math 0.0.3 → 0.1.0

package/dist/shapes/frustum.js

@@ -0,0 +1,662 @@
+import { copy as copy$1, intersect } from './plane3.js';
+
+/**
+ * Creates a new frustum of zeroed planes.
+ * @returns A new frustum
+ */
+function create() {
+    return [
+        { normal: [0, 1, 0], constant: 0 },
+        { normal: [0, 1, 0], constant: 0 },
+        { normal: [0, 1, 0], constant: 0 },
+        { normal: [0, 1, 0], constant: 0 },
+        { normal: [0, 1, 0], constant: 0 },
+        { normal: [0, 1, 0], constant: 0 },
+    ];
+}
+/**
+ * Clones a frustum.
+ * @param f - The frustum to clone
+ * @returns A new frustum
+ */
+function clone(f) {
+    const p0 = f[0];
+    const p1 = f[1];
+    const p2 = f[2];
+    const p3 = f[3];
+    const p4 = f[4];
+    const p5 = f[5];
+    return [
+        { normal: [p0.normal[0], p0.normal[1], p0.normal[2]], constant: p0.constant },
+        { normal: [p1.normal[0], p1.normal[1], p1.normal[2]], constant: p1.constant },
+        { normal: [p2.normal[0], p2.normal[1], p2.normal[2]], constant: p2.constant },
+        { normal: [p3.normal[0], p3.normal[1], p3.normal[2]], constant: p3.constant },
+        { normal: [p4.normal[0], p4.normal[1], p4.normal[2]], constant: p4.constant },
+        { normal: [p5.normal[0], p5.normal[1], p5.normal[2]], constant: p5.constant },
+    ];
+}
+/**
+ * Copies one frustum to another.
+ * @param out - The output frustum
+ * @param f - The source frustum
+ * @returns The output frustum
+ */
+function copy(out, f) {
+    copy$1(out[0], f[0]);
+    copy$1(out[1], f[1]);
+    copy$1(out[2], f[2]);
+    copy$1(out[3], f[3]);
+    copy$1(out[4], f[4]);
+    copy$1(out[5], f[5]);
+    return out;
+}
+/**
+ * Extracts the six planes of a view frustum from a projection and view matrix, using the
+ * OpenGL / WebGL clip-space depth convention (NDC z in [-1, 1]).
+ *
+ * Pair this with `mat4.perspectiveNO`, `mat4.frustumNO` or `mat4.orthoNO`.
+ *
+ * @param out - The output frustum
+ * @param proj - The projection matrix
+ * @param view - The view matrix
+ * @returns The output frustum
+ */
+function setFromViewProjectionMatrixNO(out, proj, view) {
+    const p0 = proj[0];
+    const p1 = proj[1];
+    const p2 = proj[2];
+    const p3 = proj[3];
+    const p4 = proj[4];
+    const p5 = proj[5];
+    const p6 = proj[6];
+    const p7 = proj[7];
+    const p8 = proj[8];
+    const p9 = proj[9];
+    const p10 = proj[10];
+    const p11 = proj[11];
+    const p12 = proj[12];
+    const p13 = proj[13];
+    const p14 = proj[14];
+    const p15 = proj[15];
+    const v0 = view[0];
+    const v1 = view[1];
+    const v2 = view[2];
+    const v3 = view[3];
+    const v4 = view[4];
+    const v5 = view[5];
+    const v6 = view[6];
+    const v7 = view[7];
+    const v8 = view[8];
+    const v9 = view[9];
+    const v10 = view[10];
+    const v11 = view[11];
+    const v12 = view[12];
+    const v13 = view[13];
+    const v14 = view[14];
+    const v15 = view[15];
+    // rows of (proj * view), computed directly
+    const r00 = p0 * v0 + p4 * v1 + p8 * v2 + p12 * v3;
+    const r01 = p0 * v4 + p4 * v5 + p8 * v6 + p12 * v7;
+    const r02 = p0 * v8 + p4 * v9 + p8 * v10 + p12 * v11;
+    const r03 = p0 * v12 + p4 * v13 + p8 * v14 + p12 * v15;
+    const r10 = p1 * v0 + p5 * v1 + p9 * v2 + p13 * v3;
+    const r11 = p1 * v4 + p5 * v5 + p9 * v6 + p13 * v7;
+    const r12 = p1 * v8 + p5 * v9 + p9 * v10 + p13 * v11;
+    const r13 = p1 * v12 + p5 * v13 + p9 * v14 + p13 * v15;
+    const r20 = p2 * v0 + p6 * v1 + p10 * v2 + p14 * v3;
+    const r21 = p2 * v4 + p6 * v5 + p10 * v6 + p14 * v7;
+    const r22 = p2 * v8 + p6 * v9 + p10 * v10 + p14 * v11;
+    const r23 = p2 * v12 + p6 * v13 + p10 * v14 + p14 * v15;
+    const r30 = p3 * v0 + p7 * v1 + p11 * v2 + p15 * v3;
+    const r31 = p3 * v4 + p7 * v5 + p11 * v6 + p15 * v7;
+    const r32 = p3 * v8 + p7 * v9 + p11 * v10 + p15 * v11;
+    const r33 = p3 * v12 + p7 * v13 + p11 * v14 + p15 * v15;
+    // left = row3 + row0
+    let nx = r30 + r00;
+    let ny = r31 + r01;
+    let nz = r32 + r02;
+    let c = r33 + r03;
+    let inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[0].normal[0] = nx * inv;
+    out[0].normal[1] = ny * inv;
+    out[0].normal[2] = nz * inv;
+    out[0].constant = c * inv;
+    // right = row3 - row0
+    nx = r30 - r00;
+    ny = r31 - r01;
+    nz = r32 - r02;
+    c = r33 - r03;
+    inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[1].normal[0] = nx * inv;
+    out[1].normal[1] = ny * inv;
+    out[1].normal[2] = nz * inv;
+    out[1].constant = c * inv;
+    // bottom = row3 + row1
+    nx = r30 + r10;
+    ny = r31 + r11;
+    nz = r32 + r12;
+    c = r33 + r13;
+    inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[2].normal[0] = nx * inv;
+    out[2].normal[1] = ny * inv;
+    out[2].normal[2] = nz * inv;
+    out[2].constant = c * inv;
+    // top = row3 - row1
+    nx = r30 - r10;
+    ny = r31 - r11;
+    nz = r32 - r12;
+    c = r33 - r13;
+    inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[3].normal[0] = nx * inv;
+    out[3].normal[1] = ny * inv;
+    out[3].normal[2] = nz * inv;
+    out[3].constant = c * inv;
+    // near (NO) = row3 + row2
+    nx = r30 + r20;
+    ny = r31 + r21;
+    nz = r32 + r22;
+    c = r33 + r23;
+    inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[4].normal[0] = nx * inv;
+    out[4].normal[1] = ny * inv;
+    out[4].normal[2] = nz * inv;
+    out[4].constant = c * inv;
+    // far = row3 - row2
+    nx = r30 - r20;
+    ny = r31 - r21;
+    nz = r32 - r22;
+    c = r33 - r23;
+    inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[5].normal[0] = nx * inv;
+    out[5].normal[1] = ny * inv;
+    out[5].normal[2] = nz * inv;
+    out[5].constant = c * inv;
+    return out;
+}
+/**
+ * Extracts the six planes of a view frustum from a projection and view matrix, using the
+ * WebGPU / Vulkan / D3D / Metal clip-space depth convention (NDC z in [0, 1]).
+ *
+ * Pair this with `mat4.perspectiveZO`, `mat4.frustumZO` or `mat4.orthoZO`.
+ *
+ * @param out - The output frustum
+ * @param proj - The projection matrix
+ * @param view - The view matrix
+ * @returns The output frustum
+ */
+function setFromViewProjectionMatrixZO(out, proj, view) {
+    const p0 = proj[0];
+    const p1 = proj[1];
+    const p2 = proj[2];
+    const p3 = proj[3];
+    const p4 = proj[4];
+    const p5 = proj[5];
+    const p6 = proj[6];
+    const p7 = proj[7];
+    const p8 = proj[8];
+    const p9 = proj[9];
+    const p10 = proj[10];
+    const p11 = proj[11];
+    const p12 = proj[12];
+    const p13 = proj[13];
+    const p14 = proj[14];
+    const p15 = proj[15];
+    const v0 = view[0];
+    const v1 = view[1];
+    const v2 = view[2];
+    const v3 = view[3];
+    const v4 = view[4];
+    const v5 = view[5];
+    const v6 = view[6];
+    const v7 = view[7];
+    const v8 = view[8];
+    const v9 = view[9];
+    const v10 = view[10];
+    const v11 = view[11];
+    const v12 = view[12];
+    const v13 = view[13];
+    const v14 = view[14];
+    const v15 = view[15];
+    // rows of (proj * view), computed directly
+    const r00 = p0 * v0 + p4 * v1 + p8 * v2 + p12 * v3;
+    const r01 = p0 * v4 + p4 * v5 + p8 * v6 + p12 * v7;
+    const r02 = p0 * v8 + p4 * v9 + p8 * v10 + p12 * v11;
+    const r03 = p0 * v12 + p4 * v13 + p8 * v14 + p12 * v15;
+    const r10 = p1 * v0 + p5 * v1 + p9 * v2 + p13 * v3;
+    const r11 = p1 * v4 + p5 * v5 + p9 * v6 + p13 * v7;
+    const r12 = p1 * v8 + p5 * v9 + p9 * v10 + p13 * v11;
+    const r13 = p1 * v12 + p5 * v13 + p9 * v14 + p13 * v15;
+    const r20 = p2 * v0 + p6 * v1 + p10 * v2 + p14 * v3;
+    const r21 = p2 * v4 + p6 * v5 + p10 * v6 + p14 * v7;
+    const r22 = p2 * v8 + p6 * v9 + p10 * v10 + p14 * v11;
+    const r23 = p2 * v12 + p6 * v13 + p10 * v14 + p14 * v15;
+    const r30 = p3 * v0 + p7 * v1 + p11 * v2 + p15 * v3;
+    const r31 = p3 * v4 + p7 * v5 + p11 * v6 + p15 * v7;
+    const r32 = p3 * v8 + p7 * v9 + p11 * v10 + p15 * v11;
+    const r33 = p3 * v12 + p7 * v13 + p11 * v14 + p15 * v15;
+    // left = row3 + row0
+    let nx = r30 + r00;
+    let ny = r31 + r01;
+    let nz = r32 + r02;
+    let c = r33 + r03;
+    let inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[0].normal[0] = nx * inv;
+    out[0].normal[1] = ny * inv;
+    out[0].normal[2] = nz * inv;
+    out[0].constant = c * inv;
+    // right = row3 - row0
+    nx = r30 - r00;
+    ny = r31 - r01;
+    nz = r32 - r02;
+    c = r33 - r03;
+    inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[1].normal[0] = nx * inv;
+    out[1].normal[1] = ny * inv;
+    out[1].normal[2] = nz * inv;
+    out[1].constant = c * inv;
+    // bottom = row3 + row1
+    nx = r30 + r10;
+    ny = r31 + r11;
+    nz = r32 + r12;
+    c = r33 + r13;
+    inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[2].normal[0] = nx * inv;
+    out[2].normal[1] = ny * inv;
+    out[2].normal[2] = nz * inv;
+    out[2].constant = c * inv;
+    // top = row3 - row1
+    nx = r30 - r10;
+    ny = r31 - r11;
+    nz = r32 - r12;
+    c = r33 - r13;
+    inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[3].normal[0] = nx * inv;
+    out[3].normal[1] = ny * inv;
+    out[3].normal[2] = nz * inv;
+    out[3].constant = c * inv;
+    // near (ZO) = row2
+    nx = r20;
+    ny = r21;
+    nz = r22;
+    c = r23;
+    inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[4].normal[0] = nx * inv;
+    out[4].normal[1] = ny * inv;
+    out[4].normal[2] = nz * inv;
+    out[4].constant = c * inv;
+    // far = row3 - row2
+    nx = r30 - r20;
+    ny = r31 - r21;
+    nz = r32 - r22;
+    c = r33 - r23;
+    inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[5].normal[0] = nx * inv;
+    out[5].normal[1] = ny * inv;
+    out[5].normal[2] = nz * inv;
+    out[5].constant = c * inv;
+    return out;
+}
+/**
+ * Extracts only the four lateral planes (left, right, bottom, top) of a view frustum from a
+ * projection and view matrix, skipping near and far. This is convention-independent — the
+ * NO/ZO split only affects the near plane — so it pairs with any projection matrix.
+ *
+ * Intended for streaming pipelines that already cull distant content and only need to reject
+ * objects outside the camera's sides. Test against the result with `frustum.sidesIntersectsSphere`,
+ * `frustum.sidesIntersectsBox3`, `frustum.sidesContainsPoint` or `frustum.sidesIntersectsRay`.
+ *
+ * @param out - The output frustum; only slots 0-3 are written
+ * @param proj - The projection matrix
+ * @param view - The view matrix
+ * @returns The output frustum
+ */
+function setFromViewProjectionMatrixSides(out, proj, view) {
+    // row2 (near/far) coefficients are not needed, so skip p2, p6, p10, p14
+    const p0 = proj[0];
+    const p1 = proj[1];
+    const p3 = proj[3];
+    const p4 = proj[4];
+    const p5 = proj[5];
+    const p7 = proj[7];
+    const p8 = proj[8];
+    const p9 = proj[9];
+    const p11 = proj[11];
+    const p12 = proj[12];
+    const p13 = proj[13];
+    const p15 = proj[15];
+    const v0 = view[0];
+    const v1 = view[1];
+    const v2 = view[2];
+    const v3 = view[3];
+    const v4 = view[4];
+    const v5 = view[5];
+    const v6 = view[6];
+    const v7 = view[7];
+    const v8 = view[8];
+    const v9 = view[9];
+    const v10 = view[10];
+    const v11 = view[11];
+    const v12 = view[12];
+    const v13 = view[13];
+    const v14 = view[14];
+    const v15 = view[15];
+    // rows of (proj * view), computed directly
+    const r00 = p0 * v0 + p4 * v1 + p8 * v2 + p12 * v3;
+    const r01 = p0 * v4 + p4 * v5 + p8 * v6 + p12 * v7;
+    const r02 = p0 * v8 + p4 * v9 + p8 * v10 + p12 * v11;
+    const r03 = p0 * v12 + p4 * v13 + p8 * v14 + p12 * v15;
+    const r10 = p1 * v0 + p5 * v1 + p9 * v2 + p13 * v3;
+    const r11 = p1 * v4 + p5 * v5 + p9 * v6 + p13 * v7;
+    const r12 = p1 * v8 + p5 * v9 + p9 * v10 + p13 * v11;
+    const r13 = p1 * v12 + p5 * v13 + p9 * v14 + p13 * v15;
+    const r30 = p3 * v0 + p7 * v1 + p11 * v2 + p15 * v3;
+    const r31 = p3 * v4 + p7 * v5 + p11 * v6 + p15 * v7;
+    const r32 = p3 * v8 + p7 * v9 + p11 * v10 + p15 * v11;
+    const r33 = p3 * v12 + p7 * v13 + p11 * v14 + p15 * v15;
+    // left = row3 + row0
+    let nx = r30 + r00;
+    let ny = r31 + r01;
+    let nz = r32 + r02;
+    let c = r33 + r03;
+    let inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[0].normal[0] = nx * inv;
+    out[0].normal[1] = ny * inv;
+    out[0].normal[2] = nz * inv;
+    out[0].constant = c * inv;
+    // right = row3 - row0
+    nx = r30 - r00;
+    ny = r31 - r01;
+    nz = r32 - r02;
+    c = r33 - r03;
+    inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[1].normal[0] = nx * inv;
+    out[1].normal[1] = ny * inv;
+    out[1].normal[2] = nz * inv;
+    out[1].constant = c * inv;
+    // bottom = row3 + row1
+    nx = r30 + r10;
+    ny = r31 + r11;
+    nz = r32 + r12;
+    c = r33 + r13;
+    inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[2].normal[0] = nx * inv;
+    out[2].normal[1] = ny * inv;
+    out[2].normal[2] = nz * inv;
+    out[2].constant = c * inv;
+    // top = row3 - row1
+    nx = r30 - r10;
+    ny = r31 - r11;
+    nz = r32 - r12;
+    c = r33 - r13;
+    inv = nx * nx + ny * ny + nz * nz;
+    if (inv > 0)
+        inv = 1 / Math.sqrt(inv);
+    out[3].normal[0] = nx * inv;
+    out[3].normal[1] = ny * inv;
+    out[3].normal[2] = nz * inv;
+    out[3].constant = c * inv;
+    return out;
+}
+/**
+ * Tests if a sphere intersects the frustum.
+ * @param f - The frustum
+ * @param s - The sphere
+ * @returns True if the sphere intersects or is inside the frustum
+ */
+function intersectsSphere(f, s) {
+    const cx = s.center[0];
+    const cy = s.center[1];
+    const cz = s.center[2];
+    const r = s.radius;
+    for (let i = 0; i < 6; i++) {
+        const p = f[i];
+        if (p.normal[0] * cx + p.normal[1] * cy + p.normal[2] * cz + p.constant < -r)
+            return false;
+    }
+    return true;
+}
+/**
+ * Tests if a sphere intersects the lateral planes of a sides-only frustum, skipping near and far.
+ * @param f - The sides-only frustum
+ * @param s - The sphere
+ * @returns True if the sphere intersects or is inside the frustum's sides
+ */
+function sidesIntersectsSphere(f, s) {
+    const cx = s.center[0];
+    const cy = s.center[1];
+    const cz = s.center[2];
+    const r = s.radius;
+    for (let i = 0; i < 4; i++) {
+        const p = f[i];
+        if (p.normal[0] * cx + p.normal[1] * cy + p.normal[2] * cz + p.constant < -r)
+            return false;
+    }
+    return true;
+}
+/**
+ * Tests if an axis-aligned box intersects the frustum, using the p-vertex test.
+ * @param f - The frustum
+ * @param box - The box
+ * @returns True if the box intersects or is inside the frustum
+ */
+function intersectsBox3(f, box) {
+    const minX = box[0];
+    const minY = box[1];
+    const minZ = box[2];
+    const maxX = box[3];
+    const maxY = box[4];
+    const maxZ = box[5];
+    for (let i = 0; i < 6; i++) {
+        const nx = f[i].normal[0];
+        const ny = f[i].normal[1];
+        const nz = f[i].normal[2];
+        const px = nx >= 0 ? maxX : minX;
+        const py = ny >= 0 ? maxY : minY;
+        const pz = nz >= 0 ? maxZ : minZ;
+        if (nx * px + ny * py + nz * pz + f[i].constant < 0)
+            return false;
+    }
+    return true;
+}
+/**
+ * Tests if an axis-aligned box intersects the lateral planes of a sides-only frustum, using the
+ * p-vertex test, skipping near and far.
+ * @param f - The sides-only frustum
+ * @param box - The box
+ * @returns True if the box intersects or is inside the frustum's sides
+ */
+function sidesIntersectsBox3(f, box) {
+    const minX = box[0];
+    const minY = box[1];
+    const minZ = box[2];
+    const maxX = box[3];
+    const maxY = box[4];
+    const maxZ = box[5];
+    for (let i = 0; i < 4; i++) {
+        const nx = f[i].normal[0];
+        const ny = f[i].normal[1];
+        const nz = f[i].normal[2];
+        const px = nx >= 0 ? maxX : minX;
+        const py = ny >= 0 ? maxY : minY;
+        const pz = nz >= 0 ? maxZ : minZ;
+        if (nx * px + ny * py + nz * pz + f[i].constant < 0)
+            return false;
+    }
+    return true;
+}
+/**
+ * Tests if a point is inside the frustum.
+ * @param f - The frustum
+ * @param p - The point
+ * @returns True if the point is inside or on the boundary of the frustum
+ */
+function containsPoint(f, p) {
+    const x = p[0];
+    const y = p[1];
+    const z = p[2];
+    for (let i = 0; i < 6; i++) {
+        const n = f[i].normal;
+        if (n[0] * x + n[1] * y + n[2] * z + f[i].constant < 0)
+            return false;
+    }
+    return true;
+}
+/**
+ * Tests if a point is inside the lateral planes of a sides-only frustum, skipping near and far.
+ * @param f - The sides-only frustum
+ * @param p - The point
+ * @returns True if the point is inside or on the boundary of the frustum's sides
+ */
+function sidesContainsPoint(f, p) {
+    const x = p[0];
+    const y = p[1];
+    const z = p[2];
+    for (let i = 0; i < 4; i++) {
+        const n = f[i].normal;
+        if (n[0] * x + n[1] * y + n[2] * z + f[i].constant < 0)
+            return false;
+    }
+    return true;
+}
+/**
+ * Tests if a ray intersects the frustum, using a slab test over the planes.
+ * A ray that starts inside the frustum always intersects.
+ * @param f - The frustum
+ * @param origin - Ray origin
+ * @param direction - Ray direction (need not be normalized)
+ * @returns True if the ray intersects the frustum
+ */
+function intersectsRay(f, origin, direction) {
+    const ox = origin[0];
+    const oy = origin[1];
+    const oz = origin[2];
+    const dx = direction[0];
+    const dy = direction[1];
+    const dz = direction[2];
+    let tmin = 0;
+    let tmax = Number.POSITIVE_INFINITY;
+    for (let i = 0; i < 6; i++) {
+        const nx = f[i].normal[0];
+        const ny = f[i].normal[1];
+        const nz = f[i].normal[2];
+        const s0 = nx * ox + ny * oy + nz * oz + f[i].constant;
+        const r = nx * dx + ny * dy + nz * dz;
+        if (Math.abs(r) < 1e-10) {
+            if (s0 < 0)
+                return false;
+        }
+        else {
+            const t = -s0 / r;
+            if (r > 0) {
+                if (t > tmin)
+                    tmin = t;
+            }
+            else {
+                if (t < tmax)
+                    tmax = t;
+            }
+        }
+        if (tmin > tmax)
+            return false;
+    }
+    return true;
+}
+/**
+ * Tests if a ray intersects the lateral planes of a sides-only frustum, using a slab test over the
+ * planes, skipping near and far. A ray that starts inside the sides always intersects.
+ * @param f - The sides-only frustum
+ * @param origin - Ray origin
+ * @param direction - Ray direction (need not be normalized)
+ * @returns True if the ray intersects the frustum's sides
+ */
+function sidesIntersectsRay(f, origin, direction) {
+    const ox = origin[0];
+    const oy = origin[1];
+    const oz = origin[2];
+    const dx = direction[0];
+    const dy = direction[1];
+    const dz = direction[2];
+    let tmin = 0;
+    let tmax = Number.POSITIVE_INFINITY;
+    for (let i = 0; i < 4; i++) {
+        const nx = f[i].normal[0];
+        const ny = f[i].normal[1];
+        const nz = f[i].normal[2];
+        const s0 = nx * ox + ny * oy + nz * oz + f[i].constant;
+        const r = nx * dx + ny * dy + nz * dz;
+        if (Math.abs(r) < 1e-10) {
+            if (s0 < 0)
+                return false;
+        }
+        else {
+            const t = -s0 / r;
+            if (r > 0) {
+                if (t > tmin)
+                    tmin = t;
+            }
+            else {
+                if (t < tmax)
+                    tmax = t;
+            }
+        }
+        if (tmin > tmax)
+            return false;
+    }
+    return true;
+}
+/**
+ * Computes the eight corners of the frustum by intersecting three planes each.
+ * The frustum must be a full six-plane frustum (near and far present).
+ *
+ * Output order: near bottom-left, near top-left, near top-right, near bottom-right,
+ * far bottom-left, far top-left, far top-right, far bottom-right.
+ *
+ * @param out - The output corners (8 vec3s)
+ * @param f - The frustum
+ * @returns The output corners
+ */
+function corners(out, f) {
+    // near = f[4], far = f[5], left = f[0], right = f[1], bottom = f[2], top = f[3]
+    intersect(out[0], f[4], f[0], f[2]);
+    intersect(out[1], f[4], f[0], f[3]);
+    intersect(out[2], f[4], f[1], f[3]);
+    intersect(out[3], f[4], f[1], f[2]);
+    intersect(out[4], f[5], f[0], f[2]);
+    intersect(out[5], f[5], f[0], f[3]);
+    intersect(out[6], f[5], f[1], f[3]);
+    intersect(out[7], f[5], f[1], f[2]);
+    return out;
+}
+
+export { clone, containsPoint, copy, corners, create, intersectsBox3, intersectsRay, intersectsSphere, setFromViewProjectionMatrixNO, setFromViewProjectionMatrixSides, setFromViewProjectionMatrixZO, sidesContainsPoint, sidesIntersectsBox3, sidesIntersectsRay, sidesIntersectsSphere };
+//# sourceMappingURL=frustum.js.map