        return writeCollisionResult(out, false, point, !out);
+    }
+    let axis = 0;
+    let correctionDistance = excess.x;
+    if (excess.y > correctionDistance) {
+        axis = 1;
+        correctionDistance = excess.y;
+    }
+    if (excess.z > correctionDistance) {
+        axis = 2;
+        correctionDistance = excess.z;
+    }
+    const value = axis === 0 ? local.x : axis === 1 ? local.y : local.z;
+    const sign = value < 0 ? -1 : 1;
+    const correction = Vector3.scale(colRW.boxAxes[axis], -correctionDistance * sign, new Vector3());
+    const result = Vector3.add(point, correction, new Vector3());
+    return writeCollisionResult(out, true, result, !out);
+}
 /**
  * Pulls a point inside a capsule collider.
  *
@@ -340,11 +394,68 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
  *
  * @public
  */ function collisionDetection(colR, colRW, point1, point2, out) {
+    if (colR.boxHalfExtents) {
+        return collisionDetectionBox(colRW, colR.boxHalfExtents, point1, point2, out);
+    }
     if (colR.height <= EPSILON) {
         return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);
     }
     return collisionDetectionCapsule(colR, colRW, point1, point2, out);
 }
+function collisionDetectionBox(colRW, halfExtents, point1, point2, out) {
+    const p1 = Vector3.sub(point1, colRW.positionCurrent, new Vector3());
+    const p2 = Vector3.sub(point2, colRW.positionCurrent, new Vector3());
+    const a = new Vector3(Vector3.dot(p1, colRW.boxAxes[0]), Vector3.dot(p1, colRW.boxAxes[1]), Vector3.dot(p1, colRW.boxAxes[2]));
+    const b = new Vector3(Vector3.dot(p2, colRW.boxAxes[0]), Vector3.dot(p2, colRW.boxAxes[1]), Vector3.dot(p2, colRW.boxAxes[2]));
+    const d = Vector3.sub(b, a, new Vector3());
+    let enter = 0;
+    let exit = 1;
+    const mins = [
+        -halfExtents.x,
+        -halfExtents.y,
+        -halfExtents.z
+    ];
+    const maxs = [
+        halfExtents.x,
+        halfExtents.y,
+        halfExtents.z
+    ];
+    const av = [
+        a.x,
+        a.y,
+        a.z
+    ];
+    const dv = [
+        d.x,
+        d.y,
+        d.z
+    ];
+    for(let axis = 0; axis < 3; axis++){
+        if (Math.abs(dv[axis]) <= EPSILON) {
+            if (av[axis] < mins[axis] || av[axis] > maxs[axis]) {
+                return writeLineCollisionResult(out, false, point1, colRW.positionCurrent, 0, !out);
+            }
+            continue;
+        }
+        const inv = 1 / dv[axis];
+        let t0 = (mins[axis] - av[axis]) * inv;
+        let t1 = (maxs[axis] - av[axis]) * inv;
+        if (t0 > t1) {
+            [t0, t1] = [
+                t1,
+                t0
+            ];
+        }
+        enter = Math.max(enter, t0);
+        exit = Math.min(exit, t1);
+        if (enter > exit) {
+            return writeLineCollisionResult(out, false, point1, colRW.positionCurrent, 0, !out);
+        }
+    }
+    const t = Math.max(0, Math.min(1, enter));
+    const hitPoint = Vector3.add(point1, Vector3.scale(Vector3.sub(point2, point1, new Vector3()), t, new Vector3()), new Vector3());
+    return writeLineCollisionResult(out, true, hitPoint, hitPoint, 0, !out);
+}
 /**
  * Performs inward collision detection.
  *
@@ -511,5 +622,5 @@ function lerp(a, b, t) {
     return a + (b - a) * t;
 }
 
-export { checkSurfaceCollision, collisionDetection, collisionDetectionCapsule, collisionDetectionSphere, computeNearestPoints, pushInCollisionDetection, pushInFromCapsule, pushInFromCollider, pushInFromSphere, pushoutFromCapsule, pushoutFromCollider, pushoutFromSphere };
+export { checkSurfaceCollision, collisionDetection, collisionDetectionCapsule, collisionDetectionSphere, computeNearestPoints, pushInCollisionDetection, pushInFromBox, pushInFromCapsule, pushInFromCollider, pushInFromSphere, pushoutFromBox, pushoutFromCapsule, pushoutFromCollider, pushoutFromSphere };
 //# sourceMappingURL=collision.js.map