math 0.0.3 → 0.1.0

package/dist/geometry/quickhull3.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"quickhull3.js","sources":["../../src/geometry/quickhull3.ts"],"sourcesContent":["/**\n * Incremental Convex Hull 3D implementation based on Three.js ConvexHull.\n *\n * This implements the QuickHull algorithm with an incremental approach that maintains\n * a valid hull at each step using a half-edge data structure (DCEL - Doubly Connected\n * Edge List) for O(1) face adjacency queries.\n *\n * The algorithm is based on John Lloyd's Java implementation and was ported to\n * JavaScript by Mauricio Poppe (quickhull3d), then incorporated into Three.js.\n *\n * References:\n * - Three.js ConvexHull: https://github.com/mrdoob/three.js/blob/dev/examples/jsm/math/ConvexHull.js\n * - quickhull3d by Mauricio Poppe: https://github.com/maurizzzio/quickhull3d/\n * - Original Java by John Lloyd: http://www.cs.ubc.ca/~lloyd/java/quickhull3d.html\n * - Dirk Gregorius presentation: https://archive.org/details/GDC2014Gregorius\n *\n * Algorithm: QuickHull (incremental variant)\n * Time complexity: O(n log n) average, O(n²) worst case\n * Space complexity: O(n + f + e) where f=faces, e=edges (~3x more than basic)\n */\n\nconst EPSILON = 1e-12;\nconst VISIBLE = 0;\nconst DELETED = 1;\n\ntype VertexNode = {\n    index: number;\n    prev: VertexNode | null;\n    next: VertexNode | null;\n    face: Face | null;\n};\n\ntype HalfEdge = {\n    vertex: VertexNode;\n    prev: HalfEdge | null;\n    next: HalfEdge | null;\n    twin: HalfEdge | null;\n    face: Face;\n};\n\ntype Face = {\n    normal: [number, number, number];\n    midpoint: [number, number, number];\n    area: number;\n    constant: number;\n    outside: VertexNode | null;\n    mark: number;\n    edge: HalfEdge | null;\n};\n\ntype VertexList = {\n    head: VertexNode | null;\n    tail: VertexNode | null;\n};\n\ntype HullState = {\n    points: number[];\n    tolerance: number;\n    faces: Face[];\n    newFaces: Face[];\n    assigned: VertexList;\n    unassigned: VertexList;\n    vertices: VertexNode[];\n};\n\n/**\n * Computes the convex hull of a set of 3D points using an incremental QuickHull algorithm.\n *\n * @param points An array of numbers representing the 3D points (x1, y1, z1, x2, y2, z2, ...)\n * @returns An array of indices representing the triangles of the convex hull (i1, j1, k1, i2, j2, k2, ...).\n */\nexport function quickhull3(points: number[]): number[] {\n    const n = points.length / 3;\n    if (n < 4) return [];\n\n    const state = createHullState(points, n);\n\n    computeInitialHull(state);\n\n    // Incrementally add vertices to hull\n    let vertex = nextVertexToAdd(state);\n    while (vertex !== null) {\n        addVertexToHull(state, vertex);\n        vertex = nextVertexToAdd(state);\n    }\n\n    reindexFaces(state);\n\n    return getTriangleIndices(state);\n}\n\n// Hull state management\n\nfunction createHullState(points: number[], n: number): HullState {\n    const vertices: VertexNode[] = [];\n    for (let i = 0; i < n; i++) {\n        vertices.push(createVertexNode(i));\n    }\n\n    return {\n        points,\n        tolerance: -1,\n        faces: [],\n        newFaces: [],\n        assigned: createVertexList(),\n        unassigned: createVertexList(),\n        vertices,\n    };\n}\n\nfunction getTriangleIndices(state: HullState): number[] {\n    const result: number[] = [];\n    for (const face of state.faces) {\n        if (face.mark === VISIBLE && face.edge) {\n            result.push(face.edge.vertex.index, face.edge.next!.vertex.index, face.edge.prev!.vertex.index);\n        }\n    }\n    return result;\n}\n\n// Vertex node functions\n\nfunction createVertexNode(index: number): VertexNode {\n    return {\n        index,\n        prev: null,\n        next: null,\n        face: null,\n    };\n}\n\n// Vertex list functions\n\nfunction createVertexList(): VertexList {\n    return {\n        head: null,\n        tail: null,\n    };\n}\n\nfunction vertexListIsEmpty(list: VertexList): boolean {\n    return list.head === null;\n}\n\nfunction vertexListClear(list: VertexList): void {\n    list.head = null;\n    list.tail = null;\n}\n\nfunction vertexListAppend(list: VertexList, vertex: VertexNode): void {\n    if (list.head === null) {\n        list.head = vertex;\n    } else {\n        list.tail!.next = vertex;\n    }\n\n    vertex.prev = list.tail;\n    vertex.next = null;\n    list.tail = vertex;\n}\n\nfunction vertexListAppendChain(list: VertexList, vertex: VertexNode): void {\n    if (list.head === null) {\n        list.head = vertex;\n    } else {\n        list.tail!.next = vertex;\n    }\n\n    vertex.prev = list.tail;\n\n    // Find end of chain\n    let current = vertex;\n    while (current.next !== null) {\n        current = current.next;\n    }\n\n    list.tail = current;\n}\n\nfunction vertexListInsertBefore(list: VertexList, target: VertexNode, vertex: VertexNode): void {\n    vertex.prev = target.prev;\n    vertex.next = target;\n\n    if (vertex.prev === null) {\n        list.head = vertex;\n    } else {\n        vertex.prev.next = vertex;\n    }\n\n    target.prev = vertex;\n}\n\nfunction vertexListRemove(list: VertexList, vertex: VertexNode): void {\n    if (vertex.prev === null) {\n        list.head = vertex.next;\n    } else {\n        vertex.prev.next = vertex.next;\n    }\n\n    if (vertex.next === null) {\n        list.tail = vertex.prev;\n    } else {\n        vertex.next.prev = vertex.prev;\n    }\n}\n\nfunction vertexListRemoveSubList(list: VertexList, a: VertexNode, b: VertexNode): void {\n    if (a.prev === null) {\n        list.head = b.next;\n    } else {\n        a.prev.next = b.next;\n    }\n\n    if (b.next === null) {\n        list.tail = a.prev;\n    } else {\n        b.next.prev = a.prev;\n    }\n}\n\n// Half-edge functions\n\nfunction createHalfEdge(vertex: VertexNode, face: Face): HalfEdge {\n    return {\n        vertex,\n        prev: null,\n        next: null,\n        twin: null,\n        face,\n    };\n}\n\nfunction halfEdgeHead(edge: HalfEdge): VertexNode {\n    return edge.vertex;\n}\n\nfunction halfEdgeTail(edge: HalfEdge): VertexNode | null {\n    return edge.prev ? edge.prev.vertex : null;\n}\n\nfunction halfEdgeSetTwin(edge: HalfEdge, twin: HalfEdge): void {\n    edge.twin = twin;\n    twin.twin = edge;\n}\n\n// Face functions\n\nfunction createFace(): Face {\n    return {\n        normal: [0, 0, 0],\n        midpoint: [0, 0, 0],\n        area: 0,\n        constant: 0,\n        outside: null,\n        mark: VISIBLE,\n        edge: null,\n    };\n}\n\nfunction faceCreate(a: VertexNode, b: VertexNode, c: VertexNode): Face {\n    const face = createFace();\n\n    const e0 = createHalfEdge(a, face);\n    const e1 = createHalfEdge(b, face);\n    const e2 = createHalfEdge(c, face);\n\n    // Join edges in a cycle\n    e0.next = e1;\n    e0.prev = e2;\n    e1.next = e2;\n    e1.prev = e0;\n    e2.next = e0;\n    e2.prev = e1;\n\n    face.edge = e0;\n\n    return face;\n}\n\nfunction faceGetEdge(face: Face, i: number): HalfEdge | null {\n    let edge = face.edge;\n    if (!edge) return null;\n\n    while (i > 0) {\n        edge = edge.next!;\n        i--;\n    }\n\n    while (i < 0) {\n        edge = edge.prev!;\n        i++;\n    }\n\n    return edge;\n}\n\nfunction faceCompute(face: Face, points: number[]): void {\n    const a = halfEdgeTail(face.edge!)!;\n    const b = halfEdgeHead(face.edge!);\n    const c = halfEdgeHead(face.edge!.next!);\n\n    const aIdx = a.index * 3;\n    const bIdx = b.index * 3;\n    const cIdx = c.index * 3;\n\n    const ax = points[aIdx],\n        ay = points[aIdx + 1],\n        az = points[aIdx + 2];\n    const bx = points[bIdx],\n        by = points[bIdx + 1],\n        bz = points[bIdx + 2];\n    const cx = points[cIdx],\n        cy = points[cIdx + 1],\n        cz = points[cIdx + 2];\n\n    // Compute edges\n    const e1x = bx - ax,\n        e1y = by - ay,\n        e1z = bz - az;\n    const e2x = cx - ax,\n        e2y = cy - ay,\n        e2z = cz - az;\n\n    // Cross product for normal\n    const nx = e1y * e2z - e1z * e2y;\n    const ny = e1z * e2x - e1x * e2z;\n    const nz = e1x * e2y - e1y * e2x;\n\n    // Normalize\n    const len = Math.sqrt(nx * nx + ny * ny + nz * nz);\n    if (len > EPSILON) {\n        face.normal[0] = nx / len;\n        face.normal[1] = ny / len;\n        face.normal[2] = nz / len;\n    }\n\n    // Compute midpoint\n    face.midpoint[0] = (ax + bx + cx) / 3;\n    face.midpoint[1] = (ay + by + cy) / 3;\n    face.midpoint[2] = (az + bz + cz) / 3;\n\n    // Area\n    face.area = len / 2;\n\n    // Plane constant\n    face.constant = face.normal[0] * face.midpoint[0] + face.normal[1] * face.midpoint[1] + face.normal[2] * face.midpoint[2];\n}\n\nfunction faceDistanceToPoint(face: Face, points: number[], vertexIndex: number): number {\n    const idx = vertexIndex * 3;\n    return face.normal[0] * points[idx] + face.normal[1] * points[idx + 1] + face.normal[2] * points[idx + 2] - face.constant;\n}\n\n// Hull computation functions\n\nfunction computeExtremes(state: HullState): { min: VertexNode[]; max: VertexNode[] } {\n    const minVertices: VertexNode[] = [];\n    const maxVertices: VertexNode[] = [];\n    const min = [Infinity, Infinity, Infinity];\n    const max = [-Infinity, -Infinity, -Infinity];\n\n    // Initialize with first vertex\n    for (let i = 0; i < 3; i++) {\n        minVertices[i] = state.vertices[0];\n        maxVertices[i] = state.vertices[0];\n        min[i] = state.points[i];\n        max[i] = state.points[i];\n    }\n\n    // Find extremal points along each axis\n    for (let i = 0; i < state.vertices.length; i++) {\n        const vertex = state.vertices[i];\n        const idx = vertex.index * 3;\n\n        for (let j = 0; j < 3; j++) {\n            const val = state.points[idx + j];\n            if (val < min[j]) {\n                min[j] = val;\n                minVertices[j] = vertex;\n            }\n            if (val > max[j]) {\n                max[j] = val;\n                maxVertices[j] = vertex;\n            }\n        }\n    }\n\n    // Compute tolerance based on data range\n    state.tolerance =\n        3 *\n        Number.EPSILON *\n        (Math.max(Math.abs(min[0]), Math.abs(max[0])) +\n            Math.max(Math.abs(min[1]), Math.abs(max[1])) +\n            Math.max(Math.abs(min[2]), Math.abs(max[2])));\n\n    return { min: minVertices, max: maxVertices };\n}\n\nfunction computeInitialHull(state: HullState): void {\n    const extremes = computeExtremes(state);\n    const min = extremes.min;\n    const max = extremes.max;\n\n    // 1. Find the two vertices with greatest 1D separation\n    let maxDistance = 0;\n    let index = 0;\n\n    for (let i = 0; i < 3; i++) {\n        const idx0 = min[i].index * 3;\n        const idx1 = max[i].index * 3;\n        const distance = state.points[idx0 + i] - state.points[idx1 + i];\n        if (Math.abs(distance) > maxDistance) {\n            maxDistance = Math.abs(distance);\n            index = i;\n        }\n    }\n\n    const v0 = min[index];\n    const v1 = max[index];\n\n    // 2. Find vertex farthest from line v0-v1\n    let v2: VertexNode | null = null;\n    maxDistance = 0;\n\n    for (const vertex of state.vertices) {\n        if (vertex !== v0 && vertex !== v1) {\n            const dist = distanceToLineSquared(state.points, vertex.index, v0.index, v1.index);\n            if (dist > maxDistance) {\n                maxDistance = dist;\n                v2 = vertex;\n            }\n        }\n    }\n\n    if (!v2) return;\n\n    // 3. Find vertex farthest from plane v0-v1-v2\n    let v3: VertexNode | null = null;\n    maxDistance = -1;\n\n    const normal: [number, number, number] = [0, 0, 0];\n    const offset = computePlane(state.points, v0.index, v1.index, v2.index, normal);\n\n    for (const vertex of state.vertices) {\n        if (vertex !== v0 && vertex !== v1 && vertex !== v2) {\n            const dist = Math.abs(distanceToPlane(state.points, vertex.index, normal, offset));\n            if (dist > maxDistance) {\n                maxDistance = dist;\n                v3 = vertex;\n            }\n        }\n    }\n\n    if (!v3) return;\n\n    // Create initial tetrahedron\n    const faces: Face[] = [];\n\n    if (distanceToPlane(state.points, v3.index, normal, offset) < 0) {\n        // Normal points outward\n        faces.push(faceCreate(v0, v1, v2), faceCreate(v3, v1, v0), faceCreate(v3, v2, v1), faceCreate(v3, v0, v2));\n\n        // Set twin edges\n        for (let i = 0; i < 3; i++) {\n            const j = (i + 1) % 3;\n            halfEdgeSetTwin(faceGetEdge(faces[i + 1], 2)!, faceGetEdge(faces[0], j)!);\n            halfEdgeSetTwin(faceGetEdge(faces[i + 1], 1)!, faceGetEdge(faces[j + 1], 0)!);\n        }\n    } else {\n        // Normal points inward\n        faces.push(faceCreate(v0, v2, v1), faceCreate(v3, v0, v1), faceCreate(v3, v1, v2), faceCreate(v3, v2, v0));\n\n        // Set twin edges\n        for (let i = 0; i < 3; i++) {\n            const j = (i + 1) % 3;\n            halfEdgeSetTwin(faceGetEdge(faces[i + 1], 2)!, faceGetEdge(faces[0], (3 - i) % 3)!);\n            halfEdgeSetTwin(faceGetEdge(faces[i + 1], 0)!, faceGetEdge(faces[j + 1], 1)!);\n        }\n    }\n\n    // Add faces to hull\n    for (const face of faces) {\n        faceCompute(face, state.points);\n        state.faces.push(face);\n    }\n\n    // Assign remaining vertices to faces\n    for (const vertex of state.vertices) {\n        if (vertex !== v0 && vertex !== v1 && vertex !== v2 && vertex !== v3) {\n            maxDistance = state.tolerance;\n            let maxFace: Face | null = null;\n\n            for (const face of state.faces) {\n                const distance = faceDistanceToPoint(face, state.points, vertex.index);\n                if (distance > maxDistance) {\n                    maxDistance = distance;\n                    maxFace = face;\n                }\n            }\n\n            if (maxFace !== null) {\n                addVertexToFace(state, vertex, maxFace);\n            }\n        }\n    }\n}\n\nfunction addVertexToFace(state: HullState, vertex: VertexNode, face: Face): void {\n    vertex.face = face;\n\n    if (face.outside === null) {\n        vertexListAppend(state.assigned, vertex);\n    } else {\n        vertexListInsertBefore(state.assigned, face.outside, vertex);\n    }\n\n    face.outside = vertex;\n}\n\nfunction removeVertexFromFace(state: HullState, vertex: VertexNode, face: Face): void {\n    if (vertex === face.outside) {\n        if (vertex.next !== null && vertex.next.face === face) {\n            face.outside = vertex.next;\n        } else {\n            face.outside = null;\n        }\n    }\n\n    vertexListRemove(state.assigned, vertex);\n}\n\nfunction removeAllVerticesFromFace(state: HullState, face: Face): VertexNode | null {\n    if (face.outside !== null) {\n        const start = face.outside;\n        let end = face.outside;\n\n        while (end.next !== null && end.next.face === face) {\n            end = end.next;\n        }\n\n        vertexListRemoveSubList(state.assigned, start, end);\n\n        start.prev = null;\n        end.next = null;\n        face.outside = null;\n\n        return start;\n    }\n\n    return null;\n}\n\nfunction deleteFaceVertices(state: HullState, face: Face, absorbingFace?: Face): void {\n    const faceVertices = removeAllVerticesFromFace(state, face);\n\n    if (faceVertices !== null) {\n        if (absorbingFace === undefined) {\n            vertexListAppendChain(state.unassigned, faceVertices);\n        } else {\n            let vertex: VertexNode | null = faceVertices;\n\n            while (vertex !== null) {\n                const nextVertex: VertexNode | null = vertex.next;\n                const distance = faceDistanceToPoint(absorbingFace, state.points, vertex.index);\n\n                if (distance > state.tolerance) {\n                    addVertexToFace(state, vertex, absorbingFace);\n                } else {\n                    vertexListAppend(state.unassigned, vertex);\n                }\n\n                vertex = nextVertex;\n            }\n        }\n    }\n}\n\nfunction resolveUnassignedPoints(state: HullState, newFaces: Face[]): void {\n    if (vertexListIsEmpty(state.unassigned)) return;\n\n    let vertex: VertexNode | null = state.unassigned.head;\n\n    while (vertex !== null) {\n        const nextVertex: VertexNode | null = vertex.next;\n        let maxDistance = state.tolerance;\n        let maxFace: Face | null = null;\n\n        for (const face of newFaces) {\n            if (face.mark === VISIBLE) {\n                const distance = faceDistanceToPoint(face, state.points, vertex.index);\n\n                if (distance > maxDistance) {\n                    maxDistance = distance;\n                    maxFace = face;\n                }\n\n                if (maxDistance > 1000 * state.tolerance) break;\n            }\n        }\n\n        if (maxFace !== null) {\n            addVertexToFace(state, vertex, maxFace);\n        }\n\n        vertex = nextVertex;\n    }\n}\n\nfunction nextVertexToAdd(state: HullState): VertexNode | null {\n    if (vertexListIsEmpty(state.assigned)) return null;\n\n    let eyeVertex: VertexNode | null = null;\n    let maxDistance = 0;\n\n    const eyeFace = state.assigned.head!.face!;\n    let vertex: VertexNode | null = eyeFace.outside;\n\n    while (vertex !== null && vertex.face === eyeFace) {\n        const distance = faceDistanceToPoint(eyeFace, state.points, vertex.index);\n\n        if (distance > maxDistance) {\n            maxDistance = distance;\n            eyeVertex = vertex;\n        }\n\n        vertex = vertex.next;\n    }\n\n    return eyeVertex;\n}\n\nfunction computeHorizon(state: HullState, eyePoint: number, crossEdge: HalfEdge | null, face: Face, horizon: HalfEdge[]): void {\n    deleteFaceVertices(state, face);\n    face.mark = DELETED;\n\n    let edge: HalfEdge;\n\n    if (crossEdge === null) {\n        edge = faceGetEdge(face, 0)!;\n    } else {\n        edge = crossEdge.next!;\n    }\n\n    const startEdge = edge;\n\n    do {\n        const twinEdge = edge.twin!;\n        const oppositeFace = twinEdge.face;\n\n        if (oppositeFace.mark === VISIBLE) {\n            if (faceDistanceToPoint(oppositeFace, state.points, eyePoint) > state.tolerance) {\n                computeHorizon(state, eyePoint, twinEdge, oppositeFace, horizon);\n            } else {\n                horizon.push(edge);\n            }\n        }\n\n        edge = edge.next!;\n    } while (edge !== startEdge);\n}\n\nfunction addAdjoiningFace(state: HullState, eyeVertex: VertexNode, horizonEdge: HalfEdge): HalfEdge {\n    const face = faceCreate(eyeVertex, halfEdgeTail(horizonEdge)!, halfEdgeHead(horizonEdge));\n    faceCompute(face, state.points);\n\n    state.faces.push(face);\n\n    halfEdgeSetTwin(faceGetEdge(face, -1)!, horizonEdge.twin!);\n\n    return faceGetEdge(face, 0)!;\n}\n\nfunction addNewFaces(state: HullState, eyeVertex: VertexNode, horizon: HalfEdge[]): void {\n    state.newFaces = [];\n\n    let firstSideEdge: HalfEdge | null = null;\n    let previousSideEdge: HalfEdge | null = null;\n\n    for (const horizonEdge of horizon) {\n        const sideEdge = addAdjoiningFace(state, eyeVertex, horizonEdge);\n\n        if (firstSideEdge === null) {\n            firstSideEdge = sideEdge;\n        } else {\n            halfEdgeSetTwin(sideEdge.next!, previousSideEdge!);\n        }\n\n        state.newFaces.push(sideEdge.face);\n        previousSideEdge = sideEdge;\n    }\n\n    halfEdgeSetTwin(firstSideEdge!.next!, previousSideEdge!);\n}\n\nfunction addVertexToHull(state: HullState, eyeVertex: VertexNode): void {\n    const horizon: HalfEdge[] = [];\n\n    vertexListClear(state.unassigned);\n\n    removeVertexFromFace(state, eyeVertex, eyeVertex.face!);\n\n    computeHorizon(state, eyeVertex.index, null, eyeVertex.face!, horizon);\n\n    addNewFaces(state, eyeVertex, horizon);\n\n    resolveUnassignedPoints(state, state.newFaces);\n}\n\nfunction reindexFaces(state: HullState): void {\n    const activeFaces: Face[] = [];\n\n    for (const face of state.faces) {\n        if (face.mark === VISIBLE) {\n            activeFaces.push(face);\n        }\n    }\n\n    state.faces = activeFaces;\n}\n\n// Helper functions\n\nfunction computePlane(points: number[], v0: number, v1: number, v2: number, outNormal: [number, number, number]): number {\n    const p0x = points[v0 * 3];\n    const p0y = points[v0 * 3 + 1];\n    const p0z = points[v0 * 3 + 2];\n    const p1x = points[v1 * 3];\n    const p1y = points[v1 * 3 + 1];\n    const p1z = points[v1 * 3 + 2];\n    const p2x = points[v2 * 3];\n    const p2y = points[v2 * 3 + 1];\n    const p2z = points[v2 * 3 + 2];\n\n    const e1x = p1x - p0x;\n    const e1y = p1y - p0y;\n    const e1z = p1z - p0z;\n    const e2x = p2x - p0x;\n    const e2y = p2y - p0y;\n    const e2z = p2z - p0z;\n\n    const nx = e1y * e2z - e1z * e2y;\n    const ny = e1z * e2x - e1x * e2z;\n    const nz = e1x * e2y - e1y * e2x;\n\n    const len = Math.sqrt(nx * nx + ny * ny + nz * nz);\n    if (len < EPSILON) {\n        outNormal[0] = 0;\n        outNormal[1] = 0;\n        outNormal[2] = 1;\n        return 0;\n    }\n\n    const invLen = 1 / len;\n    outNormal[0] = nx * invLen;\n    outNormal[1] = ny * invLen;\n    outNormal[2] = nz * invLen;\n\n    return -(outNormal[0] * p0x + outNormal[1] * p0y + outNormal[2] * p0z);\n}\n\nfunction distanceToPlane(points: number[], idx: number, normal: [number, number, number], offset: number): number {\n    const x = points[idx * 3];\n    const y = points[idx * 3 + 1];\n    const z = points[idx * 3 + 2];\n    return normal[0] * x + normal[1] * y + normal[2] * z + offset;\n}\n\nfunction distanceToLineSquared(points: number[], idx: number, v0: number, v1: number): number {\n    const px = points[idx * 3];\n    const py = points[idx * 3 + 1];\n    const pz = points[idx * 3 + 2];\n    const ax = points[v0 * 3];\n    const ay = points[v0 * 3 + 1];\n    const az = points[v0 * 3 + 2];\n    const bx = points[v1 * 3];\n    const by = points[v1 * 3 + 1];\n    const bz = points[v1 * 3 + 2];\n\n    const apx = px - ax;\n    const apy = py - ay;\n    const apz = pz - az;\n\n    const abx = bx - ax;\n    const aby = by - ay;\n    const abz = bz - az;\n\n    const cx = apy * abz - apz * aby;\n    const cy = apz * abx - apx * abz;\n    const cz = apx * aby - apy * abx;\n\n    const crossLenSq = cx * cx + cy * cy + cz * cz;\n    const abLenSq = abx * abx + aby * aby + abz * abz;\n\n    if (abLenSq < EPSILON) return apx * apx + apy * apy + apz * apz;\n\n    return crossLenSq / 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