lecodes-sdk 0.20.2 → 1.0.0

package/src/gl/Geometry.ts

@@ -1,284 +1,348 @@
-// Mesh geometry: vertex / normal / index / uv buffers, plus the primitive builders. `Geometry.box()`
-// etc. return a Geometry you can hand to Mesh.from(); Mesh.box() is sugar over them. Ported from
-// worker/src/primitives/*.
-
-import { cx, cy, cz, type Vec3Like } from "../math/vec"
-
-export type MeshKind = "triangles" | "vertices" | "edges"
-
-// local tuple helpers — geometry building works on raw Float32Array buffers, so it stays out of the
-// Vec3 wrapper (no per-vertex allocation).
-type Tup3 = [number, number, number]
-const cross = (a: Tup3, b: Tup3): Tup3 => [ a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0] ]
-const normalize = (a: Tup3): Tup3 => {
-  const l = Math.hypot(a[0], a[1], a[2])
-  return l === 0 ? [ 0, 0, 0 ] : [ a[0] / l, a[1] / l, a[2] / l ]
-}
-
-export class Geometry {
-  vertices: Float32Array
-  normals: Float32Array
-  indices: Uint16Array
-  uv: Float32Array
-  /** Lightmap UV set (2 floats per vertex, non-overlapping, inside the unit square) — the
-   *  `Lightmap` atlas samples a Mesh through it. The box and cylinder builders fill it (their `uv`
-   *  tiles per face, which would fold every face onto the same texels); absent = the host reuses
-   *  `uv`, which is right for a plane. */
-  uv1?: Float32Array
-  /** Per-vertex COLOURS: 4 bytes (r, g, b, a) per vertex, 0..255. A material that declares
-   *  `requires: [color]` reads them through `getColor()` — one mesh, many colours, no material per
-   *  shade (a debug drawer, a gradient along a curve). Absent = every vertex white, which is what
-   *  the built-in materials expect. */
-  colors?: Uint8Array
-  /** @internal native mesh-type enum (0 triangles / 1 edges / 2 vertices). */
-  _meshKind = 0
-
-  constructor(vertices: Float32Array, normals: Float32Array, indices: Uint16Array, uv: Float32Array) {
-    this.vertices = vertices
-    this.normals = normals
-    this.indices = indices
-    this.uv = uv
-  }
-
-  translate(x: number, y: number, z: number): this {
-    for (let i = 0; i < this.vertices.length; i += 3) {
-      this.vertices[i] += x; this.vertices[i + 1] += y; this.vertices[i + 2] += z
-    }
-    return this
-  }
-  scale(x: number, y: number, z: number): this {
-    for (let i = 0; i < this.vertices.length; i += 3) {
-      this.vertices[i] *= x; this.vertices[i + 1] *= y; this.vertices[i + 2] *= z
-    }
-    return this
-  }
-  scaleUV(x: number, y: number): this {
-    for (let i = 0; i < this.uv.length; i += 2) { this.uv[i] *= x; this.uv[i + 1] *= y }
-    return this
-  }
-  set kind(kind: MeshKind) {
-    this._meshKind = kind === "edges" ? 1 : kind === "vertices" ? 2 : 0
-  }
-
-  /** A box; `size` (default 1) scales the vertices AND lays the lightmap chart out in proportion to
-   *  the faces' areas (a floor's top face gets the texels, not its 1 m side strips). */
-  static box(size: Vec3Like | number = 1): Geometry { return createCube(size) }
-  static sphere(options?: SphereOptions): Geometry { return createSphere(options) }
-  static cylinder(options?: CylinderOptions): Geometry { return createCylinder(options) }
-  static plane(options?: PlaneOptions): Geometry { return createPlane(options) }
-}
-
-// Gutter between lightmap charts (fraction of the chart square): the bake dilates each rect by a
-// few texels and the shader samples bilinearly, so neighbouring faces must not touch in uv1.
-const LM_GUTTER = 0.03
-
-type Rect = { x: number, y: number, w: number, h: number }
-
-/** Shelf-pack rectangles (metres) into the unit square at the largest uniform scale — every face
- *  gets texels in proportion to its area, so a 64×1×64 floor's top face isn't squeezed into the
- *  same cell as its 1 m side strips. Returns rects in input order. */
-const packCharts = (dims: [number, number][]): Rect[] => {
-  const order = dims.map((_, i) => i).sort((a, b) => dims[b][1] - dims[a][1])
-  const attempt = (scale: number): Rect[] | null => {
-    const out: Rect[] = new Array(dims.length)
-    let x = 0, y = 0, rowH = 0
-    for (const i of order) {
-      const w = dims[i][0] * scale, h = dims[i][1] * scale
-      if (x > 0 && x + w > 1) { y += rowH + LM_GUTTER; x = 0; rowH = 0 }
-      if (w > 1 || y + h > 1) return null
-      out[i] = { x, y, w, h }
-      x += w + LM_GUTTER
-      rowH = Math.max(rowH, h)
-    }
-    return out
-  }
-  let lo = 0, hi = 1 / Math.max(...dims.map((d) => Math.max(d[0], d[1])))
-  let best = attempt(hi)
-  if (!best) {
-    for (let it = 0; it < 40; it++) {
-      const mid = (lo + hi) / 2
-      const r = attempt(mid)
-      if (r) { best = r; lo = mid } else hi = mid
-    }
-  }
-  return best ?? dims.map(() => ({ x: 0, y: 0, w: 1, h: 1 }))
-}
-
-// --- cube ---
-const createCube = (size: Vec3Like | number = 1): Geometry => {
-  const sx = typeof size === "number" ? size : cx(size)
-  const sy = typeof size === "number" ? size : cy(size)
-  const sz = typeof size === "number" ? size : cz(size)
-  const vertices = new Float32Array(6 * 4 * 3)
-  const normals = new Float32Array(6 * 4 * 3)
-  const uv = new Float32Array(6 * 4 * 2)
-  const uv1 = new Float32Array(6 * 4 * 2)
-  const indices = new Uint16Array(6 * 6)
-  let cnt = 0, indicesCnt = 0
-  const sides = [ -0.5, 0.5 ]
-  // face extents along the (a, b) parameters below: ±x faces span (z, y), ±y faces (x, z), ±z faces (x, y)
-  const charts = packCharts([ [ sz, sy ], [ sz, sy ], [ sx, sz ], [ sx, sz ], [ sx, sy ], [ sx, sy ] ])
-  for (let i = 0; i < 6; i++) {
-    const s = cnt
-    const side = i % 2 === 0 ? -0.5 : 0.5
-    const c = charts[i]
-    for (const a of sides) {
-      for (const b of sides) {
-        uv.set([ a + 0.5, b + 0.5 ], cnt * 2)
-        uv1.set([ c.x + (a + 0.5) * c.w, c.y + (b + 0.5) * c.h ], cnt * 2)
-        if (i === 0 || i === 1) { vertices.set([ side * sx, b * sy, -a * sz ], cnt * 3); normals.set([ side * 2, 0, 0 ], cnt * 3) }
-        if (i === 2 || i === 3) { vertices.set([ a * sx, side * sy, -b * sz ], cnt * 3); normals.set([ 0, side * 2, 0 ], cnt * 3) }
-        if (i === 4 || i === 5) { vertices.set([ a * sx, b * sy, side * sz ], cnt * 3); normals.set([ 0, 0, side * 2 ], cnt * 3) }
-        cnt++
-      }
-    }
-    const s1 = s + 1, s2 = s + 2, s3 = s + 3
-    if (i % 2 === 0) indices.set([ s, s1, s2, s3, s2, s1 ], indicesCnt)
-    else indices.set([ s2, s1, s, s1, s2, s3 ], indicesCnt)
-    indicesCnt += 6
-  }
-  const g = new Geometry(vertices, normals, indices, uv)
-  g.uv1 = uv1
-  return g
-}
-
-// --- sphere ---
-export type SphereOptions = { radius?: number, widthSegments?: number, heightSegments?: number }
-const createSphere = (options: SphereOptions = {}): Geometry => {
-  const { radius = 0.5, widthSegments = 32, heightSegments = 32 } = options
-  const verticesCount = (widthSegments + 1) * (heightSegments - 1) + widthSegments * 2
-  const vertices = new Float32Array(verticesCount * 3)
-  const normals = new Float32Array(verticesCount * 3)
-  const uvs = new Float32Array(verticesCount * 2)
-  const indices = new Uint16Array(widthSegments * (heightSegments - 2) * 6 + widthSegments * 3 * 2)
-  const phiLength = Math.PI * 2, thetaLength = Math.PI
-  let vertexCnt = 0, indicesCnt = 0
-  for (let iy = 1; iy < heightSegments; iy++) {
-    const v = iy / heightSegments
-    for (let ix = 0; ix <= widthSegments; ix++) {
-      const u = ix / widthSegments
-      const point: [number, number, number] = [
-        -Math.cos(u * phiLength) * Math.sin(v * thetaLength),
-        Math.cos(v * thetaLength),
-        Math.sin(u * phiLength) * Math.sin(v * thetaLength),
-      ]
-      vertices.set([ point[0] * radius, point[1] * radius, point[2] * radius ], vertexCnt * 3)
-      normals.set(point, vertexCnt * 3)
-      uvs.set([ u, 1 - v ], vertexCnt * 2)
-      if (iy > 1 && ix > 0) {
-        const s = vertexCnt - 1
-        const s1 = vertexCnt - (widthSegments + 1) - 1
-        indices.set([ s + 1, s1, s, s1, s + 1, s1 + 1 ], indicesCnt)
-        indicesCnt += 6
-      }
-      vertexCnt++
-    }
-  }
-  const sides = [ -radius, radius ]
-  const circleStart2 = vertexCnt - (widthSegments + 1)
-  for (const side of sides) {
-    const circleStart = side > 0 ? 0 : circleStart2
-    for (let ix = 0; ix < widthSegments; ix++) {
-      const u = (ix + 0.5) / widthSegments
-      vertices.set([ 0, side, 0 ], vertexCnt * 3)
-      normals.set([ 0, side < 0 ? -1 : 1, 0 ], vertexCnt * 3)
-      uvs.set([ u, side < 0 ? 0 : 1 ], vertexCnt * 2)
-      const s = circleStart + ix
-      if (side > 0) indices.set([ s, s + 1, vertexCnt ], indicesCnt)
-      else indices.set([ vertexCnt, s + 1, s ], indicesCnt)
-      indicesCnt += 3
-      vertexCnt++
-    }
-  }
-  return new Geometry(vertices, normals, indices, uvs)
-}
-
-// --- cylinder ---
-export type CylinderOptions = { radius?: number, radiusTop?: number, radiusBottom?: number, edges?: number, smooth?: boolean }
-const createCylinder = (options: CylinderOptions = {}): Geometry => {
-  const { edges = 32, smooth = true, radius = 0.5, radiusTop = radius, radiusBottom = radius } = options
-  const verticesCount = edges * 4 + (edges + 1) * 2
-  const vertices = new Float32Array(verticesCount * 3)
-  const normals = new Float32Array(verticesCount * 3)
-  const uv = new Float32Array(verticesCount * 2)
-  // lightmap chart: the side strip across the upper half, the two caps as discs in the lower half
-  const uv1 = new Float32Array(verticesCount * 2)
-  const indices = new Uint16Array(edges * 6 + edges * 6)
-  const sides = [ -0.5, 0.5 ]
-  let cnt = 0, indicesCnt = 0
-  for (let i = 0; i < edges; i++) {
-    const s = cnt
-    const normalX = Math.cos((i + 0.5) / edges * Math.PI * 2)
-    const normalY = Math.sin((i + 0.5) / edges * Math.PI * 2)
-    for (let j = 0; j < 2; j++) {
-      const x = Math.cos((i + j) / edges * Math.PI * 2)
-      const y = Math.sin((i + j) / edges * Math.PI * 2)
-      for (const side of sides) {
-        if (side > 0) vertices.set([ x * radiusTop, side, y * radiusTop ], cnt * 3)
-        else vertices.set([ x * radiusBottom, side, y * radiusBottom ], cnt * 3)
-        if (smooth) normals.set([ x, 0, y ], cnt * 3)
-        else normals.set([ normalX, 0, normalY ], cnt * 3)
-        uv.set([ (i + j) / edges, side + 0.5 ], cnt * 2)
-        uv1.set([ (i + j) / edges, 0.55 + (side + 0.5) * 0.43 ], cnt * 2)
-        cnt++
-      }
-    }
-    const s1 = s + 1, s2 = (s + 2) % (edges * 4), s3 = (s + 3) % (edges * 4)
-    indices.set([ s, s1, s2, s3, s2, s1 ], indicesCnt)
-    indicesCnt += 6
-  }
-  for (const side of sides) {
-    const center = cnt
-    const capU = side > 0 ? 0.75 : 0.25   // lightmap disc centre per cap
-    vertices.set([ 0, side, 0 ], cnt * 3); normals.set([ 0, side * 2, 0 ], cnt * 3)
-    uv1.set([ capU, 0.25 ], cnt * 2); cnt++
-    for (let i = 0; i < edges; i++) {
-      const x = Math.cos(i / edges * Math.PI * 2), y = Math.sin(i / edges * Math.PI * 2)
-      if (side > 0) vertices.set([ x * radiusTop, side, y * radiusTop ], cnt * 3)
-      else vertices.set([ x * radiusBottom, side, y * radiusBottom ], cnt * 3)
-      normals.set([ 0, side * 2, 0 ], cnt * 3)
-      uv1.set([ capU + x * 0.22, 0.25 + y * 0.22 ], cnt * 2)
-      if (side < 0) indices.set([ center, center + i + 1, center + 1 + ((i + 1) % edges) ], indicesCnt)
-      else indices.set([ center + 1 + ((i + 1) % edges), center + i + 1, center ], indicesCnt)
-      indicesCnt += 3
-      cnt++
-    }
-  }
-  const g = new Geometry(vertices, normals, indices, uv)
-  g.uv1 = uv1
-  return g
-}
-
-// --- plane ---
-export type PlaneOptions = { normal?: Vec3Like }
-const createPlane = (options: PlaneOptions = {}): Geometry => {
-  const normal: Tup3 = options.normal ? [ cx(options.normal), cy(options.normal), cz(options.normal) ] : [ 0, 0, 1 ]
-  const vertices = new Float32Array(4 * 3)
-  const normals = new Float32Array(4 * 3)
-  const uvs = new Float32Array(4 * 2)
-  const sides = [ -0.5, 0.5 ]
-  let cnt = 0
-  let upVector: Tup3, rightVec: Tup3
-  if (normal[1] === 0 && normal[2] === 0) { upVector = [ 0, 1, 0 ]; rightVec = [ 0, 0, -normal[0] ] }
-  else if (normal[0] === 0 && normal[2] === 0) { upVector = [ 0, 0, 1 ]; rightVec = [ -normal[1], 0, 0 ] }
-  else if (normal[0] === 0 && normal[1] === 0) { upVector = [ 0, 1, 0 ]; rightVec = [ normal[2], 0, 0 ] } // тут было верно
-  else {
-    const temp: Tup3 = Math.abs(normal[0]) < 0.5 ? [ 1, 0, 0 ] : [ 0, 0, 1 ]
-    upVector = normalize(cross(temp, normal))
-    rightVec = normalize(cross(upVector, normal))
-  }
-  for (const a of sides) {
-    for (const b of sides) {
-      normals.set(normal, cnt * 3)
-      uvs.set([ a + 0.5, b + 0.5 ], cnt * 2)
-      vertices.set([
-        rightVec[0] * a + upVector[0] * b,
-        rightVec[1] * a + upVector[1] * b,
-        rightVec[2] * a + upVector[2] * b,
-      ], cnt * 3)
-      cnt++
-    }
-  }
-  const indices = new Uint16Array([ 2, 1, 0, 1, 2, 3 ])
-  return new Geometry(vertices, normals, indices, uvs)
-}
+// Mesh geometry: vertex / normal / index / uv buffers, plus the primitive builders. `Geometry.box()`
+// etc. return a Geometry you can hand to Mesh.from(); Mesh.box() is sugar over them. Ported from
+// worker/src/primitives/*.
+
+import { cx, cy, cz, type Vec3Like } from "../math/vec"
+
+export type MeshKind = "triangles" | "vertices" | "edges"
+
+// local tuple helpers — geometry building works on raw Float32Array buffers, so it stays out of the
+// Vec3 wrapper (no per-vertex allocation).
+type Tup3 = [number, number, number]
+const cross = (a: Tup3, b: Tup3): Tup3 => [ a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0] ]
+const normalize = (a: Tup3): Tup3 => {
+  const l = Math.hypot(a[0], a[1], a[2])
+  return l === 0 ? [ 0, 0, 0 ] : [ a[0] / l, a[1] / l, a[2] / l ]
+}
+
+export class Geometry {
+  vertices: Float32Array
+  normals: Float32Array
+  indices: Uint16Array
+  uv: Float32Array
+  /** Lightmap UV set (2 floats per vertex, non-overlapping, inside the unit square) — the
+   *  `Lightmap` atlas samples a Mesh through it. The box and cylinder builders fill it (their `uv`
+   *  tiles per face, which would fold every face onto the same texels); absent = the host reuses
+   *  `uv`, which is right for a plane. */
+  uv1?: Float32Array
+  /** Per-vertex COLOURS: 4 bytes (r, g, b, a) per vertex, 0..255. A material that declares
+   *  `requires: [color]` reads them through `getColor()` — one mesh, many colours, no material per
+   *  shade (a debug drawer, a gradient along a curve). Absent = every vertex white, which is what
+   *  the built-in materials expect. */
+  colors?: Uint8Array
+  /** @internal native mesh-type enum (0 triangles / 1 edges / 2 vertices). */
+  _meshKind = 0
+
+  constructor(vertices: Float32Array, normals: Float32Array, indices: Uint16Array, uv: Float32Array) {
+    this.vertices = vertices
+    this.normals = normals
+    this.indices = indices
+    this.uv = uv
+  }
+
+  translate(x: number, y: number, z: number): this {
+    for (let i = 0; i < this.vertices.length; i += 3) {
+      this.vertices[i] += x; this.vertices[i + 1] += y; this.vertices[i + 2] += z
+    }
+    return this
+  }
+  scale(x: number, y: number, z: number): this {
+    for (let i = 0; i < this.vertices.length; i += 3) {
+      this.vertices[i] *= x; this.vertices[i + 1] *= y; this.vertices[i + 2] *= z
+    }
+    return this
+  }
+  scaleUV(x: number, y: number): this {
+    for (let i = 0; i < this.uv.length; i += 2) { this.uv[i] *= x; this.uv[i + 1] *= y }
+    return this
+  }
+  set kind(kind: MeshKind) {
+    this._meshKind = kind === "edges" ? 1 : kind === "vertices" ? 2 : 0
+  }
+
+  /** A box; `size` (default 1) scales the vertices AND lays the lightmap chart out in proportion to
+   *  the faces' areas (a floor's top face gets the texels, not its 1 m side strips). */
+  static box(size: Vec3Like | number = 1): Geometry { return createCube(size) }
+  static sphere(options?: SphereOptions): Geometry { return createSphere(options) }
+  static cylinder(options?: CylinderOptions): Geometry { return createCylinder(options) }
+  /** A capsule along Y, centred at the origin: a cylinder `length` long (between the two cap centres)
+   *  with a hemisphere of `radius` on each end — one closed surface, smooth across the seams. */
+  static capsule(options?: CapsuleOptions): Geometry { return createCapsule(options) }
+  static plane(options?: PlaneOptions): Geometry { return createPlane(options) }
+}
+
+// Gutter between lightmap charts (fraction of the chart square): the bake dilates each rect by a
+// few texels and the shader samples bilinearly, so neighbouring faces must not touch in uv1.
+const LM_GUTTER = 0.03
+
+type Rect = { x: number, y: number, w: number, h: number }
+
+/** Shelf-pack rectangles (metres) into the unit square at the largest uniform scale — every face
+ *  gets texels in proportion to its area, so a 64×1×64 floor's top face isn't squeezed into the
+ *  same cell as its 1 m side strips. Returns rects in input order. */
+const packCharts = (dims: [number, number][]): Rect[] => {
+  const order = dims.map((_, i) => i).sort((a, b) => dims[b][1] - dims[a][1])
+  const attempt = (scale: number): Rect[] | null => {
+    const out: Rect[] = new Array(dims.length)
+    let x = 0, y = 0, rowH = 0
+    for (const i of order) {
+      const w = dims[i][0] * scale, h = dims[i][1] * scale
+      if (x > 0 && x + w > 1) { y += rowH + LM_GUTTER; x = 0; rowH = 0 }
+      if (w > 1 || y + h > 1) return null
+      out[i] = { x, y, w, h }
+      x += w + LM_GUTTER
+      rowH = Math.max(rowH, h)
+    }
+    return out
+  }
+  let lo = 0, hi = 1 / Math.max(...dims.map((d) => Math.max(d[0], d[1])))
+  let best = attempt(hi)
+  if (!best) {
+    for (let it = 0; it < 40; it++) {
+      const mid = (lo + hi) / 2
+      const r = attempt(mid)
+      if (r) { best = r; lo = mid } else hi = mid
+    }
+  }
+  return best ?? dims.map(() => ({ x: 0, y: 0, w: 1, h: 1 }))
+}
+
+// --- cube ---
+const createCube = (size: Vec3Like | number = 1): Geometry => {
+  const sx = typeof size === "number" ? size : cx(size)
+  const sy = typeof size === "number" ? size : cy(size)
+  const sz = typeof size === "number" ? size : cz(size)
+  const vertices = new Float32Array(6 * 4 * 3)
+  const normals = new Float32Array(6 * 4 * 3)
+  const uv = new Float32Array(6 * 4 * 2)
+  const uv1 = new Float32Array(6 * 4 * 2)
+  const indices = new Uint16Array(6 * 6)
+  let cnt = 0, indicesCnt = 0
+  const sides = [ -0.5, 0.5 ]
+  // face extents along the (a, b) parameters below: ±x faces span (z, y), ±y faces (x, z), ±z faces (x, y)
+  const charts = packCharts([ [ sz, sy ], [ sz, sy ], [ sx, sz ], [ sx, sz ], [ sx, sy ], [ sx, sy ] ])
+  for (let i = 0; i < 6; i++) {
+    const s = cnt
+    const side = i % 2 === 0 ? -0.5 : 0.5
+    const c = charts[i]
+    for (const a of sides) {
+      for (const b of sides) {
+        uv.set([ a + 0.5, b + 0.5 ], cnt * 2)
+        uv1.set([ c.x + (a + 0.5) * c.w, c.y + (b + 0.5) * c.h ], cnt * 2)
+        if (i === 0 || i === 1) { vertices.set([ side * sx, b * sy, -a * sz ], cnt * 3); normals.set([ side * 2, 0, 0 ], cnt * 3) }
+        if (i === 2 || i === 3) { vertices.set([ a * sx, side * sy, -b * sz ], cnt * 3); normals.set([ 0, side * 2, 0 ], cnt * 3) }
+        if (i === 4 || i === 5) { vertices.set([ a * sx, b * sy, side * sz ], cnt * 3); normals.set([ 0, 0, side * 2 ], cnt * 3) }
+        cnt++
+      }
+    }
+    const s1 = s + 1, s2 = s + 2, s3 = s + 3
+    if (i % 2 === 0) indices.set([ s, s1, s2, s3, s2, s1 ], indicesCnt)
+    else indices.set([ s2, s1, s, s1, s2, s3 ], indicesCnt)
+    indicesCnt += 6
+  }
+  const g = new Geometry(vertices, normals, indices, uv)
+  g.uv1 = uv1
+  return g
+}
+
+// --- sphere ---
+export type SphereOptions = { radius?: number, widthSegments?: number, heightSegments?: number }
+const createSphere = (options: SphereOptions = {}): Geometry => {
+  const { radius = 0.5, widthSegments = 32, heightSegments = 32 } = options
+  const verticesCount = (widthSegments + 1) * (heightSegments - 1) + widthSegments * 2
+  const vertices = new Float32Array(verticesCount * 3)
+  const normals = new Float32Array(verticesCount * 3)
+  const uvs = new Float32Array(verticesCount * 2)
+  const indices = new Uint16Array(widthSegments * (heightSegments - 2) * 6 + widthSegments * 3 * 2)
+  const phiLength = Math.PI * 2, thetaLength = Math.PI
+  let vertexCnt = 0, indicesCnt = 0
+  for (let iy = 1; iy < heightSegments; iy++) {
+    const v = iy / heightSegments
+    for (let ix = 0; ix <= widthSegments; ix++) {
+      const u = ix / widthSegments
+      const point: [number, number, number] = [
+        -Math.cos(u * phiLength) * Math.sin(v * thetaLength),
+        Math.cos(v * thetaLength),
+        Math.sin(u * phiLength) * Math.sin(v * thetaLength),
+      ]
+      vertices.set([ point[0] * radius, point[1] * radius, point[2] * radius ], vertexCnt * 3)
+      normals.set(point, vertexCnt * 3)
+      uvs.set([ u, 1 - v ], vertexCnt * 2)
+      if (iy > 1 && ix > 0) {
+        const s = vertexCnt - 1
+        const s1 = vertexCnt - (widthSegments + 1) - 1
+        indices.set([ s + 1, s1, s, s1, s + 1, s1 + 1 ], indicesCnt)
+        indicesCnt += 6
+      }
+      vertexCnt++
+    }
+  }
+  const sides = [ -radius, radius ]
+  const circleStart2 = vertexCnt - (widthSegments + 1)
+  for (const side of sides) {
+    const circleStart = side > 0 ? 0 : circleStart2
+    for (let ix = 0; ix < widthSegments; ix++) {
+      const u = (ix + 0.5) / widthSegments
+      vertices.set([ 0, side, 0 ], vertexCnt * 3)
+      normals.set([ 0, side < 0 ? -1 : 1, 0 ], vertexCnt * 3)
+      uvs.set([ u, side < 0 ? 0 : 1 ], vertexCnt * 2)
+      const s = circleStart + ix
+      if (side > 0) indices.set([ s, s + 1, vertexCnt ], indicesCnt)
+      else indices.set([ vertexCnt, s + 1, s ], indicesCnt)
+      indicesCnt += 3
+      vertexCnt++
+    }
+  }
+  return new Geometry(vertices, normals, indices, uvs)
+}
+
+// --- capsule ---
+export type CapsuleOptions = {
+  radius?: number
+  /** Distance between the two cap centres (the straight part); 0 = a sphere. Default 1. */
+  length?: number
+  /** Segments around the axis. */
+  widthSegments?: number
+  /** Rings per hemisphere (pole to equator). */
+  capSegments?: number
+}
+const createCapsule = (options: CapsuleOptions = {}): Geometry => {
+  const { radius = 0.5, length = 1, widthSegments = 32, capSegments = 8 } = options
+  const W = widthSegments, half = length / 2
+  // rings from the top cap's first ring down to the bottom cap's last: the equator appears twice (once per
+  // cap, `length` apart) — the band between those two rings is the cylinder; the poles are fans, like the sphere
+  const R = capSegments * 2
+  const verticesCount = (W + 1) * R + W * 2
+  const vertices = new Float32Array(verticesCount * 3)
+  const normals = new Float32Array(verticesCount * 3)
+  const uvs = new Float32Array(verticesCount * 2)
+  const indices = new Uint16Array(W * (R - 1) * 6 + W * 3 * 2)
+  const total = Math.PI * radius + length   // arc from pole to pole, for v
+  let vertexCnt = 0, indicesCnt = 0
+  for (let j = 0; j < R; j++) {
+    const top = j < capSegments
+    const theta = (top ? j + 1 : j) / capSegments * (Math.PI / 2)   // 0 = the top pole, π = the bottom
+    const yOff = top ? half : -half
+    const sinT = Math.sin(theta), cosT = Math.cos(theta)
+    const v = ((Math.PI - theta) * radius + (top ? length : 0)) / total
+    for (let ix = 0; ix <= W; ix++) {
+      const u = ix / W
+      const nx = -Math.cos(u * Math.PI * 2) * sinT, nz = Math.sin(u * Math.PI * 2) * sinT
+      vertices.set([ nx * radius, cosT * radius + yOff, nz * radius ], vertexCnt * 3)
+      normals.set([ nx, cosT, nz ], vertexCnt * 3)
+      uvs.set([ u, v ], vertexCnt * 2)
+      if (j > 0 && ix > 0) {
+        const s = vertexCnt - 1, s1 = vertexCnt - (W + 1) - 1
+        indices.set([ s + 1, s1, s, s1, s + 1, s1 + 1 ], indicesCnt)
+        indicesCnt += 6
+      }
+      vertexCnt++
+    }
+  }
+  const lastRing = vertexCnt - (W + 1)
+  for (const side of [ 1, -1 ]) {
+    const circleStart = side > 0 ? 0 : lastRing
+    for (let ix = 0; ix < W; ix++) {
+      const u = (ix + 0.5) / W
+      vertices.set([ 0, side * (radius + half), 0 ], vertexCnt * 3)
+      normals.set([ 0, side, 0 ], vertexCnt * 3)
+      uvs.set([ u, side > 0 ? 1 : 0 ], vertexCnt * 2)
+      const s = circleStart + ix
+      if (side > 0) indices.set([ s, s + 1, vertexCnt ], indicesCnt)
+      else indices.set([ vertexCnt, s + 1, s ], indicesCnt)
+      indicesCnt += 3
+      vertexCnt++
+    }
+  }
+  return new Geometry(vertices, normals, indices, uvs)
+}
+
+// --- cylinder ---
+export type CylinderOptions = { radius?: number, radiusTop?: number, radiusBottom?: number, edges?: number, smooth?: boolean }
+const createCylinder = (options: CylinderOptions = {}): Geometry => {
+  const { edges = 32, smooth = true, radius = 0.5, radiusTop = radius, radiusBottom = radius } = options
+  const verticesCount = edges * 4 + (edges + 1) * 2
+  const vertices = new Float32Array(verticesCount * 3)
+  const normals = new Float32Array(verticesCount * 3)
+  const uv = new Float32Array(verticesCount * 2)
+  // lightmap chart: the side strip across the upper half, the two caps as discs in the lower half
+  const uv1 = new Float32Array(verticesCount * 2)
+  const indices = new Uint16Array(edges * 6 + edges * 6)
+  const sides = [ -0.5, 0.5 ]
+  let cnt = 0, indicesCnt = 0
+  for (let i = 0; i < edges; i++) {
+    const s = cnt
+    const normalX = Math.cos((i + 0.5) / edges * Math.PI * 2)
+    const normalY = Math.sin((i + 0.5) / edges * Math.PI * 2)
+    for (let j = 0; j < 2; j++) {
+      const x = Math.cos((i + j) / edges * Math.PI * 2)
+      const y = Math.sin((i + j) / edges * Math.PI * 2)
+      for (const side of sides) {
+        if (side > 0) vertices.set([ x * radiusTop, side, y * radiusTop ], cnt * 3)
+        else vertices.set([ x * radiusBottom, side, y * radiusBottom ], cnt * 3)
+        if (smooth) normals.set([ x, 0, y ], cnt * 3)
+        else normals.set([ normalX, 0, normalY ], cnt * 3)
+        uv.set([ (i + j) / edges, side + 0.5 ], cnt * 2)
+        uv1.set([ (i + j) / edges, 0.55 + (side + 0.5) * 0.43 ], cnt * 2)
+        cnt++
+      }
+    }
+    const s1 = s + 1, s2 = (s + 2) % (edges * 4), s3 = (s + 3) % (edges * 4)
+    indices.set([ s, s1, s2, s3, s2, s1 ], indicesCnt)
+    indicesCnt += 6
+  }
+  for (const side of sides) {
+    const center = cnt
+    const capU = side > 0 ? 0.75 : 0.25   // lightmap disc centre per cap
+    vertices.set([ 0, side, 0 ], cnt * 3); normals.set([ 0, side * 2, 0 ], cnt * 3)
+    uv1.set([ capU, 0.25 ], cnt * 2); cnt++
+    for (let i = 0; i < edges; i++) {
+      const x = Math.cos(i / edges * Math.PI * 2), y = Math.sin(i / edges * Math.PI * 2)
+      if (side > 0) vertices.set([ x * radiusTop, side, y * radiusTop ], cnt * 3)
+      else vertices.set([ x * radiusBottom, side, y * radiusBottom ], cnt * 3)
+      normals.set([ 0, side * 2, 0 ], cnt * 3)
+      uv1.set([ capU + x * 0.22, 0.25 + y * 0.22 ], cnt * 2)
+      if (side < 0) indices.set([ center, center + i + 1, center + 1 + ((i + 1) % edges) ], indicesCnt)
+      else indices.set([ center + 1 + ((i + 1) % edges), center + i + 1, center ], indicesCnt)
+      indicesCnt += 3
+      cnt++
+    }
+  }
+  const g = new Geometry(vertices, normals, indices, uv)
+  g.uv1 = uv1
+  return g
+}
+
+// --- plane ---
+export type PlaneOptions = { normal?: Vec3Like }
+const createPlane = (options: PlaneOptions = {}): Geometry => {
+  const normal: Tup3 = options.normal ? [ cx(options.normal), cy(options.normal), cz(options.normal) ] : [ 0, 0, 1 ]
+  const vertices = new Float32Array(4 * 3)
+  const normals = new Float32Array(4 * 3)
+  const uvs = new Float32Array(4 * 2)
+  const sides = [ -0.5, 0.5 ]
+  let cnt = 0
+  let upVector: Tup3, rightVec: Tup3
+  if (normal[1] === 0 && normal[2] === 0) { upVector = [ 0, 1, 0 ]; rightVec = [ 0, 0, -normal[0] ] }
+  else if (normal[0] === 0 && normal[2] === 0) { upVector = [ 0, 0, 1 ]; rightVec = [ -normal[1], 0, 0 ] }
+  else if (normal[0] === 0 && normal[1] === 0) { upVector = [ 0, 1, 0 ]; rightVec = [ normal[2], 0, 0 ] } // тут было верно
+  else {
+    const temp: Tup3 = Math.abs(normal[0]) < 0.5 ? [ 1, 0, 0 ] : [ 0, 0, 1 ]
+    upVector = normalize(cross(temp, normal))
+    rightVec = normalize(cross(upVector, normal))
+  }
+  for (const a of sides) {
+    for (const b of sides) {
+      normals.set(normal, cnt * 3)
+      uvs.set([ a + 0.5, b + 0.5 ], cnt * 2)
+      vertices.set([
+        rightVec[0] * a + upVector[0] * b,
+        rightVec[1] * a + upVector[1] * b,
+        rightVec[2] * a + upVector[2] * b,
+      ], cnt * 3)
+      cnt++
+    }
+  }
+  const indices = new Uint16Array([ 2, 1, 0, 1, 2, 3 ])
+  return new Geometry(vertices, normals, indices, uvs)
+}