math 0.0.3 → 0.1.0

package/dist/shapes/box3.js

@@ -0,0 +1,550 @@
+import { EPSILON } from '../core/scalar.js';
+
+/**
+ * Create a new empty Box3 with "min" set to positive infinity and "max" set to negative infinity
+ * @returns A new Box3
+ */
+function create() {
+    return [
+        Number.POSITIVE_INFINITY,
+        Number.POSITIVE_INFINITY,
+        Number.POSITIVE_INFINITY,
+        Number.NEGATIVE_INFINITY,
+        Number.NEGATIVE_INFINITY,
+        Number.NEGATIVE_INFINITY,
+    ];
+}
+/**
+ * Clones a Box3
+ * @param box - A Box3 to clone
+ * @returns a clone of box
+ */
+function clone(box) {
+    return [box[0], box[1], box[2], box[3], box[4], box[5]];
+}
+/**
+ * Copies a Box3 to another Box3
+ * @param out the output Box3
+ * @param box the input Box3
+ * @returns the output Box3
+ */
+function copy(out, box) {
+    out[0] = box[0];
+    out[1] = box[1];
+    out[2] = box[2];
+    out[3] = box[3];
+    out[4] = box[4];
+    out[5] = box[5];
+    return out;
+}
+/**
+ * Sets the min and max values of a Box3
+ * @param out - The output Box3
+ * @param minX - The minimum X coordinate
+ * @param minY - The minimum Y coordinate
+ * @param minZ - The minimum Z coordinate
+ * @param maxX - The maximum X coordinate
+ * @param maxY - The maximum Y coordinate
+ * @param maxZ - The maximum Z coordinate
+ * @returns The updated Box3
+ */
+function set(out, minX, minY, minZ, maxX, maxY, maxZ) {
+    out[0] = minX;
+    out[1] = minY;
+    out[2] = minZ;
+    out[3] = maxX;
+    out[4] = maxY;
+    out[5] = maxZ;
+    return out;
+}
+/**
+ * Sets the min and max values of a Box3 from Vec3 vectors
+ * @param out - The output Box3
+ * @param min - The minimum corner
+ * @param max - The maximum corner
+ * @returns The updated Box3
+ */
+function setFromVectors(out, min, max) {
+    out[0] = min[0];
+    out[1] = min[1];
+    out[2] = min[2];
+    out[3] = max[0];
+    out[4] = max[1];
+    out[5] = max[2];
+    return out;
+}
+/**
+ * Extracts the minimum corner of a Box3
+ * @param out - The output Vec3 for the minimum corner
+ * @param box - The input Box3
+ * @returns The minimum corner
+ */
+function min(out, box) {
+    out[0] = box[0];
+    out[1] = box[1];
+    out[2] = box[2];
+    return out;
+}
+/**
+ * Extracts the maximum corner of a Box3
+ * @param out - The output Vec3 for the maximum corner
+ * @param box - The input Box3
+ * @returns The maximum corner
+ */
+function max(out, box) {
+    out[0] = box[3];
+    out[1] = box[4];
+    out[2] = box[5];
+    return out;
+}
+/**
+ * Set a Box3 to empty (min to positive infinity, max to negative infinity)
+ * @param out - The Box3 to make empty
+ * @returns The emptied Box3
+ */
+function empty(out) {
+    out[0] = Number.POSITIVE_INFINITY;
+    out[1] = Number.POSITIVE_INFINITY;
+    out[2] = Number.POSITIVE_INFINITY;
+    out[3] = Number.NEGATIVE_INFINITY;
+    out[4] = Number.NEGATIVE_INFINITY;
+    out[5] = Number.NEGATIVE_INFINITY;
+    return out;
+}
+/**
+ * Returns whether or not the boxes have exactly the same elements in the same position (when compared with ===)
+ * @param a - The first box
+ * @param b - The second box
+ * @returns True if the boxes are equal, false otherwise
+ */
+function exactEquals(a, b) {
+    return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3] && a[4] === b[4] && a[5] === b[5];
+}
+/**
+ * Returns whether or not the boxes have approximately the same elements in the same position
+ * @param a - The first box
+ * @param b - The second box
+ * @returns True if the boxes are equal, false otherwise
+ */
+function equals(a, b) {
+    const a0 = a[0];
+    const a1 = a[1];
+    const a2 = a[2];
+    const a3 = a[3];
+    const a4 = a[4];
+    const a5 = a[5];
+    const b0 = b[0];
+    const b1 = b[1];
+    const b2 = b[2];
+    const b3 = b[3];
+    const b4 = b[4];
+    const b5 = b[5];
+    return (Math.abs(a0 - b0) <= EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) &&
+        Math.abs(a1 - b1) <= EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) &&
+        Math.abs(a2 - b2) <= EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) &&
+        Math.abs(a3 - b3) <= EPSILON * Math.max(1.0, Math.abs(a3), Math.abs(b3)) &&
+        Math.abs(a4 - b4) <= EPSILON * Math.max(1.0, Math.abs(a4), Math.abs(b4)) &&
+        Math.abs(a5 - b5) <= EPSILON * Math.max(1.0, Math.abs(a5), Math.abs(b5)));
+}
+/**
+ * Sets the box from a center point and size
+ * @param out - The output Box3
+ * @param center - The center point
+ * @param size - The size of the box
+ * @returns The updated Box3
+ */
+function setFromCenterAndSize(out, center, size) {
+    const hx = size[0] * 0.5;
+    const hy = size[1] * 0.5;
+    const hz = size[2] * 0.5;
+    out[0] = center[0] - hx;
+    out[1] = center[1] - hy;
+    out[2] = center[2] - hz;
+    out[3] = center[0] + hx;
+    out[4] = center[1] + hy;
+    out[5] = center[2] + hz;
+    return out;
+}
+/**
+ * Expands a Box3 to include a point
+ * @param out - The output Box3
+ * @param box - The input Box3
+ * @param point - The point to include
+ * @returns The expanded Box3
+ */
+function expandByPoint(out, box, point) {
+    out[0] = Math.min(box[0], point[0]);
+    out[1] = Math.min(box[1], point[1]);
+    out[2] = Math.min(box[2], point[2]);
+    out[3] = Math.max(box[3], point[0]);
+    out[4] = Math.max(box[4], point[1]);
+    out[5] = Math.max(box[5], point[2]);
+    return out;
+}
+/**
+ * Widens a Box3 by a vector on both sides
+ * Subtracts the vector from min and adds it to max
+ * @param out - The output Box3
+ * @param box - The input Box3
+ * @param vector - The vector to expand by
+ * @returns The expanded Box3
+ */
+function expandByExtents(out, box, vector) {
+    out[0] = box[0] - vector[0];
+    out[1] = box[1] - vector[1];
+    out[2] = box[2] - vector[2];
+    out[3] = box[3] + vector[0];
+    out[4] = box[4] + vector[1];
+    out[5] = box[5] + vector[2];
+    return out;
+}
+/**
+ * Expands a Box3 uniformly by a scalar margin on all sides
+ * Subtracts the margin from min and adds it to max on each axis
+ * @param out - The output Box3
+ * @param box - The input Box3
+ * @param margin - The uniform margin to expand by
+ * @returns The expanded Box3
+ */
+function expandByMargin(out, box, margin) {
+    out[0] = box[0] - margin;
+    out[1] = box[1] - margin;
+    out[2] = box[2] - margin;
+    out[3] = box[3] + margin;
+    out[4] = box[4] + margin;
+    out[5] = box[5] + margin;
+    return out;
+}
+/**
+ * Computes the union of two bounding boxes
+ * Returns a Box3 that encompasses both input boxes
+ * @param out - The output Box3
+ * @param boxA - The first Box3
+ * @param boxB - The second Box3
+ * @returns The union Box3
+ */
+function union(out, boxA, boxB) {
+    out[0] = Math.min(boxA[0], boxB[0]);
+    out[1] = Math.min(boxA[1], boxB[1]);
+    out[2] = Math.min(boxA[2], boxB[2]);
+    out[3] = Math.max(boxA[3], boxB[3]);
+    out[4] = Math.max(boxA[4], boxB[4]);
+    out[5] = Math.max(boxA[5], boxB[5]);
+    return out;
+}
+/**
+ * Calculate the center point of a bounding box
+ * @param out - The output Vec3 for the center
+ * @param box - The input Box3
+ * @returns The center point
+ */
+function center(out, box) {
+    out[0] = (box[0] + box[3]) * 0.5;
+    out[1] = (box[1] + box[4]) * 0.5;
+    out[2] = (box[2] + box[5]) * 0.5;
+    return out;
+}
+/**
+ * Calculate the extents (half-size) of a bounding box
+ * @param out - The output Vec3 for the extents
+ * @param box - The input Box3
+ * @returns The extents (distance from center to each face)
+ */
+function extents(out, box) {
+    out[0] = (box[3] - box[0]) * 0.5;
+    out[1] = (box[4] - box[1]) * 0.5;
+    out[2] = (box[5] - box[2]) * 0.5;
+    return out;
+}
+/**
+ * Calculate the size (dimensions) of a bounding box
+ * @param out - The output Vec3 for the size
+ * @param box - The input Box3
+ * @returns The size (width, height, depth)
+ */
+function size(out, box) {
+    out[0] = box[3] - box[0];
+    out[1] = box[4] - box[1];
+    out[2] = box[5] - box[2];
+    return out;
+}
+/**
+ * Calculate the surface area of a bounding box
+ * @param box - The input Box3
+ * @returns The surface area
+ */
+function surfaceArea(box) {
+    const width = box[3] - box[0];
+    const height = box[4] - box[1];
+    const depth = box[5] - box[2];
+    return 2 * (width * height + width * depth + height * depth);
+}
+/**
+ * Scale a bounding box by a vector, handling non-uniform and negative scaling
+ * @param out - The output Box3
+ * @param box - The input Box3
+ * @param scale - The scale to apply (as a Vec3)
+ * @returns The scaled Box3
+ */
+function scale(out, box, scale) {
+    const minX = box[0] * scale[0];
+    const maxX = box[3] * scale[0];
+    const minY = box[1] * scale[1];
+    const maxY = box[4] * scale[1];
+    const minZ = box[2] * scale[2];
+    const maxZ = box[5] * scale[2];
+    // handle negative scaling by ensuring min <= max for each axis
+    out[0] = Math.min(minX, maxX);
+    out[3] = Math.max(minX, maxX);
+    out[1] = Math.min(minY, maxY);
+    out[4] = Math.max(minY, maxY);
+    out[2] = Math.min(minZ, maxZ);
+    out[5] = Math.max(minZ, maxZ);
+    return out;
+}
+/**
+ * Transform a bounding box by a 4x4 matrix.
+ * Uses Arvo's trick — transform the center, build new half-extents from
+ * |M| · extents — which is ~4× fewer ops than transforming all 8 corners.
+ * Reference: Jim Arvo, "Transforming Axis-Aligned Bounding Boxes",
+ * Graphics Gems I (1990).
+ * https://github.com/erich666/GraphicsGems/blob/master/gems/TransBox.c
+ * Assumes mat is affine (no perspective), which is always true for AABB
+ * transforms in practice.
+ * Safe under aliasing (out and box may be the same array): all six box
+ * components are read into locals before out is written.
+ * @param out - The output Box3
+ * @param box - The input Box3
+ * @param mat - The 4x4 transformation matrix
+ * @returns The transformed Box3
+ */
+function transformMat4(out, box, mat) {
+    const bMinX = box[0];
+    const bMinY = box[1];
+    const bMinZ = box[2];
+    const bMaxX = box[3];
+    const bMaxY = box[4];
+    const bMaxZ = box[5];
+    // empty input → empty output (preserve sentinel rather than producing
+    // a bogus transformed box from negative extents)
+    if (bMinX > bMaxX || bMinY > bMaxY || bMinZ > bMaxZ) {
+        out[0] = Number.POSITIVE_INFINITY;
+        out[1] = Number.POSITIVE_INFINITY;
+        out[2] = Number.POSITIVE_INFINITY;
+        out[3] = Number.NEGATIVE_INFINITY;
+        out[4] = Number.NEGATIVE_INFINITY;
+        out[5] = Number.NEGATIVE_INFINITY;
+        return out;
+    }
+    const cx = (bMinX + bMaxX) * 0.5;
+    const cy = (bMinY + bMaxY) * 0.5;
+    const cz = (bMinZ + bMaxZ) * 0.5;
+    const ex = (bMaxX - bMinX) * 0.5;
+    const ey = (bMaxY - bMinY) * 0.5;
+    const ez = (bMaxZ - bMinZ) * 0.5;
+    const m0 = mat[0], m1 = mat[1], m2 = mat[2];
+    const m4 = mat[4], m5 = mat[5], m6 = mat[6];
+    const m8 = mat[8], m9 = mat[9], m10 = mat[10];
+    const tcx = m0 * cx + m4 * cy + m8 * cz + mat[12];
+    const tcy = m1 * cx + m5 * cy + m9 * cz + mat[13];
+    const tcz = m2 * cx + m6 * cy + m10 * cz + mat[14];
+    const tex = Math.abs(m0) * ex + Math.abs(m4) * ey + Math.abs(m8) * ez;
+    const tey = Math.abs(m1) * ex + Math.abs(m5) * ey + Math.abs(m9) * ez;
+    const tez = Math.abs(m2) * ex + Math.abs(m6) * ey + Math.abs(m10) * ez;
+    out[0] = tcx - tex;
+    out[1] = tcy - tey;
+    out[2] = tcz - tez;
+    out[3] = tcx + tex;
+    out[4] = tcy + tey;
+    out[5] = tcz + tez;
+    return out;
+}
+/**
+ * Test if a point is contained within the bounding box
+ * @param box - The bounding box
+ * @param point - The point to test
+ * @returns true if the point is inside or on the boundary of the box
+ */
+function containsPoint(box, point) {
+    return (point[0] >= box[0] &&
+        point[0] <= box[3] &&
+        point[1] >= box[1] &&
+        point[1] <= box[4] &&
+        point[2] >= box[2] &&
+        point[2] <= box[5]);
+}
+/**
+ * Test if one Box3 completely contains another Box3
+ * @param container - The potentially containing Box3
+ * @param contained - The Box3 that might be contained
+ * @returns true if the container Box3 completely contains the contained Box3
+ */
+function containsBox3(container, contained) {
+    return (contained[0] >= container[0] &&
+        contained[3] <= container[3] &&
+        contained[1] >= container[1] &&
+        contained[4] <= container[4] &&
+        contained[2] >= container[2] &&
+        contained[5] <= container[5]);
+}
+/**
+ * Check whether two bounding boxes intersect
+ */
+function intersectsBox3(boxA, boxB) {
+    return (boxA[0] <= boxB[3] &&
+        boxA[3] >= boxB[0] &&
+        boxA[1] <= boxB[4] &&
+        boxA[4] >= boxB[1] &&
+        boxA[2] <= boxB[5] &&
+        boxA[5] >= boxB[2]);
+}
+/**
+ * Test whether an axis-aligned bounding box intersects a triangle, via the
+ * separating-axis theorem over 13 axes: the 3 box face normals, the triangle
+ * face normal, and the 9 box-axis × triangle-edge cross products.
+ *
+ * Fully inlined with local scalars — no scratch arrays or per-call allocations.
+ * Axes are tested cheapest-first (box faces, i.e. the triangle-vs-box AABB
+ * reject) so the common non-overlapping case exits before any edge or cross
+ * product is computed. On each edge-cross axis two of the three vertices project
+ * to the same value (the axis is perpendicular to that edge), so only two
+ * projections are needed. An all-zero cross axis (edge parallel to a box axis)
+ * collapses every projection and the radius to 0, passing automatically.
+ */
+function intersectsTriangle3(box, a, b, c) {
+    // Empty box quick reject
+    if (box[0] > box[3] || box[1] > box[4] || box[2] > box[5])
+        return false;
+    // Box center and half-extents
+    const cx = (box[0] + box[3]) * 0.5;
+    const cy = (box[1] + box[4]) * 0.5;
+    const cz = (box[2] + box[5]) * 0.5;
+    const ex = box[3] - cx;
+    const ey = box[4] - cy;
+    const ez = box[5] - cz;
+    // Triangle vertices relative to the box center
+    const v0x = a[0] - cx;
+    const v0y = a[1] - cy;
+    const v0z = a[2] - cz;
+    const v1x = b[0] - cx;
+    const v1y = b[1] - cy;
+    const v1z = b[2] - cz;
+    const v2x = c[0] - cx;
+    const v2y = c[1] - cy;
+    const v2z = c[2] - cz;
+    // 3 box face normals first: this is the triangle-AABB vs box reject and
+    // knocks out most non-overlapping pairs before any further work.
+    if (Math.min(v0x, v1x, v2x) > ex || Math.max(v0x, v1x, v2x) < -ex)
+        return false;
+    if (Math.min(v0y, v1y, v2y) > ey || Math.max(v0y, v1y, v2y) < -ey)
+        return false;
+    if (Math.min(v0z, v1z, v2z) > ez || Math.max(v0z, v1z, v2z) < -ez)
+        return false;
+    // Triangle edge vectors
+    const f0x = v1x - v0x;
+    const f0y = v1y - v0y;
+    const f0z = v1z - v0z;
+    const f1x = v2x - v1x;
+    const f1y = v2y - v1y;
+    const f1z = v2z - v1z;
+    const f2x = v0x - v2x;
+    const f2y = v0y - v2y;
+    const f2z = v0z - v2z;
+    let pa;
+    let pb;
+    let r;
+    // Triangle face normal (all three vertices share one projection)
+    const nx = f0y * f1z - f0z * f1y;
+    const ny = f0z * f1x - f0x * f1z;
+    const nz = f0x * f1y - f0y * f1x;
+    const d = v0x * nx + v0y * ny + v0z * nz;
+    r = ex * Math.abs(nx) + ey * Math.abs(ny) + ez * Math.abs(nz);
+    if (d > r || d < -r)
+        return false;
+    // 9 axes: box axis × triangle edge. The axis is perpendicular to its edge,
+    // so the two vertices on that edge project equally — only two projections
+    // (pa, pb) differ.
+    // box X (1,0,0) × edge => (0, -fz, fy)
+    pa = v0z * f0y - v0y * f0z;
+    pb = v2z * f0y - v2y * f0z;
+    r = ey * Math.abs(f0z) + ez * Math.abs(f0y);
+    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r)
+        return false;
+    pa = v0z * f1y - v0y * f1z;
+    pb = v1z * f1y - v1y * f1z;
+    r = ey * Math.abs(f1z) + ez * Math.abs(f1y);
+    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r)
+        return false;
+    pa = v0z * f2y - v0y * f2z;
+    pb = v1z * f2y - v1y * f2z;
+    r = ey * Math.abs(f2z) + ez * Math.abs(f2y);
+    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r)
+        return false;
+    // box Y (0,1,0) × edge => (fz, 0, -fx)
+    pa = v0x * f0z - v0z * f0x;
+    pb = v2x * f0z - v2z * f0x;
+    r = ex * Math.abs(f0z) + ez * Math.abs(f0x);
+    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r)
+        return false;
+    pa = v0x * f1z - v0z * f1x;
+    pb = v1x * f1z - v1z * f1x;
+    r = ex * Math.abs(f1z) + ez * Math.abs(f1x);
+    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r)
+        return false;
+    pa = v0x * f2z - v0z * f2x;
+    pb = v1x * f2z - v1z * f2x;
+    r = ex * Math.abs(f2z) + ez * Math.abs(f2x);
+    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r)
+        return false;
+    // box Z (0,0,1) × edge => (-fy, fx, 0)
+    pa = v0y * f0x - v0x * f0y;
+    pb = v2y * f0x - v2x * f0y;
+    r = ex * Math.abs(f0y) + ey * Math.abs(f0x);
+    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r)
+        return false;
+    pa = v0y * f1x - v0x * f1y;
+    pb = v1y * f1x - v1x * f1y;
+    r = ex * Math.abs(f1y) + ey * Math.abs(f1x);
+    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r)
+        return false;
+    pa = v0y * f2x - v0x * f2y;
+    pb = v1y * f2x - v1x * f2y;
+    r = ex * Math.abs(f2y) + ey * Math.abs(f2x);
+    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r)
+        return false;
+    return true;
+}
+/**
+ * Test intersection between axis-aligned bounding box and a sphere.
+ */
+function intersectsSphere(box, sphere) {
+    const { center, radius } = sphere;
+    const cx = center[0];
+    const cy = center[1];
+    const cz = center[2];
+    // distance from the sphere centre to the box along each axis (0 when inside)
+    const dx = cx < box[0] ? box[0] - cx : cx > box[3] ? cx - box[3] : 0;
+    const dy = cy < box[1] ? box[1] - cy : cy > box[4] ? cy - box[4] : 0;
+    const dz = cz < box[2] ? box[2] - cz : cz > box[5] ? cz - box[5] : 0;
+    return dx * dx + dy * dy + dz * dz <= radius * radius;
+}
+/**
+ * Test intersection between axis-aligned bounding box and plane.
+ */
+function intersectsPlane3(box, plane) {
+    const { normal, constant } = plane;
+    const nx = normal[0];
+    const ny = normal[1];
+    const nz = normal[2];
+    // Signed distance from the box centre to the plane, and the box's projected
+    // half-extent (radius) onto the normal. Branchless equivalent of picking the
+    // near/far corners per axis: the box straddles the plane iff |s| <= r.
+    // Everything is kept at 2x scale (centre*2, extent*2) so the per-axis 0.5
+    // factors drop out; the |s| <= r test is unaffected.
+    const s = nx * (box[0] + box[3]) + ny * (box[1] + box[4]) + nz * (box[2] + box[5]) + 2 * constant;
+    const r = Math.abs(nx) * (box[3] - box[0]) + Math.abs(ny) * (box[4] - box[1]) + Math.abs(nz) * (box[5] - box[2]);
+    return s <= r && s >= -r;
+}
+
+export { center, clone, containsBox3, containsPoint, copy, create, empty, equals, exactEquals, expandByExtents, expandByMargin, expandByPoint, extents, intersectsBox3, intersectsPlane3, intersectsSphere, intersectsTriangle3, max, min, scale, set, setFromCenterAndSize, setFromVectors, size, surfaceArea, transformMat4, union };
+//# sourceMappingURL=box3.js.map

package/dist/shapes/box3.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"box3.js","sources":["../../src/shapes/box3.ts"],"sourcesContent":["import { EPSILON } from '../core/scalar';\nimport type { Mat4 } from '../core/mat4';\nimport type { Vec3 } from '../core/vec3';\nimport type { Plane3 } from './plane3';\nimport type { Sphere } from './sphere';\n\n/** A box in 3D space */\nexport type Box3 = [minX: number, minY: number, minZ: number, maxX: number, maxY: number, maxZ: number];\n\n/**\n * Create a new empty Box3 with \"min\" set to positive infinity and \"max\" set to negative infinity\n * @returns A new Box3\n */\nexport function create(): Box3 {\n    return [\n        Number.POSITIVE_INFINITY,\n        Number.POSITIVE_INFINITY,\n        Number.POSITIVE_INFINITY,\n        Number.NEGATIVE_INFINITY,\n        Number.NEGATIVE_INFINITY,\n        Number.NEGATIVE_INFINITY,\n    ];\n}\n\n/**\n * Clones a Box3\n * @param box - A Box3 to clone\n * @returns a clone of box\n */\nexport function clone(box: Box3): Box3 {\n    return [box[0], box[1], box[2], box[3], box[4], box[5]];\n}\n\n/**\n * Copies a Box3 to another Box3\n * @param out the output Box3\n * @param box the input Box3\n * @returns the output Box3\n */\nexport function copy(out: Box3, box: Box3): Box3 {\n    out[0] = box[0];\n    out[1] = box[1];\n    out[2] = box[2];\n    out[3] = box[3];\n    out[4] = box[4];\n    out[5] = box[5];\n    return out;\n}\n\n/**\n * Sets the min and max values of a Box3\n * @param out - The output Box3\n * @param minX - The minimum X coordinate\n * @param minY - The minimum Y coordinate\n * @param minZ - The minimum Z coordinate\n * @param maxX - The maximum X coordinate\n * @param maxY - The maximum Y coordinate\n * @param maxZ - The maximum Z coordinate\n * @returns The updated Box3\n */\nexport function set(out: Box3, minX: number, minY: number, minZ: number, maxX: number, maxY: number, maxZ: number): Box3 {\n    out[0] = minX;\n    out[1] = minY;\n    out[2] = minZ;\n    out[3] = maxX;\n    out[4] = maxY;\n    out[5] = maxZ;\n    return out;\n}\n\n/**\n * Sets the min and max values of a Box3 from Vec3 vectors\n * @param out - The output Box3\n * @param min - The minimum corner\n * @param max - The maximum corner\n * @returns The updated Box3\n */\nexport function setFromVectors(out: Box3, min: Vec3, max: Vec3): Box3 {\n    out[0] = min[0];\n    out[1] = min[1];\n    out[2] = min[2];\n    out[3] = max[0];\n    out[4] = max[1];\n    out[5] = max[2];\n    return out;\n}\n\n/**\n * Extracts the minimum corner of a Box3\n * @param out - The output Vec3 for the minimum corner\n * @param box - The input Box3\n * @returns The minimum corner\n */\nexport function min(out: Vec3, box: Box3): Vec3 {\n    out[0] = box[0];\n    out[1] = box[1];\n    out[2] = box[2];\n    return out;\n}\n\n/**\n * Extracts the maximum corner of a Box3\n * @param out - The output Vec3 for the maximum corner\n * @param box - The input Box3\n * @returns The maximum corner\n */\nexport function max(out: Vec3, box: Box3): Vec3 {\n    out[0] = box[3];\n    out[1] = box[4];\n    out[2] = box[5];\n    return out;\n}\n\n/**\n * Set a Box3 to empty (min to positive infinity, max to negative infinity)\n * @param out - The Box3 to make empty\n * @returns The emptied Box3\n */\nexport function empty(out: Box3): Box3 {\n    out[0] = Number.POSITIVE_INFINITY;\n    out[1] = Number.POSITIVE_INFINITY;\n    out[2] = Number.POSITIVE_INFINITY;\n    out[3] = Number.NEGATIVE_INFINITY;\n    out[4] = Number.NEGATIVE_INFINITY;\n    out[5] = Number.NEGATIVE_INFINITY;\n    return out;\n}\n\n/**\n * Returns whether or not the boxes have exactly the same elements in the same position (when compared with ===)\n * @param a - The first box\n * @param b - The second box\n * @returns True if the boxes are equal, false otherwise\n */\nexport function exactEquals(a: Box3, b: Box3): boolean {\n    return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3] && a[4] === b[4] && a[5] === b[5];\n}\n\n/**\n * Returns whether or not the boxes have approximately the same elements in the same position\n * @param a - The first box\n * @param b - The second box\n * @returns True if the boxes are equal, false otherwise\n */\nexport function equals(a: Box3, b: Box3): boolean {\n    const a0 = a[0];\n    const a1 = a[1];\n    const a2 = a[2];\n    const a3 = a[3];\n    const a4 = a[4];\n    const a5 = a[5];\n    const b0 = b[0];\n    const b1 = b[1];\n    const b2 = b[2];\n    const b3 = b[3];\n    const b4 = b[4];\n    const b5 = b[5];\n    return (\n        Math.abs(a0 - b0) <= EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) &&\n        Math.abs(a1 - b1) <= EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) &&\n        Math.abs(a2 - b2) <= EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) &&\n        Math.abs(a3 - b3) <= EPSILON * Math.max(1.0, Math.abs(a3), Math.abs(b3)) &&\n        Math.abs(a4 - b4) <= EPSILON * Math.max(1.0, Math.abs(a4), Math.abs(b4)) &&\n        Math.abs(a5 - b5) <= EPSILON * Math.max(1.0, Math.abs(a5), Math.abs(b5))\n    );\n}\n\n/**\n * Sets the box from a center point and size\n * @param out - The output Box3\n * @param center - The center point\n * @param size - The size of the box\n * @returns The updated Box3\n */\nexport function setFromCenterAndSize(out: Box3, center: Vec3, size: Vec3): Box3 {\n    const hx = size[0] * 0.5;\n    const hy = size[1] * 0.5;\n    const hz = size[2] * 0.5;\n    out[0] = center[0] - hx;\n    out[1] = center[1] - hy;\n    out[2] = center[2] - hz;\n    out[3] = center[0] + hx;\n    out[4] = center[1] + hy;\n    out[5] = center[2] + hz;\n    return out;\n}\n\n/**\n * Expands a Box3 to include a point\n * @param out - The output Box3\n * @param box - The input Box3\n * @param point - The point to include\n * @returns The expanded Box3\n */\nexport function expandByPoint(out: Box3, box: Box3, point: Vec3): Box3 {\n    out[0] = Math.min(box[0], point[0]);\n    out[1] = Math.min(box[1], point[1]);\n    out[2] = Math.min(box[2], point[2]);\n    out[3] = Math.max(box[3], point[0]);\n    out[4] = Math.max(box[4], point[1]);\n    out[5] = Math.max(box[5], point[2]);\n    return out;\n}\n\n/**\n * Widens a Box3 by a vector on both sides\n * Subtracts the vector from min and adds it to max\n * @param out - The output Box3\n * @param box - The input Box3\n * @param vector - The vector to expand by\n * @returns The expanded Box3\n */\nexport function expandByExtents(out: Box3, box: Box3, vector: Vec3): Box3 {\n    out[0] = box[0] - vector[0];\n    out[1] = box[1] - vector[1];\n    out[2] = box[2] - vector[2];\n    out[3] = box[3] + vector[0];\n    out[4] = box[4] + vector[1];\n    out[5] = box[5] + vector[2];\n    return out;\n}\n\n/**\n * Expands a Box3 uniformly by a scalar margin on all sides\n * Subtracts the margin from min and adds it to max on each axis\n * @param out - The output Box3\n * @param box - The input Box3\n * @param margin - The uniform margin to expand by\n * @returns The expanded Box3\n */\nexport function expandByMargin(out: Box3, box: Box3, margin: number): Box3 {\n    out[0] = box[0] - margin;\n    out[1] = box[1] - margin;\n    out[2] = box[2] - margin;\n    out[3] = box[3] + margin;\n    out[4] = box[4] + margin;\n    out[5] = box[5] + margin;\n    return out;\n}\n\n/**\n * Computes the union of two bounding boxes\n * Returns a Box3 that encompasses both input boxes\n * @param out - The output Box3\n * @param boxA - The first Box3\n * @param boxB - The second Box3\n * @returns The union Box3\n */\nexport function union(out: Box3, boxA: Box3, boxB: Box3): Box3 {\n    out[0] = Math.min(boxA[0], boxB[0]);\n    out[1] = Math.min(boxA[1], boxB[1]);\n    out[2] = Math.min(boxA[2], boxB[2]);\n    out[3] = Math.max(boxA[3], boxB[3]);\n    out[4] = Math.max(boxA[4], boxB[4]);\n    out[5] = Math.max(boxA[5], boxB[5]);\n    return out;\n}\n\n/**\n * Calculate the center point of a bounding box\n * @param out - The output Vec3 for the center\n * @param box - The input Box3\n * @returns The center point\n */\nexport function center(out: Vec3, box: Box3): Vec3 {\n    out[0] = (box[0] + box[3]) * 0.5;\n    out[1] = (box[1] + box[4]) * 0.5;\n    out[2] = (box[2] + box[5]) * 0.5;\n    return out;\n}\n\n/**\n * Calculate the extents (half-size) of a bounding box\n * @param out - The output Vec3 for the extents\n * @param box - The input Box3\n * @returns The extents (distance from center to each face)\n */\nexport function extents(out: Vec3, box: Box3): Vec3 {\n    out[0] = (box[3] - box[0]) * 0.5;\n    out[1] = (box[4] - box[1]) * 0.5;\n    out[2] = (box[5] - box[2]) * 0.5;\n    return out;\n}\n\n/**\n * Calculate the size (dimensions) of a bounding box\n * @param out - The output Vec3 for the size\n * @param box - The input Box3\n * @returns The size (width, height, depth)\n */\nexport function size(out: Vec3, box: Box3): Vec3 {\n    out[0] = box[3] - box[0];\n    out[1] = box[4] - box[1];\n    out[2] = box[5] - box[2];\n    return out;\n}\n\n/**\n * Calculate the surface area of a bounding box\n * @param box - The input Box3\n * @returns The surface area\n */\nexport function surfaceArea(box: Box3): number {\n    const width = box[3] - box[0];\n    const height = box[4] - box[1];\n    const depth = box[5] - box[2];\n    return 2 * (width * height + width * depth + height * depth);\n}\n\n/**\n * Scale a bounding box by a vector, handling non-uniform and negative scaling\n * @param out - The output Box3\n * @param box - The input Box3\n * @param scale - The scale to apply (as a Vec3)\n * @returns The scaled Box3\n */\nexport function scale(out: Box3, box: Box3, scale: Vec3): Box3 {\n    const minX = box[0] * scale[0];\n    const maxX = box[3] * scale[0];\n    const minY = box[1] * scale[1];\n    const maxY = box[4] * scale[1];\n    const minZ = box[2] * scale[2];\n    const maxZ = box[5] * scale[2];\n\n    // handle negative scaling by ensuring min <= max for each axis\n    out[0] = Math.min(minX, maxX);\n    out[3] = Math.max(minX, maxX);\n    out[1] = Math.min(minY, maxY);\n    out[4] = Math.max(minY, maxY);\n    out[2] = Math.min(minZ, maxZ);\n    out[5] = Math.max(minZ, maxZ);\n\n    return out;\n}\n\n/**\n * Transform a bounding box by a 4x4 matrix.\n * Uses Arvo's trick — transform the center, build new half-extents from\n * |M| · extents — which is ~4× fewer ops than transforming all 8 corners.\n * Reference: Jim Arvo, \"Transforming Axis-Aligned Bounding Boxes\",\n * Graphics Gems I (1990).\n * https://github.com/erich666/GraphicsGems/blob/master/gems/TransBox.c\n * Assumes mat is affine (no perspective), which is always true for AABB\n * transforms in practice.\n * Safe under aliasing (out and box may be the same array): all six box\n * components are read into locals before out is written.\n * @param out - The output Box3\n * @param box - The input Box3\n * @param mat - The 4x4 transformation matrix\n * @returns The transformed Box3\n */\nexport function transformMat4(out: Box3, box: Box3, mat: Mat4): Box3 {\n    const bMinX = box[0];\n    const bMinY = box[1];\n    const bMinZ = box[2];\n    const bMaxX = box[3];\n    const bMaxY = box[4];\n    const bMaxZ = box[5];\n\n    // empty input → empty output (preserve sentinel rather than producing\n    // a bogus transformed box from negative extents)\n    if (bMinX > bMaxX || bMinY > bMaxY || bMinZ > bMaxZ) {\n        out[0] = Number.POSITIVE_INFINITY;\n        out[1] = Number.POSITIVE_INFINITY;\n        out[2] = Number.POSITIVE_INFINITY;\n        out[3] = Number.NEGATIVE_INFINITY;\n        out[4] = Number.NEGATIVE_INFINITY;\n        out[5] = Number.NEGATIVE_INFINITY;\n        return out;\n    }\n\n    const cx = (bMinX + bMaxX) * 0.5;\n    const cy = (bMinY + bMaxY) * 0.5;\n    const cz = (bMinZ + bMaxZ) * 0.5;\n    const ex = (bMaxX - bMinX) * 0.5;\n    const ey = (bMaxY - bMinY) * 0.5;\n    const ez = (bMaxZ - bMinZ) * 0.5;\n\n    const m0 = mat[0],\n        m1 = mat[1],\n        m2 = mat[2];\n    const m4 = mat[4],\n        m5 = mat[5],\n        m6 = mat[6];\n    const m8 = mat[8],\n        m9 = mat[9],\n        m10 = mat[10];\n\n    const tcx = m0 * cx + m4 * cy + m8 * cz + mat[12];\n    const tcy = m1 * cx + m5 * cy + m9 * cz + mat[13];\n    const tcz = m2 * cx + m6 * cy + m10 * cz + mat[14];\n\n    const tex = Math.abs(m0) * ex + Math.abs(m4) * ey + Math.abs(m8) * ez;\n    const tey = Math.abs(m1) * ex + Math.abs(m5) * ey + Math.abs(m9) * ez;\n    const tez = Math.abs(m2) * ex + Math.abs(m6) * ey + Math.abs(m10) * ez;\n\n    out[0] = tcx - tex;\n    out[1] = tcy - tey;\n    out[2] = tcz - tez;\n    out[3] = tcx + tex;\n    out[4] = tcy + tey;\n    out[5] = tcz + tez;\n\n    return out;\n}\n\n/**\n * Test if a point is contained within the bounding box\n * @param box - The bounding box\n * @param point - The point to test\n * @returns true if the point is inside or on the boundary of the box\n */\nexport function containsPoint(box: Box3, point: Vec3): boolean {\n    return (\n        point[0] >= box[0] &&\n        point[0] <= box[3] &&\n        point[1] >= box[1] &&\n        point[1] <= box[4] &&\n        point[2] >= box[2] &&\n        point[2] <= box[5]\n    );\n}\n\n/**\n * Test if one Box3 completely contains another Box3\n * @param container - The potentially containing Box3\n * @param contained - The Box3 that might be contained\n * @returns true if the container Box3 completely contains the contained Box3\n */\nexport function containsBox3(container: Box3, contained: Box3): boolean {\n    return (\n        contained[0] >= container[0] &&\n        contained[3] <= container[3] &&\n        contained[1] >= container[1] &&\n        contained[4] <= container[4] &&\n        contained[2] >= container[2] &&\n        contained[5] <= container[5]\n    );\n}\n\n/**\n * Check whether two bounding boxes intersect\n */\nexport function intersectsBox3(boxA: Box3, boxB: Box3): boolean {\n    return (\n        boxA[0] <= boxB[3] &&\n        boxA[3] >= boxB[0] &&\n        boxA[1] <= boxB[4] &&\n        boxA[4] >= boxB[1] &&\n        boxA[2] <= boxB[5] &&\n        boxA[5] >= boxB[2]\n    );\n}\n\n/**\n * Test whether an axis-aligned bounding box intersects a triangle, via the\n * separating-axis theorem over 13 axes: the 3 box face normals, the triangle\n * face normal, and the 9 box-axis × triangle-edge cross products.\n *\n * Fully inlined with local scalars — no scratch arrays or per-call allocations.\n * Axes are tested cheapest-first (box faces, i.e. the triangle-vs-box AABB\n * reject) so the common non-overlapping case exits before any edge or cross\n * product is computed. On each edge-cross axis two of the three vertices project\n * to the same value (the axis is perpendicular to that edge), so only two\n * projections are needed. An all-zero cross axis (edge parallel to a box axis)\n * collapses every projection and the radius to 0, passing automatically.\n */\nexport function intersectsTriangle3(box: Box3, a: Vec3, b: Vec3, c: Vec3): boolean {\n    // Empty box quick reject\n    if (box[0] > box[3] || box[1] > box[4] || box[2] > box[5]) return false;\n\n    // Box center and half-extents\n    const cx = (box[0] + box[3]) * 0.5;\n    const cy = (box[1] + box[4]) * 0.5;\n    const cz = (box[2] + box[5]) * 0.5;\n    const ex = box[3] - cx;\n    const ey = box[4] - cy;\n    const ez = box[5] - cz;\n\n    // Triangle vertices relative to the box center\n    const v0x = a[0] - cx;\n    const v0y = a[1] - cy;\n    const v0z = a[2] - cz;\n    const v1x = b[0] - cx;\n    const v1y = b[1] - cy;\n    const v1z = b[2] - cz;\n    const v2x = c[0] - cx;\n    const v2y = c[1] - cy;\n    const v2z = c[2] - cz;\n\n    // 3 box face normals first: this is the triangle-AABB vs box reject and\n    // knocks out most non-overlapping pairs before any further work.\n    if (Math.min(v0x, v1x, v2x) > ex || Math.max(v0x, v1x, v2x) < -ex) return false;\n    if (Math.min(v0y, v1y, v2y) > ey || Math.max(v0y, v1y, v2y) < -ey) return false;\n    if (Math.min(v0z, v1z, v2z) > ez || Math.max(v0z, v1z, v2z) < -ez) return false;\n\n    // Triangle edge vectors\n    const f0x = v1x - v0x;\n    const f0y = v1y - v0y;\n    const f0z = v1z - v0z;\n    const f1x = v2x - v1x;\n    const f1y = v2y - v1y;\n    const f1z = v2z - v1z;\n    const f2x = v0x - v2x;\n    const f2y = v0y - v2y;\n    const f2z = v0z - v2z;\n\n    let pa: number;\n    let pb: number;\n    let r: number;\n\n    // Triangle face normal (all three vertices share one projection)\n    const nx = f0y * f1z - f0z * f1y;\n    const ny = f0z * f1x - f0x * f1z;\n    const nz = f0x * f1y - f0y * f1x;\n    const d = v0x * nx + v0y * ny + v0z * nz;\n    r = ex * Math.abs(nx) + ey * Math.abs(ny) + ez * Math.abs(nz);\n    if (d > r || d < -r) return false;\n\n    // 9 axes: box axis × triangle edge. The axis is perpendicular to its edge,\n    // so the two vertices on that edge project equally — only two projections\n    // (pa, pb) differ.\n    // box X (1,0,0) × edge => (0, -fz, fy)\n    pa = v0z * f0y - v0y * f0z;\n    pb = v2z * f0y - v2y * f0z;\n    r = ey * Math.abs(f0z) + ez * Math.abs(f0y);\n    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r) return false;\n\n    pa = v0z * f1y - v0y * f1z;\n    pb = v1z * f1y - v1y * f1z;\n    r = ey * Math.abs(f1z) + ez * Math.abs(f1y);\n    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r) return false;\n\n    pa = v0z * f2y - v0y * f2z;\n    pb = v1z * f2y - v1y * f2z;\n    r = ey * Math.abs(f2z) + ez * Math.abs(f2y);\n    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r) return false;\n\n    // box Y (0,1,0) × edge => (fz, 0, -fx)\n    pa = v0x * f0z - v0z * f0x;\n    pb = v2x * f0z - v2z * f0x;\n    r = ex * Math.abs(f0z) + ez * Math.abs(f0x);\n    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r) return false;\n\n    pa = v0x * f1z - v0z * f1x;\n    pb = v1x * f1z - v1z * f1x;\n    r = ex * Math.abs(f1z) + ez * Math.abs(f1x);\n    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r) return false;\n\n    pa = v0x * f2z - v0z * f2x;\n    pb = v1x * f2z - v1z * f2x;\n    r = ex * Math.abs(f2z) + ez * Math.abs(f2x);\n    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r) return false;\n\n    // box Z (0,0,1) × edge => (-fy, fx, 0)\n    pa = v0y * f0x - v0x * f0y;\n    pb = v2y * f0x - v2x * f0y;\n    r = ex * Math.abs(f0y) + ey * Math.abs(f0x);\n    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r) return false;\n\n    pa = v0y * f1x - v0x * f1y;\n    pb = v1y * f1x - v1x * f1y;\n    r = ex * Math.abs(f1y) + ey * Math.abs(f1x);\n    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r) return false;\n\n    pa = v0y * f2x - v0x * f2y;\n    pb = v1y * f2x - v1x * f2y;\n    r = ex * Math.abs(f2y) + ey * Math.abs(f2x);\n    if (Math.min(pa, pb) > r || Math.max(pa, pb) < -r) return false;\n\n    return true;\n}\n\n/**\n * Test intersection between axis-aligned bounding box and a sphere.\n */\nexport function intersectsSphere(box: Box3, sphere: Sphere): boolean {\n    const { center, radius } = sphere;\n    const cx = center[0];\n    const cy = center[1];\n    const cz = center[2];\n    // distance from the sphere centre to the box along each axis (0 when inside)\n    const dx = cx < box[0] ? box[0] - cx : cx > box[3] ? cx - box[3] : 0;\n    const dy = cy < box[1] ? box[1] - cy : cy > box[4] ? cy - box[4] : 0;\n    const dz = cz < box[2] ? box[2] - cz : cz > box[5] ? cz - box[5] : 0;\n    return dx * dx + dy * dy + dz * dz <= radius * radius;\n}\n\n/**\n * Test intersection between axis-aligned bounding box and plane.\n */\nexport function intersectsPlane3(box: Box3, plane: Plane3): boolean {\n    const { normal, constant } = plane;\n    const nx = normal[0];\n    const ny = normal[1];\n    const nz = normal[2];\n\n    // Signed distance from the box centre to the plane, and the box's projected\n    // half-extent (radius) onto the normal. Branchless equivalent of picking the\n    // near/far corners per axis: the box straddles the plane iff |s| <= r.\n    // Everything is kept at 2x scale (centre*2, extent*2) so the per-axis 0.5\n    // factors drop out; the |s| <= r test is unaffected.\n    const s = nx * (box[0] + box[3]) + ny * (box[1] + box[4]) + nz * (box[2] + box[5]) + 2 * constant;\n    const r = Math.abs(nx) * (box[3] - box[0]) + Math.abs(ny) * (box[4] - box[1]) + Math.abs(nz) * (box[5] - box[2]);\n    return s <= r && s >= 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package/dist/shapes/circle.js

@@ -0,0 +1,6 @@
+function create() {
+    return { center: [0, 0], radius: 0 };
+}
+
+export { create };
+//# sourceMappingURL=circle.js.map

package/dist/shapes/circle.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"circle.js","sources":["../../src/shapes/circle.ts"],"sourcesContent":["import type { Vec2 } from '../core/vec2';\n\n/** A circle in 2D space */\nexport type Circle = { center: Vec2; radius: number };\n\nexport function create(): Circle {\n    return { center: [0, 0], radius: 0 };\n}\n"],"names":[],"mappings":"SAKgB,MAAM,GAAA;AAClB,IAAA,OAAO,EAAE,MAAM,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE;AACxC;;;;"}