@zephyr3d/scene 0.9.4 → 0.9.6

package/dist/animation/spring2/collision.js

@@ -1,469 +0,0 @@
-import { Vector3 } from '@zephyr3d/base';
-import { EPSILON, ColliderForce } from './types.js';
-
-// Collision detection & response - direct port of SPCRJointDynamicsJob.cs Collision class
-const _pushoutSphereDirection = new Vector3();
-const _pushoutSphereScaled = new Vector3();
-const _pushoutCapsuleVecN = new Vector3();
-const _pushoutCapsuleTargetVec = new Vector3();
-const _pushoutCapsuleTail = new Vector3();
-const _pushoutCapsulePosOnVec = new Vector3();
-const _pushoutCapsulePushVec = new Vector3();
-const _pushoutCapsuleScaled = new Vector3();
-const _pushInSphereDirection = new Vector3();
-const _pushInSphereDirectionN = new Vector3();
-const _pushInSphereScaled = new Vector3();
-const _pushInCapsuleVecN = new Vector3();
-const _pushInCapsuleTargetVec = new Vector3();
-const _pushInCapsuleTail = new Vector3();
-const _pushInCapsulePosOnVec = new Vector3();
-const _pushInCapsulePullVec = new Vector3();
-const _pushInCapsulePullVecN = new Vector3();
-const _pushInCapsuleScaled = new Vector3();
-const _collisionSphereDir = new Vector3();
-const _collisionSphereDirN = new Vector3();
-const _collisionSphereToCenter = new Vector3();
-const _collisionSphereScaled = new Vector3();
-const _collisionSphereDiff = new Vector3();
-const _collisionCapsuleTail = new Vector3();
-const _collisionCapsulePointDir = new Vector3();
-const _collisionCapsulePtOnCol = new Vector3();
-const _collisionCapsulePtOnLine = new Vector3();
-const _collisionCapsuleDiff = new Vector3();
-const _collisionCapsuleTempLineResult = {
-    hit: false,
-    pointOnLine: new Vector3(),
-    pointOnCollider: new Vector3(),
-    radius: 0
-};
-const _nearestCross0 = new Vector3();
-const _nearestCross1 = new Vector3();
-const _nearestN1 = new Vector3();
-const _nearestN2 = new Vector3();
-const _nearestPosDiff = new Vector3();
-const _nearestPointOnP = new Vector3();
-const _nearestPointOnQ = new Vector3();
-const _nearestPointDiff = new Vector3();
-const _nearestResult = {
-    tP: 0,
-    tQ: 0,
-    pointOnP: new Vector3(),
-    pointOnQ: new Vector3(),
-    sqrDistance: 0
-};
-const _surfaceNoHit = {
-    hit: false,
-    intersectionPoint: new Vector3(),
-    pushOut: new Vector3(),
-    pointOnCollider: new Vector3(),
-    radius: 0
-};
-const _surfaceTriCenter = new Vector3();
-const _surfaceEdgeAB = new Vector3();
-const _surfaceEdgeAC = new Vector3();
-const _surfacePlaneNormal = new Vector3();
-const _surfacePlaneNormalNeg = new Vector3();
-const _surfaceColliderDir = new Vector3();
-const _surfaceRayDir = new Vector3();
-const _surfaceRayDirN = new Vector3();
-const _surfaceTail = new Vector3();
-const _surfaceIntersection = new Vector3();
-const _surfacePushOut = new Vector3();
-const _surfaceToCol = new Vector3();
-const _surfaceEndVec = new Vector3();
-const _surfaceColDirVec = new Vector3();
-const _surfaceIntersecToEnd = new Vector3();
-const _surfaceColToEnd = new Vector3();
-const _surfaceColToIntersect = new Vector3();
-const _surfaceEVec = new Vector3();
-const _surfacePoc2 = new Vector3();
-const _triangleAp = new Vector3();
-const _triangleBp = new Vector3();
-const _triangleCp = new Vector3();
-const _triangleU = new Vector3();
-const _triangleV = new Vector3();
-const _triangleW = new Vector3();
-function writeCollisionResult(out, hit, point, copyPoint) {
-    if (!out) {
-        return {
-            hit,
-            point: copyPoint ? point.clone() : point
-        };
-    }
-    if (!out.point) {
-        out.point = new Vector3();
-    }
-    out.hit = hit;
-    out.point.set(point);
-    return out;
-}
-function writeLineCollisionResult(out, hit, pointOnLine, pointOnCollider, radius, copyVectors) {
-    if (!out) {
-        return {
-            hit,
-            pointOnLine: copyVectors ? pointOnLine.clone() : pointOnLine,
-            pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,
-            radius
-        };
-    }
-    if (!out.pointOnLine) {
-        out.pointOnLine = new Vector3();
-    }
-    if (!out.pointOnCollider) {
-        out.pointOnCollider = new Vector3();
-    }
-    out.hit = hit;
-    out.pointOnLine.set(pointOnLine);
-    out.pointOnCollider.set(pointOnCollider);
-    out.radius = radius;
-    return out;
-}
-function writeSurfaceCheckResult(out, hit, intersectionPoint, pushOut, pointOnCollider, radius, copyVectors) {
-    if (!out) {
-        return {
-            hit,
-            intersectionPoint: copyVectors ? intersectionPoint.clone() : intersectionPoint,
-            pushOut: copyVectors ? pushOut.clone() : pushOut,
-            pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,
-            radius
-        };
-    }
-    if (!out.intersectionPoint) {
-        out.intersectionPoint = new Vector3();
-    }
-    if (!out.pushOut) {
-        out.pushOut = new Vector3();
-    }
-    if (!out.pointOnCollider) {
-        out.pointOnCollider = new Vector3();
-    }
-    out.hit = hit;
-    out.intersectionPoint.set(intersectionPoint);
-    out.pushOut.set(pushOut);
-    out.pointOnCollider.set(pointOnCollider);
-    out.radius = radius;
-    return out;
-}
-function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance, copyVectors) {
-    if (!out) {
-        return {
-            tP,
-            tQ,
-            pointOnP: copyVectors ? pointOnP.clone() : pointOnP,
-            pointOnQ: copyVectors ? pointOnQ.clone() : pointOnQ,
-            sqrDistance
-        };
-    }
-    out.tP = tP;
-    out.tQ = tQ;
-    out.pointOnP.set(pointOnP);
-    out.pointOnQ.set(pointOnQ);
-    out.sqrDistance = sqrDistance;
-    return out;
-}
-// Pushout (keep point outside collider)
-function pushoutFromSphere(center, radius, pointRadius, point, out) {
-    const direction = Vector3.sub(point, center, _pushoutSphereDirection);
-    const sqrLen = direction.magnitudeSq;
-    if (sqrLen > EPSILON) {
-        const dirLen = Math.sqrt(sqrLen) - pointRadius;
-        if (dirLen < radius) {
-            const scaled = Vector3.scale(direction, radius / dirLen, _pushoutSphereScaled);
-            Vector3.add(center, scaled, scaled);
-            return writeCollisionResult(out, true, scaled, !out);
-        }
-    }
-    return writeCollisionResult(out, false, point, !out);
-}
-function pushoutFromCollider(colR, colRW, point, ptR, out) {
-    if (colR.height <= EPSILON) {
-        return pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptR.pointRadius, point, out);
-    }
-    return pushoutFromCapsule(colR, colRW, point, ptR, out);
-}
-function pushoutFromCapsule(colR, colRW, point, ptR, out) {
-    const capsuleVec = colRW.directionCurrent;
-    const capsuleVecN = Vector3.normalize(capsuleVec, _pushoutCapsuleVecN);
-    const capsulePos = colRW.positionCurrent;
-    const targetVec = Vector3.sub(point, capsulePos, _pushoutCapsuleTargetVec);
-    const distOnVec = Vector3.dot(capsuleVecN, targetVec);
-    if (distOnVec <= EPSILON) {
-        return pushoutFromSphere(capsulePos, colRW.radius, ptR.pointRadius, point, out);
-    }
-    if (distOnVec >= colR.height) {
-        const tail = Vector3.add(capsulePos, capsuleVec, _pushoutCapsuleTail);
-        return pushoutFromSphere(tail, colRW.radius * colR.radiusTailScale, ptR.pointRadius, point, out);
-    }
-    const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushoutCapsulePosOnVec);
-    Vector3.add(capsulePos, posOnVec, posOnVec);
-    const pushVec = Vector3.sub(point, posOnVec, _pushoutCapsulePushVec);
-    const sqrPushDist = pushVec.magnitudeSq;
-    if (sqrPushDist > EPSILON) {
-        const pushDist = Math.sqrt(sqrPushDist) - ptR.pointRadius;
-        const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / colR.height);
-        if (pushDist < r) {
-            const scaled = Vector3.scale(pushVec, r / pushDist, _pushoutCapsuleScaled);
-            Vector3.add(posOnVec, scaled, scaled);
-            return writeCollisionResult(out, true, scaled, !out);
-        }
-    }
-    return writeCollisionResult(out, false, point, !out);
-}
-// PushIn (keep point inside collider - inverse mode)
-function pushInFromSphere(center, radius, point, out) {
-    const direction = Vector3.sub(center, point, _pushInSphereDirection);
-    const sqrLen = direction.magnitudeSq;
-    if (sqrLen > EPSILON && sqrLen > radius * radius) {
-        const dirLen = Math.sqrt(sqrLen);
-        const directionN = Vector3.normalize(direction, _pushInSphereDirectionN);
-        const scaled = Vector3.scale(directionN, dirLen - radius, _pushInSphereScaled);
-        Vector3.add(point, scaled, scaled);
-        return writeCollisionResult(out, true, scaled, !out);
-    }
-    return writeCollisionResult(out, false, point, !out);
-}
-function pushInFromCollider(colR, colRW, point, out) {
-    if (colR.height <= EPSILON) {
-        return pushInFromSphere(colRW.positionCurrent, colRW.radius, point, out);
-    }
-    return pushInFromCapsule(colR, colRW, point, out);
-}
-function pushInFromCapsule(colR, colRW, point, out) {
-    const capsuleVec = colRW.directionCurrent;
-    const capsuleVecN = Vector3.normalize(capsuleVec, _pushInCapsuleVecN);
-    const capsulePos = colRW.positionCurrent;
-    const targetVec = Vector3.sub(point, capsulePos, _pushInCapsuleTargetVec);
-    const distOnVec = Vector3.dot(capsuleVecN, targetVec);
-    if (distOnVec <= EPSILON) {
-        return pushInFromSphere(capsulePos, colRW.radius, point, out);
-    }
-    if (distOnVec >= colR.height) {
-        const tail = Vector3.add(capsulePos, capsuleVec, _pushInCapsuleTail);
-        return pushInFromSphere(tail, colRW.radius * colR.radiusTailScale, point, out);
-    }
-    const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushInCapsulePosOnVec);
-    Vector3.add(capsulePos, posOnVec, posOnVec);
-    const pullVec = Vector3.sub(posOnVec, point, _pushInCapsulePullVec);
-    const sqrPullDist = pullVec.magnitudeSq;
-    if (sqrPullDist > EPSILON) {
-        const r = colRW.radius * lerp(1.0, colR.radiusTailScale, colR.height / distOnVec);
-        if (sqrPullDist > r * r) {
-            const pullDist = Math.sqrt(sqrPullDist);
-            const pullVecN = Vector3.normalize(pullVec, _pushInCapsulePullVecN);
-            const scaled = Vector3.scale(pullVecN, pullDist - r, _pushInCapsuleScaled);
-            Vector3.add(point, scaled, scaled);
-            return writeCollisionResult(out, true, scaled, !out);
-        }
-    }
-    return writeCollisionResult(out, false, point, !out);
-}
-// Line segment vs collider detection
-function collisionDetectionSphere(center, radius, point1, point2, out) {
-    const dir = Vector3.sub(point2, point1, _collisionSphereDir);
-    const dirLen = dir.magnitude;
-    if (dirLen < EPSILON) {
-        return writeLineCollisionResult(out, false, point1, center, radius, !out);
-    }
-    const dirN = Vector3.scale(dir, 1 / dirLen, _collisionSphereDirN);
-    const toCenter = Vector3.sub(center, point1, _collisionSphereToCenter);
-    const dot = Vector3.dot(dirN, toCenter);
-    const clamped = Math.max(0, Math.min(dot, dirLen));
-    const ptOnLine = Vector3.scale(dirN, clamped, _collisionSphereScaled);
-    Vector3.add(point1, ptOnLine, ptOnLine);
-    const diff = Vector3.sub(center, ptOnLine, _collisionSphereDiff);
-    const hit = diff.magnitudeSq <= radius * radius;
-    return writeLineCollisionResult(out, hit, ptOnLine, center, radius, !out);
-}
-function collisionDetectionCapsule(colR, colRW, point1, point2, out) {
-    const capsuleDir = colRW.directionCurrent;
-    const capsulePos = colRW.positionCurrent;
-    let res = collisionDetectionSphere(capsulePos, colRW.radius, point1, point2, out);
-    if (res.hit) {
-        return res;
-    }
-    const tail = Vector3.add(capsulePos, capsuleDir, _collisionCapsuleTail);
-    res = collisionDetectionSphere(tail, colRW.radius * colR.radiusTailScale, point1, point2, _collisionCapsuleTempLineResult);
-    if (res.hit) {
-        return writeLineCollisionResult(out, true, res.pointOnLine, res.pointOnCollider, res.radius, !out);
-    }
-    const pointDir = Vector3.sub(point2, point1, _collisionCapsulePointDir);
-    const nearest = computeNearestPoints(capsulePos, capsuleDir, point1, pointDir, _nearestResult);
-    const t1 = Math.max(0, Math.min(1, nearest.tP));
-    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, t1);
-    if (nearest.sqrDistance > r * r) {
-        return writeLineCollisionResult(out, false, point1, capsulePos, r, !out);
-    }
-    const t2 = Math.max(0, Math.min(1, nearest.tQ));
-    const ptOnCol = Vector3.scale(capsuleDir, t1, _collisionCapsulePtOnCol);
-    Vector3.add(capsulePos, ptOnCol, ptOnCol);
-    const ptOnLine = Vector3.scale(pointDir, t2, _collisionCapsulePtOnLine);
-    Vector3.add(point1, ptOnLine, ptOnLine);
-    const diff = Vector3.sub(ptOnCol, ptOnLine, _collisionCapsuleDiff);
-    const hit = diff.magnitudeSq <= r * r;
-    return writeLineCollisionResult(out, hit, ptOnLine, ptOnCol, r, !out);
-}
-function collisionDetection(colR, colRW, point1, point2, out) {
-    if (colR.height <= EPSILON) {
-        return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);
-    }
-    return collisionDetectionCapsule(colR, colRW, point1, point2, out);
-}
-function pushInCollisionDetection(colR, colRW, point1, point2, out) {
-    if (colR.height <= EPSILON) {
-        return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);
-    }
-    const res = collisionDetectionCapsule(colR, colRW, point1, point2, out);
-    res.hit = false;
-    return res;
-}
-// Nearest points between two line segments
-function computeNearestPoints(posP, dirP, posQ, dirQ, out) {
-    const cross0 = Vector3.cross(dirQ, dirP, _nearestCross0);
-    const n1 = Vector3.cross(dirP, cross0, _nearestN1);
-    const cross1 = Vector3.cross(dirP, dirQ, _nearestCross1);
-    const n2 = Vector3.cross(dirQ, cross1, _nearestN2);
-    const dP_n2 = Vector3.dot(dirP, n2);
-    const dQ_n1 = Vector3.dot(dirQ, n1);
-    const posDiff = Vector3.sub(posQ, posP, _nearestPosDiff);
-    const tP = dP_n2 !== 0 ? Vector3.dot(posDiff, n2) / dP_n2 : 0;
-    const tQ = dQ_n1 !== 0 ? Vector3.dot(Vector3.scale(posDiff, -1, posDiff), n1) / dQ_n1 : 0;
-    const pointOnP = Vector3.scale(dirP, tP, _nearestPointOnP);
-    Vector3.add(posP, pointOnP, pointOnP);
-    const pointOnQ = Vector3.scale(dirQ, tQ, _nearestPointOnQ);
-    Vector3.add(posQ, pointOnQ, pointOnQ);
-    const diff = Vector3.sub(pointOnQ, pointOnP, _nearestPointDiff);
-    return writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, diff.magnitudeSq, !out);
-}
-// Surface collision (triangle-based)
-function checkSurfaceCollision(ptA, ptB, ptC, colliderPos, colR, colRW, out) {
-    _surfaceNoHit.hit = false;
-    _surfaceNoHit.intersectionPoint.setXYZ(0, 0, 0);
-    _surfaceNoHit.pushOut.setXYZ(0, 0, 0);
-    _surfaceNoHit.pointOnCollider.set(colliderPos);
-    _surfaceNoHit.radius = colRW.radius;
-    let pointOnCollider = colliderPos;
-    let radius = colRW.radius;
-    const isCapsule = colR.height > EPSILON;
-    const triCenter = centerOfTriangle(ptA, ptB, ptC, _surfaceTriCenter);
-    const edgeAB = Vector3.sub(ptB, ptA, _surfaceEdgeAB);
-    const edgeAC = Vector3.sub(ptC, ptA, _surfaceEdgeAC);
-    const planeNormal = Vector3.cross(edgeAB, edgeAC, _surfacePlaneNormal);
-    Vector3.normalize(planeNormal, planeNormal);
-    Vector3.scale(planeNormal, -1, planeNormal);
-    const planeNormalNeg = Vector3.scale(planeNormal, -1, _surfacePlaneNormalNeg);
-    const planeDist = -Vector3.dot(planeNormalNeg, ptA);
-    const colliderDir = Vector3.sub(colliderPos, triCenter, _surfaceColliderDir);
-    Vector3.normalize(colliderDir, colliderDir);
-    const dot = Vector3.dot(colliderDir, planeNormal);
-    if (isCapsule) {
-        const side = Vector3.dot(colRW.directionCurrent, planeNormal) * dot;
-        const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);
-        const tempPOC = pointOnCollider;
-        if (side < 0) {
-            radius = colRW.radius * colR.radiusTailScale;
-            pointOnCollider = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceTail);
-        }
-        const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);
-        const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);
-        if (enter !== null) {
-            const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);
-            Vector3.add(pointOnCollider, ip, ip);
-            if (triangleContainsPoint(ptA, ptB, ptC, ip)) {
-                const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);
-                const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);
-                if (toCol.magnitudeSq <= radius * radius) {
-                    return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);
-                }
-            }
-        } else if (colR.forceType !== ColliderForce.Off) {
-            pointOnCollider = tempPOC;
-            let endVec = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceEndVec);
-            _surfaceColDirVec.set(colRW.directionCurrent);
-            let colDirVec = _surfaceColDirVec;
-            if (colR.forceType === ColliderForce.Pull) {
-                const tmp = pointOnCollider;
-                pointOnCollider = endVec;
-                endVec = tmp;
-                colDirVec = Vector3.scale(colDirVec, -1, colDirVec);
-            }
-            const enter2 = raycast(planeNormalNeg, planeDist, pointOnCollider, colDirVec);
-            if (enter2 !== null) {
-                const ip = Vector3.scale(colDirVec, enter2, _surfaceIntersection);
-                Vector3.add(pointOnCollider, ip, ip);
-                if (triangleContainsPoint(ptA, ptB, ptC, ip)) {
-                    const intersecToEnd = Vector3.sub(endVec, ip, _surfaceIntersecToEnd);
-                    const colToEnd = Vector3.sub(endVec, pointOnCollider, _surfaceColToEnd);
-                    const colToIntersect = Vector3.sub(ip, pointOnCollider, _surfaceColToIntersect);
-                    const pDot = Vector3.dot(intersecToEnd, colToIntersect);
-                    const lDot = Vector3.dot(colToEnd, colToEnd);
-                    if (!(pDot >= 0 && pDot <= lDot)) {
-                        return writeSurfaceCheckResult(out, _surfaceNoHit.hit, _surfaceNoHit.intersectionPoint, _surfaceNoHit.pushOut, _surfaceNoHit.pointOnCollider, _surfaceNoHit.radius, !out);
-                    }
-                    const dotVal = Vector3.dot(colToEnd, colToIntersect);
-                    const s2eMag = Vector3.dot(colToEnd, colToEnd);
-                    const colToEndN = Vector3.normalize(colToEnd, colToEnd);
-                    const eVec = Vector3.scale(colToEndN, -radius, _surfaceEVec);
-                    Vector3.add(pointOnCollider, eVec, eVec);
-                    const pushOut = Vector3.sub(ip, eVec, _surfacePushOut);
-                    const poc2 = Vector3.scale(colToEnd, dotVal / s2eMag, _surfacePoc2);
-                    Vector3.add(pointOnCollider, poc2, poc2);
-                    const toCol = Vector3.sub(poc2, ip, _surfaceToCol);
-                    if (toCol.magnitudeSq <= radius * radius) {
-                        return writeSurfaceCheckResult(out, true, ip, pushOut, poc2, radius, !out);
-                    }
-                }
-            }
-        }
-    } else {
-        const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);
-        const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);
-        const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);
-        if (enter !== null) {
-            const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);
-            Vector3.add(pointOnCollider, ip, ip);
-            if (triangleContainsPoint(ptA, ptB, ptC, ip)) {
-                const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);
-                const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);
-                if (toCol.magnitudeSq <= radius * radius) {
-                    return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);
-                }
-            }
-        }
-    }
-    return writeSurfaceCheckResult(out, _surfaceNoHit.hit, _surfaceNoHit.intersectionPoint, _surfaceNoHit.pushOut, _surfaceNoHit.pointOnCollider, _surfaceNoHit.radius, !out);
-}
-// Helpers
-function raycast(normal, planeDist, origin, direction) {
-    const vdot = Vector3.dot(direction, normal);
-    const ndot = -Vector3.dot(origin, normal) - planeDist;
-    if (Math.abs(vdot) <= EPSILON) {
-        return null;
-    }
-    const enter = ndot / vdot;
-    return enter > 0 ? enter : null;
-}
-function centerOfTriangle(a, b, c, result) {
-    result = result || new Vector3();
-    return result.setXYZ((a.x + b.x + c.x) / 3, (a.y + b.y + c.y) / 3, (a.z + b.z + c.z) / 3);
-}
-function triangleContainsPoint(a, b, c, p) {
-    const ap = Vector3.sub(a, p, _triangleAp);
-    const bp = Vector3.sub(b, p, _triangleBp);
-    const cp = Vector3.sub(c, p, _triangleCp);
-    const u = Vector3.cross(ap, bp, _triangleU);
-    const vv = Vector3.cross(bp, cp, _triangleV);
-    const w = Vector3.cross(cp, ap, _triangleW);
-    if (Vector3.dot(u, vv) < 0) {
-        return false;
-    }
-    if (Vector3.dot(vv, w) < 0) {
-        return false;
-    }
-    return true;
-}
-function lerp(a, b, t) {
-    return a + (b - a) * t;
-}
-
-export { checkSurfaceCollision, collisionDetection, collisionDetectionCapsule, collisionDetectionSphere, computeNearestPoints, pushInCollisionDetection, pushInFromCapsule, pushInFromCollider, pushInFromSphere, pushoutFromCapsule, pushoutFromCollider, pushoutFromSphere };
-//# sourceMappingURL=collision.js.map

package/dist/animation/spring2/collision.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"collision.js","sources":["../../../src/animation/spring2/collision.ts"],"sourcesContent":["// Collision detection & response - direct port of SPCRJointDynamicsJob.cs Collision class\r\n\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { ColliderR, ColliderRW, PointR } from './types';\r\nimport { EPSILON, ColliderForce } from './types';\r\n\r\nexport interface CollisionResult {\r\n  hit: boolean;\r\n  point: Vector3;\r\n}\r\n\r\nexport interface LineCollisionResult {\r\n  hit: boolean;\r\n  pointOnLine: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\nexport interface SurfaceCheckResult {\r\n  hit: boolean;\r\n  intersectionPoint: Vector3;\r\n  pushOut: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\nexport interface NearestPointsResult {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n}\r\n\r\nconst _pushoutSphereDirection = new Vector3();\r\nconst _pushoutSphereScaled = new Vector3();\r\nconst _pushoutCapsuleVecN = new Vector3();\r\nconst _pushoutCapsuleTargetVec = new Vector3();\r\nconst _pushoutCapsuleTail = new Vector3();\r\nconst _pushoutCapsulePosOnVec = new Vector3();\r\nconst _pushoutCapsulePushVec = new Vector3();\r\nconst _pushoutCapsuleScaled = new Vector3();\r\nconst _pushInSphereDirection = new Vector3();\r\nconst _pushInSphereDirectionN = new Vector3();\r\nconst _pushInSphereScaled = new Vector3();\r\nconst _pushInCapsuleVecN = new Vector3();\r\nconst _pushInCapsuleTargetVec = new Vector3();\r\nconst _pushInCapsuleTail = new Vector3();\r\nconst _pushInCapsulePosOnVec = new Vector3();\r\nconst _pushInCapsulePullVec = new Vector3();\r\nconst _pushInCapsulePullVecN = new Vector3();\r\nconst _pushInCapsuleScaled = new Vector3();\r\nconst _collisionSphereDir = new Vector3();\r\nconst _collisionSphereDirN = new Vector3();\r\nconst _collisionSphereToCenter = new Vector3();\r\nconst _collisionSphereScaled = new Vector3();\r\nconst _collisionSphereDiff = new Vector3();\r\nconst _collisionCapsuleTail = new Vector3();\r\nconst _collisionCapsulePointDir = new Vector3();\r\nconst _collisionCapsulePtOnCol = new Vector3();\r\nconst _collisionCapsulePtOnLine = new Vector3();\r\nconst _collisionCapsuleDiff = new Vector3();\r\nconst _collisionCapsuleTempLineResult: LineCollisionResult = {\r\n  hit: false,\r\n  pointOnLine: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _nearestCross0 = new Vector3();\r\nconst _nearestCross1 = new Vector3();\r\nconst _nearestN1 = new Vector3();\r\nconst _nearestN2 = new Vector3();\r\nconst _nearestPosDiff = new Vector3();\r\nconst _nearestPointOnP = new Vector3();\r\nconst _nearestPointOnQ = new Vector3();\r\nconst _nearestPointDiff = new Vector3();\r\nconst _nearestResult: NearestPointsResult = {\r\n  tP: 0,\r\n  tQ: 0,\r\n  pointOnP: new Vector3(),\r\n  pointOnQ: new Vector3(),\r\n  sqrDistance: 0\r\n};\r\nconst _surfaceNoHit: SurfaceCheckResult = {\r\n  hit: false,\r\n  intersectionPoint: new Vector3(),\r\n  pushOut: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _surfaceTriCenter = new Vector3();\r\nconst _surfaceEdgeAB = new Vector3();\r\nconst _surfaceEdgeAC = new Vector3();\r\nconst _surfacePlaneNormal = new Vector3();\r\nconst _surfacePlaneNormalNeg = new Vector3();\r\nconst _surfaceColliderDir = new Vector3();\r\nconst _surfaceRayDir = new Vector3();\r\nconst _surfaceRayDirN = new Vector3();\r\nconst _surfaceTail = new Vector3();\r\nconst _surfaceIntersection = new Vector3();\r\nconst _surfacePushOut = new Vector3();\r\nconst _surfaceToCol = new Vector3();\r\nconst _surfaceEndVec = new Vector3();\r\nconst _surfaceColDirVec = new Vector3();\r\nconst _surfaceIntersecToEnd = new Vector3();\r\nconst _surfaceColToEnd = new Vector3();\r\nconst _surfaceColToIntersect = new Vector3();\r\nconst _surfaceEVec = new Vector3();\r\nconst _surfacePoc2 = new Vector3();\r\nconst _triangleAp = new Vector3();\r\nconst _triangleBp = new Vector3();\r\nconst _triangleCp = new Vector3();\r\nconst _triangleU = new Vector3();\r\nconst _triangleV = new Vector3();\r\nconst _triangleW = new Vector3();\r\n\r\nfunction writeCollisionResult(\r\n  out: CollisionResult | undefined,\r\n  hit: boolean,\r\n  point: Vector3,\r\n  copyPoint: boolean\r\n) {\r\n  if (!out) {\r\n    return { hit, point: copyPoint ? point.clone() : point };\r\n  }\r\n  if (!out.point) {\r\n    out.point = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.point.set(point);\r\n  return out;\r\n}\r\n\r\nfunction writeLineCollisionResult(\r\n  out: LineCollisionResult | undefined,\r\n  hit: boolean,\r\n  pointOnLine: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      pointOnLine: copyVectors ? pointOnLine.clone() : pointOnLine,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.pointOnLine) {\r\n    out.pointOnLine = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.pointOnLine.set(pointOnLine);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeSurfaceCheckResult(\r\n  out: SurfaceCheckResult | undefined,\r\n  hit: boolean,\r\n  intersectionPoint: Vector3,\r\n  pushOut: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      intersectionPoint: copyVectors ? intersectionPoint.clone() : intersectionPoint,\r\n      pushOut: copyVectors ? pushOut.clone() : pushOut,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.intersectionPoint) {\r\n    out.intersectionPoint = new Vector3();\r\n  }\r\n  if (!out.pushOut) {\r\n    out.pushOut = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.intersectionPoint.set(intersectionPoint);\r\n  out.pushOut.set(pushOut);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeNearestPointsResult(\r\n  out: NearestPointsResult | undefined,\r\n  tP: number,\r\n  tQ: number,\r\n  pointOnP: Vector3,\r\n  pointOnQ: Vector3,\r\n  sqrDistance: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      tP,\r\n      tQ,\r\n      pointOnP: copyVectors ? pointOnP.clone() : pointOnP,\r\n      pointOnQ: copyVectors ? pointOnQ.clone() : pointOnQ,\r\n      sqrDistance\r\n    };\r\n  }\r\n  out.tP = tP;\r\n  out.tQ = tQ;\r\n  out.pointOnP.set(pointOnP);\r\n  out.pointOnQ.set(pointOnQ);\r\n  out.sqrDistance = sqrDistance;\r\n  return out;\r\n}\r\n\r\n// Pushout (keep point outside collider)\r\n\r\nexport function pushoutFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  pointRadius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(point, center, _pushoutSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON) {\r\n    const dirLen = Math.sqrt(sqrLen) - pointRadius;\r\n    if (dirLen < radius) {\r\n      const scaled = Vector3.scale(direction, radius / dirLen, _pushoutSphereScaled);\r\n      Vector3.add(center, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\nexport function pushoutFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  return pushoutFromCapsule(colR, colRW, point, ptR, out);\r\n}\r\n\r\nexport function pushoutFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushoutCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushoutCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushoutFromSphere(capsulePos, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  if (distOnVec >= colR.height) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushoutCapsuleTail);\r\n    return pushoutFromSphere(tail, colRW.radius * colR.radiusTailScale, ptR.pointRadius, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushoutCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pushVec = Vector3.sub(point, posOnVec, _pushoutCapsulePushVec);\r\n  const sqrPushDist = pushVec.magnitudeSq;\r\n  if (sqrPushDist > EPSILON) {\r\n    const pushDist = Math.sqrt(sqrPushDist) - ptR.pointRadius;\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / colR.height);\r\n    if (pushDist < r) {\r\n      const scaled = Vector3.scale(pushVec, r / pushDist, _pushoutCapsuleScaled);\r\n      Vector3.add(posOnVec, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// PushIn (keep point inside collider - inverse mode)\r\n\r\nexport function pushInFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(center, point, _pushInSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON && sqrLen > radius * radius) {\r\n    const dirLen = Math.sqrt(sqrLen);\r\n    const directionN = Vector3.normalize(direction, _pushInSphereDirectionN);\r\n    const scaled = Vector3.scale(directionN, dirLen - radius, _pushInSphereScaled);\r\n    Vector3.add(point, scaled, scaled);\r\n    return writeCollisionResult(out, true, scaled, !out);\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\nexport function pushInFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushInFromSphere(colRW.positionCurrent, colRW.radius, point, out);\r\n  }\r\n  return pushInFromCapsule(colR, colRW, point, out);\r\n}\r\n\r\nexport function pushInFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushInCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushInCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushInFromSphere(capsulePos, colRW.radius, point, out);\r\n  }\r\n  if (distOnVec >= colR.height) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushInCapsuleTail);\r\n    return pushInFromSphere(tail, colRW.radius * colR.radiusTailScale, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushInCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pullVec = Vector3.sub(posOnVec, point, _pushInCapsulePullVec);\r\n  const sqrPullDist = pullVec.magnitudeSq;\r\n  if (sqrPullDist > EPSILON) {\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, colR.height / distOnVec);\r\n    if (sqrPullDist > r * r) {\r\n      const pullDist = Math.sqrt(sqrPullDist);\r\n      const pullVecN = Vector3.normalize(pullVec, _pushInCapsulePullVecN);\r\n      const scaled = Vector3.scale(pullVecN, pullDist - r, _pushInCapsuleScaled);\r\n      Vector3.add(point, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// Line segment vs collider detection\r\n\r\nexport function collisionDetectionSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const dir = Vector3.sub(point2, point1, _collisionSphereDir);\r\n  const dirLen = dir.magnitude;\r\n  if (dirLen < EPSILON) {\r\n    return writeLineCollisionResult(out, false, point1, center, radius, !out);\r\n  }\r\n  const dirN = Vector3.scale(dir, 1 / dirLen, _collisionSphereDirN);\r\n  const toCenter = Vector3.sub(center, point1, _collisionSphereToCenter);\r\n  const dot = Vector3.dot(dirN, toCenter);\r\n  const clamped = Math.max(0, Math.min(dot, dirLen));\r\n  const ptOnLine = Vector3.scale(dirN, clamped, _collisionSphereScaled);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(center, ptOnLine, _collisionSphereDiff);\r\n  const hit = diff.magnitudeSq <= radius * radius;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, center, radius, !out);\r\n}\r\n\r\nexport function collisionDetectionCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const capsuleDir = colRW.directionCurrent;\r\n  const capsulePos = colRW.positionCurrent;\r\n\r\n  let res = collisionDetectionSphere(capsulePos, colRW.radius, point1, point2, out);\r\n  if (res.hit) {\r\n    return res;\r\n  }\r\n\r\n  const tail = Vector3.add(capsulePos, capsuleDir, _collisionCapsuleTail);\r\n  res = collisionDetectionSphere(\r\n    tail,\r\n    colRW.radius * colR.radiusTailScale,\r\n    point1,\r\n    point2,\r\n    _collisionCapsuleTempLineResult\r\n  );\r\n  if (res.hit) {\r\n    return writeLineCollisionResult(out, true, res.pointOnLine, res.pointOnCollider, res.radius, !out);\r\n  }\r\n\r\n  const pointDir = Vector3.sub(point2, point1, _collisionCapsulePointDir);\r\n  const nearest = computeNearestPoints(capsulePos, capsuleDir, point1, pointDir, _nearestResult);\r\n  const t1 = Math.max(0, Math.min(1, nearest.tP));\r\n  const r = colRW.radius * lerp(1.0, colR.radiusTailScale, t1);\r\n\r\n  if (nearest.sqrDistance > r * r) {\r\n    return writeLineCollisionResult(out, false, point1, capsulePos, r, !out);\r\n  }\r\n\r\n  const t2 = Math.max(0, Math.min(1, nearest.tQ));\r\n  const ptOnCol = Vector3.scale(capsuleDir, t1, _collisionCapsulePtOnCol);\r\n  Vector3.add(capsulePos, ptOnCol, ptOnCol);\r\n  const ptOnLine = Vector3.scale(pointDir, t2, _collisionCapsulePtOnLine);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(ptOnCol, ptOnLine, _collisionCapsuleDiff);\r\n  const hit = diff.magnitudeSq <= r * r;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, ptOnCol, r, !out);\r\n}\r\n\r\nexport function collisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  return collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n}\r\n\r\nexport function pushInCollisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  const res = collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n  res.hit = false;\r\n  return res;\r\n}\r\n\r\n// Nearest points between two line segments\r\n\r\nexport function computeNearestPoints(\r\n  posP: Vector3,\r\n  dirP: Vector3,\r\n  posQ: Vector3,\r\n  dirQ: Vector3,\r\n  out?: NearestPointsResult\r\n): {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n} {\r\n  const cross0 = Vector3.cross(dirQ, dirP, _nearestCross0);\r\n  const n1 = Vector3.cross(dirP, cross0, _nearestN1);\r\n  const cross1 = Vector3.cross(dirP, dirQ, _nearestCross1);\r\n  const n2 = Vector3.cross(dirQ, cross1, _nearestN2);\r\n  const dP_n2 = Vector3.dot(dirP, n2);\r\n  const dQ_n1 = Vector3.dot(dirQ, n1);\r\n  const posDiff = Vector3.sub(posQ, posP, _nearestPosDiff);\r\n  const tP = dP_n2 !== 0 ? Vector3.dot(posDiff, n2) / dP_n2 : 0;\r\n  const tQ = dQ_n1 !== 0 ? Vector3.dot(Vector3.scale(posDiff, -1, posDiff), n1) / dQ_n1 : 0;\r\n  const pointOnP = Vector3.scale(dirP, tP, _nearestPointOnP);\r\n  Vector3.add(posP, pointOnP, pointOnP);\r\n  const pointOnQ = Vector3.scale(dirQ, tQ, _nearestPointOnQ);\r\n  Vector3.add(posQ, pointOnQ, pointOnQ);\r\n  const diff = Vector3.sub(pointOnQ, pointOnP, _nearestPointDiff);\r\n  return writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, diff.magnitudeSq, !out);\r\n}\r\n\r\n// Surface collision (triangle-based)\r\n\r\nexport function checkSurfaceCollision(\r\n  ptA: Vector3,\r\n  ptB: Vector3,\r\n  ptC: Vector3,\r\n  colliderPos: Vector3,\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  out?: SurfaceCheckResult\r\n): SurfaceCheckResult {\r\n  _surfaceNoHit.hit = false;\r\n  _surfaceNoHit.intersectionPoint.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pushOut.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pointOnCollider.set(colliderPos);\r\n  _surfaceNoHit.radius = colRW.radius;\r\n\r\n  let pointOnCollider = colliderPos;\r\n  let radius = colRW.radius;\r\n  const isCapsule = colR.height > EPSILON;\r\n\r\n  const triCenter = centerOfTriangle(ptA, ptB, ptC, _surfaceTriCenter);\r\n  const edgeAB = Vector3.sub(ptB, ptA, _surfaceEdgeAB);\r\n  const edgeAC = Vector3.sub(ptC, ptA, _surfaceEdgeAC);\r\n  const planeNormal = Vector3.cross(edgeAB, edgeAC, _surfacePlaneNormal);\r\n  Vector3.normalize(planeNormal, planeNormal);\r\n  Vector3.scale(planeNormal, -1, planeNormal);\r\n  const planeNormalNeg = Vector3.scale(planeNormal, -1, _surfacePlaneNormalNeg);\r\n  const planeDist = -Vector3.dot(planeNormalNeg, ptA);\r\n  const colliderDir = Vector3.sub(colliderPos, triCenter, _surfaceColliderDir);\r\n  Vector3.normalize(colliderDir, colliderDir);\r\n  const dot = Vector3.dot(colliderDir, planeNormal);\r\n\r\n  if (isCapsule) {\r\n    const side = Vector3.dot(colRW.directionCurrent, planeNormal) * dot;\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const tempPOC = pointOnCollider;\r\n\r\n    if (side < 0) {\r\n      radius = colRW.radius * colR.radiusTailScale;\r\n      pointOnCollider = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceTail);\r\n    }\r\n\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    } else if (colR.forceType !== ColliderForce.Off) {\r\n      pointOnCollider = tempPOC;\r\n      let endVec = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceEndVec);\r\n      _surfaceColDirVec.set(colRW.directionCurrent);\r\n      let colDirVec = _surfaceColDirVec;\r\n      if (colR.forceType === ColliderForce.Pull) {\r\n        const tmp = pointOnCollider;\r\n        pointOnCollider = endVec;\r\n        endVec = tmp;\r\n        colDirVec = Vector3.scale(colDirVec, -1, colDirVec);\r\n      }\r\n      const enter2 = raycast(planeNormalNeg, planeDist, pointOnCollider, colDirVec);\r\n      if (enter2 !== null) {\r\n        const ip = Vector3.scale(colDirVec, enter2, _surfaceIntersection);\r\n        Vector3.add(pointOnCollider, ip, ip);\r\n        if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n          const intersecToEnd = Vector3.sub(endVec, ip, _surfaceIntersecToEnd);\r\n          const colToEnd = Vector3.sub(endVec, pointOnCollider, _surfaceColToEnd);\r\n          const colToIntersect = Vector3.sub(ip, pointOnCollider, _surfaceColToIntersect);\r\n          const pDot = Vector3.dot(intersecToEnd, colToIntersect);\r\n          const lDot = Vector3.dot(colToEnd, colToEnd);\r\n          if (!(pDot >= 0 && pDot <= lDot)) {\r\n            return writeSurfaceCheckResult(\r\n              out,\r\n              _surfaceNoHit.hit,\r\n              _surfaceNoHit.intersectionPoint,\r\n              _surfaceNoHit.pushOut,\r\n              _surfaceNoHit.pointOnCollider,\r\n              _surfaceNoHit.radius,\r\n              !out\r\n            );\r\n          }\r\n          const dotVal = Vector3.dot(colToEnd, colToIntersect);\r\n          const s2eMag = Vector3.dot(colToEnd, colToEnd);\r\n          const colToEndN = Vector3.normalize(colToEnd, colToEnd);\r\n          const eVec = Vector3.scale(colToEndN, -radius, _surfaceEVec);\r\n          Vector3.add(pointOnCollider, eVec, eVec);\r\n          const pushOut = Vector3.sub(ip, eVec, _surfacePushOut);\r\n          const poc2 = Vector3.scale(colToEnd, dotVal / s2eMag, _surfacePoc2);\r\n          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writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  return writeSurfaceCheckResult(\r\n    out,\r\n    _surfaceNoHit.hit,\r\n    _surfaceNoHit.intersectionPoint,\r\n    _surfaceNoHit.pushOut,\r\n    _surfaceNoHit.pointOnCollider,\r\n    _surfaceNoHit.radius,\r\n    !out\r\n  );\r\n}\r\n\r\n// Helpers\r\n\r\nfunction raycast(normal: Vector3, planeDist: number, origin: Vector3, direction: Vector3): number | null {\r\n  const vdot = Vector3.dot(direction, normal);\r\n  const ndot = -Vector3.dot(origin, normal) - planeDist;\r\n  if (Math.abs(vdot) <= EPSILON) {\r\n    return null;\r\n  }\r\n  const enter = ndot / vdot;\r\n  return enter > 0 ? enter : null;\r\n}\r\n\r\nfunction centerOfTriangle(a: Vector3, b: Vector3, c: Vector3, result?: Vector3): Vector3 {\r\n  result = result || new Vector3();\r\n  return result.setXYZ((a.x + b.x + c.x) / 3, (a.y + b.y + c.y) / 3, (a.z + b.z + c.z) / 3);\r\n}\r\n\r\nfunction 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