three-stdlib 2.16.0 → 2.16.2

package/math/OBB.cjs.js

@@ -0,0 +1 @@
+"use strict";Object.defineProperty(exports,"__esModule",{value:!0});var t=require("three"),e={c:null,u:[new t.Vector3,new t.Vector3,new t.Vector3],e:[]},i={c:null,u:[new t.Vector3,new t.Vector3,new t.Vector3],e:[]},n=[[],[],[]],r=[[],[],[]],a=[],s=new t.Vector3,o=new t.Vector3,h=new t.Vector3,c=new t.Vector3,l=new t.Vector3,u=new t.Vector3,f=new t.Matrix3,S=new t.Box3,z=new t.Matrix4,m=new t.Matrix4,p=new t.Ray;function y(e=new t.Vector3,i=new t.Vector3,n=new t.Matrix3){this.center=e,this.halfSize=i,this.rotation=n}Object.assign(y.prototype,{set:function(t,e,i){return this.center=t,this.halfSize=e,this.rotation=i,this},copy:function(t){return this.center.copy(t.center),this.halfSize.copy(t.halfSize),this.rotation.copy(t.rotation),this},clone:function(){return(new this.constructor).copy(this)},getSize:function(t){return t.copy(this.halfSize).multiplyScalar(2)},clampPoint:function(e,i){var n=this.halfSize;c.subVectors(e,this.center),this.rotation.extractBasis(s,o,h),i.copy(this.center);var r=t.MathUtils.clamp(c.dot(s),-n.x,n.x);i.add(s.multiplyScalar(r));var a=t.MathUtils.clamp(c.dot(o),-n.y,n.y);i.add(o.multiplyScalar(a));var l=t.MathUtils.clamp(c.dot(h),-n.z,n.z);return i.add(h.multiplyScalar(l)),i},containsPoint:function(t){return c.subVectors(t,this.center),this.rotation.extractBasis(s,o,h),Math.abs(c.dot(s))<=this.halfSize.x&&Math.abs(c.dot(o))<=this.halfSize.y&&Math.abs(c.dot(h))<=this.halfSize.z},intersectsBox3:function(t){return this.intersectsOBB(M.fromBox3(t))},intersectsSphere:function(t){return this.clampPoint(t.center,u),u.distanceToSquared(t.center)<=t.radius*t.radius},intersectsOBB:function(t,s=Number.EPSILON){e.c=this.center,e.e[0]=this.halfSize.x,e.e[1]=this.halfSize.y,e.e[2]=this.halfSize.z,this.rotation.extractBasis(e.u[0],e.u[1],e.u[2]),i.c=t.center,i.e[0]=t.halfSize.x,i.e[1]=t.halfSize.y,i.e[2]=t.halfSize.z,t.rotation.extractBasis(i.u[0],i.u[1],i.u[2]);for(let t=0;t<3;t++)for(let r=0;r<3;r++)n[t][r]=e.u[t].dot(i.u[r]);c.subVectors(i.c,e.c),a[0]=c.dot(e.u[0]),a[1]=c.dot(e.u[1]),a[2]=c.dot(e.u[2]);for(let t=0;t<3;t++)for(let e=0;e<3;e++)r[t][e]=Math.abs(n[t][e])+s;var o,h;for(let t=0;t<3;t++)if(o=e.e[t],h=i.e[0]*r[t][0]+i.e[1]*r[t][1]+i.e[2]*r[t][2],Math.abs(a[t])>o+h)return!1;for(let t=0;t<3;t++)if(o=e.e[0]*r[0][t]+e.e[1]*r[1][t]+e.e[2]*r[2][t],h=i.e[t],Math.abs(a[0]*n[0][t]+a[1]*n[1][t]+a[2]*n[2][t])>o+h)return!1;return o=e.e[1]*r[2][0]+e.e[2]*r[1][0],h=i.e[1]*r[0][2]+i.e[2]*r[0][1],!(Math.abs(a[2]*n[1][0]-a[1]*n[2][0])>o+h)&&(o=e.e[1]*r[2][1]+e.e[2]*r[1][1],h=i.e[0]*r[0][2]+i.e[2]*r[0][0],!(Math.abs(a[2]*n[1][1]-a[1]*n[2][1])>o+h)&&(o=e.e[1]*r[2][2]+e.e[2]*r[1][2],h=i.e[0]*r[0][1]+i.e[1]*r[0][0],!(Math.abs(a[2]*n[1][2]-a[1]*n[2][2])>o+h)&&(o=e.e[0]*r[2][0]+e.e[2]*r[0][0],h=i.e[1]*r[1][2]+i.e[2]*r[1][1],!(Math.abs(a[0]*n[2][0]-a[2]*n[0][0])>o+h)&&(o=e.e[0]*r[2][1]+e.e[2]*r[0][1],h=i.e[0]*r[1][2]+i.e[2]*r[1][0],!(Math.abs(a[0]*n[2][1]-a[2]*n[0][1])>o+h)&&(o=e.e[0]*r[2][2]+e.e[2]*r[0][2],h=i.e[0]*r[1][1]+i.e[1]*r[1][0],!(Math.abs(a[0]*n[2][2]-a[2]*n[0][2])>o+h)&&(o=e.e[0]*r[1][0]+e.e[1]*r[0][0],h=i.e[1]*r[2][2]+i.e[2]*r[2][1],!(Math.abs(a[1]*n[0][0]-a[0]*n[1][0])>o+h)&&(o=e.e[0]*r[1][1]+e.e[1]*r[0][1],h=i.e[0]*r[2][2]+i.e[2]*r[2][0],!(Math.abs(a[1]*n[0][1]-a[0]*n[1][1])>o+h)&&(o=e.e[0]*r[1][2]+e.e[1]*r[0][2],h=i.e[0]*r[2][1]+i.e[1]*r[2][0],!(Math.abs(a[1]*n[0][2]-a[0]*n[1][2])>o+h)))))))))},intersectsPlane:function(t){this.rotation.extractBasis(s,o,h);const e=this.halfSize.x*Math.abs(t.normal.dot(s))+this.halfSize.y*Math.abs(t.normal.dot(o))+this.halfSize.z*Math.abs(t.normal.dot(h)),i=t.normal.dot(this.center)-t.constant;return Math.abs(i)<=e},intersectRay:function(t,e){var i,n,r,a;return this.getSize(l),S.setFromCenterAndSize(c.set(0,0,0),l),i=z,n=this.rotation,r=i.elements,a=n.elements,r[0]=a[0],r[1]=a[1],r[2]=a[2],r[3]=0,r[4]=a[3],r[5]=a[4],r[6]=a[5],r[7]=0,r[8]=a[6],r[9]=a[7],r[10]=a[8],r[11]=0,r[12]=0,r[13]=0,r[14]=0,r[15]=1,z.setPosition(this.center),m.copy(z).invert(),p.copy(t).applyMatrix4(m),p.intersectBox(S,e)?e.applyMatrix4(z):null},intersectsRay:function(t){return null!==this.intersectRay(t,c)},fromBox3:function(t){return t.getCenter(this.center),t.getSize(this.halfSize).multiplyScalar(.5),this.rotation.identity(),this},equals:function(t){return t.center.equals(this.center)&&t.halfSize.equals(this.halfSize)&&t.rotation.equals(this.rotation)},applyMatrix4:function(t){var e=t.elements,i=c.set(e[0],e[1],e[2]).length(),n=c.set(e[4],e[5],e[6]).length(),r=c.set(e[8],e[9],e[10]).length();t.determinant()<0&&(i=-i),f.setFromMatrix4(t);var a=1/i,s=1/n,o=1/r;return f.elements[0]*=a,f.elements[1]*=a,f.elements[2]*=a,f.elements[3]*=s,f.elements[4]*=s,f.elements[5]*=s,f.elements[6]*=o,f.elements[7]*=o,f.elements[8]*=o,this.rotation.multiply(f),this.halfSize.x*=i,this.halfSize.y*=n,this.halfSize.z*=r,c.setFromMatrixPosition(t),this.center.add(c),this}});var M=new y;exports.OBB=y;

package/math/OBB.js

@@ -1,195 +1,253 @@
-"use strict";
-Object.defineProperties(exports, { __esModule: { value: true }, [Symbol.toStringTag]: { value: "Module" } });
-const THREE = require("three");
+import { Vector3, Matrix3, Box3, Matrix4, Ray, MathUtils } from 'three';
+
 var a = {
   c: null,
-  u: [new THREE.Vector3(), new THREE.Vector3(), new THREE.Vector3()],
-  e: []
+  // center
+  u: [new Vector3(), new Vector3(), new Vector3()],
+  // basis vectors
+  e: [] // half width
+
 };
 var b = {
   c: null,
-  u: [new THREE.Vector3(), new THREE.Vector3(), new THREE.Vector3()],
-  e: []
+  // center
+  u: [new Vector3(), new Vector3(), new Vector3()],
+  // basis vectors
+  e: [] // half width
+
 };
 var R = [[], [], []];
 var AbsR = [[], [], []];
 var t = [];
-var xAxis = new THREE.Vector3();
-var yAxis = new THREE.Vector3();
-var zAxis = new THREE.Vector3();
-var v1 = new THREE.Vector3();
-var size = new THREE.Vector3();
-var closestPoint = new THREE.Vector3();
-var rotationMatrix = new THREE.Matrix3();
-var aabb = new THREE.Box3();
-var matrix = new THREE.Matrix4();
-var inverse = new THREE.Matrix4();
-var localRay = new THREE.Ray();
-function OBB(center = new THREE.Vector3(), halfSize = new THREE.Vector3(), rotation = new THREE.Matrix3()) {
+var xAxis = new Vector3();
+var yAxis = new Vector3();
+var zAxis = new Vector3();
+var v1 = new Vector3();
+var size = new Vector3();
+var closestPoint = new Vector3();
+var rotationMatrix = new Matrix3();
+var aabb = new Box3();
+var matrix = new Matrix4();
+var inverse = new Matrix4();
+var localRay = new Ray(); // OBB
+
+function OBB(center = new Vector3(), halfSize = new Vector3(), rotation = new Matrix3()) {
   this.center = center;
   this.halfSize = halfSize;
   this.rotation = rotation;
 }
+
 Object.assign(OBB.prototype, {
-  set: function(center, halfSize, rotation) {
+  set: function (center, halfSize, rotation) {
     this.center = center;
     this.halfSize = halfSize;
     this.rotation = rotation;
     return this;
   },
-  copy: function(obb2) {
-    this.center.copy(obb2.center);
-    this.halfSize.copy(obb2.halfSize);
-    this.rotation.copy(obb2.rotation);
+  copy: function (obb) {
+    this.center.copy(obb.center);
+    this.halfSize.copy(obb.halfSize);
+    this.rotation.copy(obb.rotation);
     return this;
   },
-  clone: function() {
+  clone: function () {
     return new this.constructor().copy(this);
   },
-  getSize: function(result) {
+  getSize: function (result) {
     return result.copy(this.halfSize).multiplyScalar(2);
   },
-  clampPoint: function(point, result) {
+
+  /**
+   * Reference: Closest Point on OBB to Point in Real-Time Collision Detection
+   * by Christer Ericson (chapter 5.1.4)
+   */
+  clampPoint: function (point, result) {
     var halfSize = this.halfSize;
     v1.subVectors(point, this.center);
-    this.rotation.extractBasis(xAxis, yAxis, zAxis);
-    result.copy(this.center);
-    var x = THREE.MathUtils.clamp(v1.dot(xAxis), -halfSize.x, halfSize.x);
+    this.rotation.extractBasis(xAxis, yAxis, zAxis); // start at the center position of the OBB
+
+    result.copy(this.center); // project the target onto the OBB axes and walk towards that point
+
+    var x = MathUtils.clamp(v1.dot(xAxis), -halfSize.x, halfSize.x);
     result.add(xAxis.multiplyScalar(x));
-    var y = THREE.MathUtils.clamp(v1.dot(yAxis), -halfSize.y, halfSize.y);
+    var y = MathUtils.clamp(v1.dot(yAxis), -halfSize.y, halfSize.y);
     result.add(yAxis.multiplyScalar(y));
-    var z = THREE.MathUtils.clamp(v1.dot(zAxis), -halfSize.z, halfSize.z);
+    var z = MathUtils.clamp(v1.dot(zAxis), -halfSize.z, halfSize.z);
     result.add(zAxis.multiplyScalar(z));
     return result;
   },
-  containsPoint: function(point) {
+  containsPoint: function (point) {
     v1.subVectors(point, this.center);
-    this.rotation.extractBasis(xAxis, yAxis, zAxis);
+    this.rotation.extractBasis(xAxis, yAxis, zAxis); // project v1 onto each axis and check if these points lie inside the OBB
+
     return Math.abs(v1.dot(xAxis)) <= this.halfSize.x && Math.abs(v1.dot(yAxis)) <= this.halfSize.y && Math.abs(v1.dot(zAxis)) <= this.halfSize.z;
   },
-  intersectsBox3: function(box3) {
+  intersectsBox3: function (box3) {
     return this.intersectsOBB(obb.fromBox3(box3));
   },
-  intersectsSphere: function(sphere) {
-    this.clampPoint(sphere.center, closestPoint);
+  intersectsSphere: function (sphere) {
+    // find the point on the OBB closest to the sphere center
+    this.clampPoint(sphere.center, closestPoint); // if that point is inside the sphere, the OBB and sphere intersect
+
     return closestPoint.distanceToSquared(sphere.center) <= sphere.radius * sphere.radius;
   },
-  intersectsOBB: function(obb2, epsilon = Number.EPSILON) {
+
+  /**
+   * Reference: OBB-OBB Intersection in Real-Time Collision Detection
+   * by Christer Ericson (chapter 4.4.1)
+   *
+   */
+  intersectsOBB: function (obb, epsilon = Number.EPSILON) {
+    // prepare data structures (the code uses the same nomenclature like the reference)
     a.c = this.center;
     a.e[0] = this.halfSize.x;
     a.e[1] = this.halfSize.y;
     a.e[2] = this.halfSize.z;
     this.rotation.extractBasis(a.u[0], a.u[1], a.u[2]);
-    b.c = obb2.center;
-    b.e[0] = obb2.halfSize.x;
-    b.e[1] = obb2.halfSize.y;
-    b.e[2] = obb2.halfSize.z;
-    obb2.rotation.extractBasis(b.u[0], b.u[1], b.u[2]);
+    b.c = obb.center;
+    b.e[0] = obb.halfSize.x;
+    b.e[1] = obb.halfSize.y;
+    b.e[2] = obb.halfSize.z;
+    obb.rotation.extractBasis(b.u[0], b.u[1], b.u[2]); // compute rotation matrix expressing b in a's coordinate frame
+
     for (let i = 0; i < 3; i++) {
       for (let j = 0; j < 3; j++) {
         R[i][j] = a.u[i].dot(b.u[j]);
       }
-    }
-    v1.subVectors(b.c, a.c);
+    } // compute translation vector
+
+
+    v1.subVectors(b.c, a.c); // bring translation into a's coordinate frame
+
     t[0] = v1.dot(a.u[0]);
     t[1] = v1.dot(a.u[1]);
-    t[2] = v1.dot(a.u[2]);
+    t[2] = v1.dot(a.u[2]); // compute common subexpressions. Add in an epsilon term to
+    // counteract arithmetic errors when two edges are parallel and
+    // their cross product is (near) null
+
     for (let i = 0; i < 3; i++) {
       for (let j = 0; j < 3; j++) {
         AbsR[i][j] = Math.abs(R[i][j]) + epsilon;
       }
     }
-    var ra, rb;
+
+    var ra, rb; // test axes L = A0, L = A1, L = A2
+
     for (let i = 0; i < 3; i++) {
       ra = a.e[i];
       rb = b.e[0] * AbsR[i][0] + b.e[1] * AbsR[i][1] + b.e[2] * AbsR[i][2];
-      if (Math.abs(t[i]) > ra + rb)
-        return false;
-    }
+      if (Math.abs(t[i]) > ra + rb) return false;
+    } // test axes L = B0, L = B1, L = B2
+
+
     for (let i = 0; i < 3; i++) {
       ra = a.e[0] * AbsR[0][i] + a.e[1] * AbsR[1][i] + a.e[2] * AbsR[2][i];
       rb = b.e[i];
-      if (Math.abs(t[0] * R[0][i] + t[1] * R[1][i] + t[2] * R[2][i]) > ra + rb)
-        return false;
-    }
+      if (Math.abs(t[0] * R[0][i] + t[1] * R[1][i] + t[2] * R[2][i]) > ra + rb) return false;
+    } // test axis L = A0 x B0
+
+
     ra = a.e[1] * AbsR[2][0] + a.e[2] * AbsR[1][0];
     rb = b.e[1] * AbsR[0][2] + b.e[2] * AbsR[0][1];
-    if (Math.abs(t[2] * R[1][0] - t[1] * R[2][0]) > ra + rb)
-      return false;
+    if (Math.abs(t[2] * R[1][0] - t[1] * R[2][0]) > ra + rb) return false; // test axis L = A0 x B1
+
     ra = a.e[1] * AbsR[2][1] + a.e[2] * AbsR[1][1];
     rb = b.e[0] * AbsR[0][2] + b.e[2] * AbsR[0][0];
-    if (Math.abs(t[2] * R[1][1] - t[1] * R[2][1]) > ra + rb)
-      return false;
+    if (Math.abs(t[2] * R[1][1] - t[1] * R[2][1]) > ra + rb) return false; // test axis L = A0 x B2
+
     ra = a.e[1] * AbsR[2][2] + a.e[2] * AbsR[1][2];
     rb = b.e[0] * AbsR[0][1] + b.e[1] * AbsR[0][0];
-    if (Math.abs(t[2] * R[1][2] - t[1] * R[2][2]) > ra + rb)
-      return false;
+    if (Math.abs(t[2] * R[1][2] - t[1] * R[2][2]) > ra + rb) return false; // test axis L = A1 x B0
+
     ra = a.e[0] * AbsR[2][0] + a.e[2] * AbsR[0][0];
     rb = b.e[1] * AbsR[1][2] + b.e[2] * AbsR[1][1];
-    if (Math.abs(t[0] * R[2][0] - t[2] * R[0][0]) > ra + rb)
-      return false;
+    if (Math.abs(t[0] * R[2][0] - t[2] * R[0][0]) > ra + rb) return false; // test axis L = A1 x B1
+
     ra = a.e[0] * AbsR[2][1] + a.e[2] * AbsR[0][1];
     rb = b.e[0] * AbsR[1][2] + b.e[2] * AbsR[1][0];
-    if (Math.abs(t[0] * R[2][1] - t[2] * R[0][1]) > ra + rb)
-      return false;
+    if (Math.abs(t[0] * R[2][1] - t[2] * R[0][1]) > ra + rb) return false; // test axis L = A1 x B2
+
     ra = a.e[0] * AbsR[2][2] + a.e[2] * AbsR[0][2];
     rb = b.e[0] * AbsR[1][1] + b.e[1] * AbsR[1][0];
-    if (Math.abs(t[0] * R[2][2] - t[2] * R[0][2]) > ra + rb)
-      return false;
+    if (Math.abs(t[0] * R[2][2] - t[2] * R[0][2]) > ra + rb) return false; // test axis L = A2 x B0
+
     ra = a.e[0] * AbsR[1][0] + a.e[1] * AbsR[0][0];
     rb = b.e[1] * AbsR[2][2] + b.e[2] * AbsR[2][1];
-    if (Math.abs(t[1] * R[0][0] - t[0] * R[1][0]) > ra + rb)
-      return false;
+    if (Math.abs(t[1] * R[0][0] - t[0] * R[1][0]) > ra + rb) return false; // test axis L = A2 x B1
+
     ra = a.e[0] * AbsR[1][1] + a.e[1] * AbsR[0][1];
     rb = b.e[0] * AbsR[2][2] + b.e[2] * AbsR[2][0];
-    if (Math.abs(t[1] * R[0][1] - t[0] * R[1][1]) > ra + rb)
-      return false;
+    if (Math.abs(t[1] * R[0][1] - t[0] * R[1][1]) > ra + rb) return false; // test axis L = A2 x B2
+
     ra = a.e[0] * AbsR[1][2] + a.e[1] * AbsR[0][2];
     rb = b.e[0] * AbsR[2][1] + b.e[1] * AbsR[2][0];
-    if (Math.abs(t[1] * R[0][2] - t[0] * R[1][2]) > ra + rb)
-      return false;
+    if (Math.abs(t[1] * R[0][2] - t[0] * R[1][2]) > ra + rb) return false; // since no separating axis is found, the OBBs must be intersecting
+
     return true;
   },
-  intersectsPlane: function(plane) {
-    this.rotation.extractBasis(xAxis, yAxis, zAxis);
-    const r = this.halfSize.x * Math.abs(plane.normal.dot(xAxis)) + this.halfSize.y * Math.abs(plane.normal.dot(yAxis)) + this.halfSize.z * Math.abs(plane.normal.dot(zAxis));
-    const d = plane.normal.dot(this.center) - plane.constant;
+
+  /**
+   * Reference: Testing Box Against Plane in Real-Time Collision Detection
+   * by Christer Ericson (chapter 5.2.3)
+   */
+  intersectsPlane: function (plane) {
+    this.rotation.extractBasis(xAxis, yAxis, zAxis); // compute the projection interval radius of this OBB onto L(t) = this->center + t * p.normal;
+
+    const r = this.halfSize.x * Math.abs(plane.normal.dot(xAxis)) + this.halfSize.y * Math.abs(plane.normal.dot(yAxis)) + this.halfSize.z * Math.abs(plane.normal.dot(zAxis)); // compute distance of the OBB's center from the plane
+
+    const d = plane.normal.dot(this.center) - plane.constant; // Intersection occurs when distance d falls within [-r,+r] interval
+
     return Math.abs(d) <= r;
   },
-  intersectRay: function(ray, result) {
+
+  /**
+   * Performs a ray/OBB intersection test and stores the intersection point
+   * to the given 3D vector. If no intersection is detected, *null* is returned.
+   */
+  intersectRay: function (ray, result) {
+    // the idea is to perform the intersection test in the local space
+    // of the OBB.
     this.getSize(size);
-    aabb.setFromCenterAndSize(v1.set(0, 0, 0), size);
+    aabb.setFromCenterAndSize(v1.set(0, 0, 0), size); // create a 4x4 transformation matrix
+
     matrix4FromRotationMatrix(matrix, this.rotation);
-    matrix.setPosition(this.center);
+    matrix.setPosition(this.center); // transform ray to the local space of the OBB
+
     inverse.copy(matrix).invert();
-    localRay.copy(ray).applyMatrix4(inverse);
+    localRay.copy(ray).applyMatrix4(inverse); // perform ray <-> AABB intersection test
+
     if (localRay.intersectBox(aabb, result)) {
+      // transform the intersection point back to world space
       return result.applyMatrix4(matrix);
     } else {
       return null;
     }
   },
-  intersectsRay: function(ray) {
+
+  /**
+   * Performs a ray/OBB intersection test. Returns either true or false if
+   * there is a intersection or not.
+   */
+  intersectsRay: function (ray) {
     return this.intersectRay(ray, v1) !== null;
   },
-  fromBox3: function(box3) {
+  fromBox3: function (box3) {
     box3.getCenter(this.center);
     box3.getSize(this.halfSize).multiplyScalar(0.5);
     this.rotation.identity();
     return this;
   },
-  equals: function(obb2) {
-    return obb2.center.equals(this.center) && obb2.halfSize.equals(this.halfSize) && obb2.rotation.equals(this.rotation);
+  equals: function (obb) {
+    return obb.center.equals(this.center) && obb.halfSize.equals(this.halfSize) && obb.rotation.equals(this.rotation);
   },
-  applyMatrix4: function(matrix2) {
-    var e = matrix2.elements;
+  applyMatrix4: function (matrix) {
+    var e = matrix.elements;
     var sx = v1.set(e[0], e[1], e[2]).length();
     var sy = v1.set(e[4], e[5], e[6]).length();
     var sz = v1.set(e[8], e[9], e[10]).length();
-    var det = matrix2.determinant();
-    if (det < 0)
-      sx = -sx;
-    rotationMatrix.setFromMatrix4(matrix2);
+    var det = matrix.determinant();
+    if (det < 0) sx = -sx;
+    rotationMatrix.setFromMatrix4(matrix);
     var invSX = 1 / sx;
     var invSY = 1 / sy;
     var invSZ = 1 / sz;
@@ -206,11 +264,12 @@ Object.assign(OBB.prototype, {
     this.halfSize.x *= sx;
     this.halfSize.y *= sy;
     this.halfSize.z *= sz;
-    v1.setFromMatrixPosition(matrix2);
+    v1.setFromMatrixPosition(matrix);
     this.center.add(v1);
     return this;
   }
 });
+
 function matrix4FromRotationMatrix(matrix4, matrix3) {
   var e = matrix4.elements;
   var me = matrix3.elements;
@@ -231,5 +290,7 @@ function matrix4FromRotationMatrix(matrix4, matrix3) {
   e[14] = 0;
   e[15] = 1;
 }
+
 var obb = new OBB();
-exports.OBB = OBB;
+
+export { OBB };

package/math/Octree.cjs.js

@@ -0,0 +1 @@
+"use strict";Object.defineProperty(exports,"__esModule",{value:!0});var e=require("three"),t=require("./Capsule.cjs.js"),n=function(){var n=new e.Vector3,r=new e.Vector3,i=new e.Plane,s=new e.Line3,a=new e.Line3,o=new e.Sphere,l=new t.Capsule;function h(e){this.triangles=[],this.box=e,this.subTrees=[]}return Object.assign(h.prototype,{addTriangle:function(t){return this.bounds||(this.bounds=new e.Box3),this.bounds.min.x=Math.min(this.bounds.min.x,t.a.x,t.b.x,t.c.x),this.bounds.min.y=Math.min(this.bounds.min.y,t.a.y,t.b.y,t.c.y),this.bounds.min.z=Math.min(this.bounds.min.z,t.a.z,t.b.z,t.c.z),this.bounds.max.x=Math.max(this.bounds.max.x,t.a.x,t.b.x,t.c.x),this.bounds.max.y=Math.max(this.bounds.max.y,t.a.y,t.b.y,t.c.y),this.bounds.max.z=Math.max(this.bounds.max.z,t.a.z,t.b.z,t.c.z),this.triangles.push(t),this},calcBox:function(){return this.box=this.bounds.clone(),this.box.min.x-=.01,this.box.min.y-=.01,this.box.min.z-=.01,this},split:function(t){if(this.box){var i,s,a,o=[],l=r.copy(this.box.max).sub(this.box.min).multiplyScalar(.5);for(let t=0;t<2;t++)for(let r=0;r<2;r++)for(let a=0;a<2;a++)i=new e.Box3,s=n.set(t,r,a),i.min.copy(this.box.min).add(s.multiply(l)),i.max.copy(i.min).add(l),o.push(new h(i));for(;a=this.triangles.pop();)for(let e=0;e<o.length;e++)o[e].box.intersectsTriangle(a)&&o[e].triangles.push(a);for(let e=0;e<o.length;e++){var u=o[e].triangles.length;u>8&&t<16&&o[e].split(t+1),0!=u&&this.subTrees.push(o[e])}return this}},build:function(){return this.calcBox(),this.split(0),this},getRayTriangles:function(e,t){for(let r=0;r<this.subTrees.length;r++){var n=this.subTrees[r];if(e.intersectsBox(n.box))if(n.triangles.length>0)for(let e=0;e<n.triangles.length;e++)-1===t.indexOf(n.triangles[e])&&t.push(n.triangles[e]);else n.getRayTriangles(e,t)}return t},triangleCapsuleIntersect:function(e,t){var r,o,l,h;t.getPlane(i);var u=i.distanceToPoint(e.start)-e.radius,c=i.distanceToPoint(e.end)-e.radius;if(u>0&&c>0||u<-e.radius&&c<-e.radius)return!1;var g=Math.abs(u/(Math.abs(u)+Math.abs(c))),d=n.copy(e.start).lerp(e.end,g);if(t.containsPoint(d))return{normal:i.normal.clone(),point:d.clone(),depth:Math.abs(Math.min(u,c))};var p=e.radius*e.radius;l=s.set(e.start,e.end);var b=[[t.a,t.b],[t.b,t.c],[t.c,t.a]];for(let t=0;t<b.length;t++)if(h=a.set(b[t][0],b[t][1]),[r,o]=e.lineLineMinimumPoints(l,h),r.distanceToSquared(o)<p)return{normal:r.clone().sub(o).normalize(),point:o.clone(),depth:e.radius-r.distanceTo(o)};return!1},triangleSphereIntersect:function(e,t){if(t.getPlane(i),!e.intersectsPlane(i))return!1;var a=Math.abs(i.distanceToSphere(e)),o=e.radius*e.radius-a*a,l=i.projectPoint(e.center,n);if(t.containsPoint(e.center))return{normal:i.normal.clone(),point:l.clone(),depth:Math.abs(i.distanceToSphere(e))};var h=[[t.a,t.b],[t.b,t.c],[t.c,t.a]];for(let t=0;t<h.length;t++){s.set(h[t][0],h[t][1]),s.closestPointToPoint(l,!0,r);var u=r.distanceToSquared(e.center);if(u<o)return{normal:e.center.clone().sub(r).normalize(),point:r.clone(),depth:e.radius-Math.sqrt(u)}}return!1},getSphereTriangles:function(e,t){for(let r=0;r<this.subTrees.length;r++){var n=this.subTrees[r];if(e.intersectsBox(n.box))if(n.triangles.length>0)for(let e=0;e<n.triangles.length;e++)-1===t.indexOf(n.triangles[e])&&t.push(n.triangles[e]);else n.getSphereTriangles(e,t)}},getCapsuleTriangles:function(e,t){for(let r=0;r<this.subTrees.length;r++){var n=this.subTrees[r];if(e.intersectsBox(n.box))if(n.triangles.length>0)for(let e=0;e<n.triangles.length;e++)-1===t.indexOf(n.triangles[e])&&t.push(n.triangles[e]);else n.getCapsuleTriangles(e,t)}},sphereIntersect(e){o.copy(e);var t,n=[],r=!1;this.getSphereTriangles(e,n);for(let e=0;e<n.length;e++)(t=this.triangleSphereIntersect(o,n[e]))&&(r=!0,o.center.add(t.normal.multiplyScalar(t.depth)));if(r){var i=o.center.clone().sub(e.center),s=i.length();return{normal:i.normalize(),depth:s}}return!1},capsuleIntersect:function(t){l.copy(t);var r,i=[],s=!1;this.getCapsuleTriangles(l,i);for(let e=0;e<i.length;e++)(r=this.triangleCapsuleIntersect(l,i[e]))&&(s=!0,l.translate(r.normal.multiplyScalar(r.depth)));if(s){var a=l.getCenter(new e.Vector3).sub(t.getCenter(n)),o=a.length();return{normal:a.normalize(),depth:o}}return!1},rayIntersect:function(e){if(0!==e.direction.length()){var t,r,i,s=[],a=1e100;this.getRayTriangles(e,s);for(let l=0;l<s.length;l++)if(i=e.intersectTriangle(s[l].a,s[l].b,s[l].c,!0,n)){var o=i.sub(e.origin).length();a>o&&(r=i.clone().add(e.origin),a=o,t=s[l])}return a<1e100&&{distance:a,triangle:t,position:r}}},fromGraphNode:function(t){return t.traverse((t=>{if("Mesh"===t.type){t.updateMatrix(),t.updateWorldMatrix();var n,r=!1;t.geometry.index?(r=!0,n=t.geometry.clone().toNonIndexed()):n=t.geometry;var i=n.attributes.position.array,s=t.matrixWorld;for(let t=0;t<i.length;t+=9){var a=new e.Vector3(i[t],i[t+1],i[t+2]),o=new e.Vector3(i[t+3],i[t+4],i[t+5]),l=new e.Vector3(i[t+6],i[t+7],i[t+8]);a.applyMatrix4(s),o.applyMatrix4(s),l.applyMatrix4(s),this.addTriangle(new e.Triangle(a,o,l))}r&&n.dispose()}})),this.build(),this}}),h}();exports.Octree=n;