@zephyr3d/scene 0.9.4 → 0.9.6

package/dist/scene/terrain/heightfield.js

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

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

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