three-stdlib 2.16.0 → 2.16.2

package/math/ConvexHull.js

@@ -1,46 +1,75 @@
-"use strict";
-Object.defineProperties(exports, { __esModule: { value: true }, [Symbol.toStringTag]: { value: "Module" } });
-const THREE = require("three");
+import { Vector3, Line3, Plane, Triangle } from 'three';
+
+/**
+ * Ported from: https://github.com/maurizzzio/quickhull3d/ by Mauricio Poppe (https://github.com/maurizzzio)
+ */
+
 const Visible = 0;
 const Deleted = 1;
-const _v1 = new THREE.Vector3();
-const _line3 = new THREE.Line3();
-const _plane = new THREE.Plane();
-const _closestPoint = new THREE.Vector3();
-const _triangle = new THREE.Triangle();
+
+const _v1 = new Vector3();
+
+const _line3 = new Line3();
+
+const _plane = new Plane();
+
+const _closestPoint = new Vector3();
+
+const _triangle = new Triangle();
+
 class ConvexHull {
   constructor() {
     this.tolerance = -1;
-    this.faces = [];
-    this.newFaces = [];
+    this.faces = []; // the generated faces of the convex hull
+
+    this.newFaces = []; // this array holds the faces that are generated within a single iteration
+    // the vertex lists work as follows:
+    //
+    // let 'a' and 'b' be 'Face' instances
+    // let 'v' be points wrapped as instance of 'Vertex'
+    //
+    //     [v, v, ..., v, v, v, ...]
+    //      ^             ^
+    //      |             |
+    //  a.outside     b.outside
+    //
+
     this.assigned = new VertexList();
     this.unassigned = new VertexList();
-    this.vertices = [];
+    this.vertices = []; // vertices of the hull (internal representation of given geometry data)
   }
+
   setFromPoints(points) {
+    // The algorithm needs at least four points.
     if (points.length >= 4) {
       this.makeEmpty();
+
       for (let i = 0, l = points.length; i < l; i++) {
         this.vertices.push(new VertexNode(points[i]));
       }
+
       this.compute();
     }
+
     return this;
   }
+
   setFromObject(object) {
     const points = [];
     object.updateMatrixWorld(true);
-    object.traverse(function(node) {
+    object.traverse(function (node) {
       const geometry = node.geometry;
-      if (geometry !== void 0) {
+
+      if (geometry !== undefined) {
         if (geometry.isGeometry) {
-          console.error("THREE.ConvexHull no longer supports Geometry. Use THREE.BufferGeometry instead.");
+          console.error('THREE.ConvexHull no longer supports Geometry. Use THREE.BufferGeometry instead.');
           return;
         } else if (geometry.isBufferGeometry) {
           const attribute = geometry.attributes.position;
-          if (attribute !== void 0) {
+
+          if (attribute !== undefined) {
             for (let i = 0, l = attribute.count; i < l; i++) {
-              const point = new THREE.Vector3();
+              const point = new Vector3();
               point.fromBufferAttribute(attribute, i).applyMatrix4(node.matrixWorld);
               points.push(point);
             }
@@ -50,392 +79,577 @@ class ConvexHull {
     });
     return this.setFromPoints(points);
   }
+
   containsPoint(point) {
     const faces = this.faces;
+
     for (let i = 0, l = faces.length; i < l; i++) {
-      const face = faces[i];
-      if (face.distanceToPoint(point) > this.tolerance)
-        return false;
+      const face = faces[i]; // compute signed distance and check on what half space the point lies
+
+      if (face.distanceToPoint(point) > this.tolerance) return false;
     }
+
     return true;
   }
+
   intersectRay(ray, target) {
+    // based on "Fast Ray-Convex Polyhedron Intersection"  by Eric Haines, GRAPHICS GEMS II
     const faces = this.faces;
     let tNear = -Infinity;
     let tFar = Infinity;
+
     for (let i = 0, l = faces.length; i < l; i++) {
-      const face = faces[i];
+      const face = faces[i]; // interpret faces as planes for the further computation
+
       const vN = face.distanceToPoint(ray.origin);
-      const vD = face.normal.dot(ray.direction);
-      if (vN > 0 && vD >= 0)
-        return null;
-      const t = vD !== 0 ? -vN / vD : 0;
-      if (t <= 0)
-        continue;
+      const vD = face.normal.dot(ray.direction); // if the origin is on the positive side of a plane (so the plane can "see" the origin) and
+      // the ray is turned away or parallel to the plane, there is no intersection
+
+      if (vN > 0 && vD >= 0) return null; // compute the distance from the ray’s origin to the intersection with the plane
+
+      const t = vD !== 0 ? -vN / vD : 0; // only proceed if the distance is positive. a negative distance means the intersection point
+      // lies "behind" the origin
+
+      if (t <= 0) continue; // now categorized plane as front-facing or back-facing
+
       if (vD > 0) {
+        //  plane faces away from the ray, so this plane is a back-face
         tFar = Math.min(t, tFar);
       } else {
+        // front-face
         tNear = Math.max(t, tNear);
       }
+
       if (tNear > tFar) {
+        // if tNear ever is greater than tFar, the ray must miss the convex hull
         return null;
       }
-    }
+    } // evaluate intersection point
+    // always try tNear first since its the closer intersection point
+
+
     if (tNear !== -Infinity) {
       ray.at(tNear, target);
     } else {
       ray.at(tFar, target);
     }
+
     return target;
   }
+
   intersectsRay(ray) {
     return this.intersectRay(ray, _v1) !== null;
   }
+
   makeEmpty() {
     this.faces = [];
     this.vertices = [];
     return this;
-  }
+  } // Adds a vertex to the 'assigned' list of vertices and assigns it to the given face
+
+
   addVertexToFace(vertex, face) {
     vertex.face = face;
+
     if (face.outside === null) {
       this.assigned.append(vertex);
     } else {
       this.assigned.insertBefore(face.outside, vertex);
     }
+
     face.outside = vertex;
     return this;
-  }
+  } // Removes a vertex from the 'assigned' list of vertices and from the given face
+
+
   removeVertexFromFace(vertex, face) {
     if (vertex === face.outside) {
+      // fix face.outside link
       if (vertex.next !== null && vertex.next.face === face) {
+        // face has at least 2 outside vertices, move the 'outside' reference
         face.outside = vertex.next;
       } else {
+        // vertex was the only outside vertex that face had
         face.outside = null;
       }
     }
+
     this.assigned.remove(vertex);
     return this;
-  }
+  } // Removes all the visible vertices that a given face is able to see which are stored in the 'assigned' vertext list
+
+
   removeAllVerticesFromFace(face) {
     if (face.outside !== null) {
+      // reference to the first and last vertex of this face
       const start = face.outside;
       let end = face.outside;
+
       while (end.next !== null && end.next.face === face) {
         end = end.next;
       }
-      this.assigned.removeSubList(start, end);
+
+      this.assigned.removeSubList(start, end); // fix references
+
       start.prev = end.next = null;
       face.outside = null;
       return start;
     }
-  }
+  } // Removes all the visible vertices that 'face' is able to see
+
+
   deleteFaceVertices(face, absorbingFace) {
     const faceVertices = this.removeAllVerticesFromFace(face);
-    if (faceVertices !== void 0) {
-      if (absorbingFace === void 0) {
+
+    if (faceVertices !== undefined) {
+      if (absorbingFace === undefined) {
+        // mark the vertices to be reassigned to some other face
         this.unassigned.appendChain(faceVertices);
       } else {
+        // if there's an absorbing face try to assign as many vertices as possible to it
         let vertex = faceVertices;
+
         do {
+          // we need to buffer the subsequent vertex at this point because the 'vertex.next' reference
+          // will be changed by upcoming method calls
           const nextVertex = vertex.next;
-          const distance = absorbingFace.distanceToPoint(vertex.point);
+          const distance = absorbingFace.distanceToPoint(vertex.point); // check if 'vertex' is able to see 'absorbingFace'
+
           if (distance > this.tolerance) {
             this.addVertexToFace(vertex, absorbingFace);
           } else {
             this.unassigned.append(vertex);
-          }
+          } // now assign next vertex
+
+
           vertex = nextVertex;
         } while (vertex !== null);
       }
     }
+
     return this;
-  }
+  } // Reassigns as many vertices as possible from the unassigned list to the new faces
+
+
   resolveUnassignedPoints(newFaces) {
     if (this.unassigned.isEmpty() === false) {
       let vertex = this.unassigned.first();
+
       do {
+        // buffer 'next' reference, see .deleteFaceVertices()
         const nextVertex = vertex.next;
         let maxDistance = this.tolerance;
         let maxFace = null;
+
         for (let i = 0; i < newFaces.length; i++) {
           const face = newFaces[i];
+
           if (face.mark === Visible) {
             const distance = face.distanceToPoint(vertex.point);
+
             if (distance > maxDistance) {
               maxDistance = distance;
               maxFace = face;
             }
-            if (maxDistance > 1e3 * this.tolerance)
-              break;
+
+            if (maxDistance > 1000 * this.tolerance) break;
           }
-        }
+        } // 'maxFace' can be null e.g. if there are identical vertices
+
+
         if (maxFace !== null) {
           this.addVertexToFace(vertex, maxFace);
         }
+
         vertex = nextVertex;
       } while (vertex !== null);
     }
+
     return this;
-  }
+  } // Computes the extremes of a simplex which will be the initial hull
+
+
   computeExtremes() {
-    const min = new THREE.Vector3();
-    const max = new THREE.Vector3();
+    const min = new Vector3();
+    const max = new Vector3();
     const minVertices = [];
-    const maxVertices = [];
+    const maxVertices = []; // initially assume that the first vertex is the min/max
+
     for (let i = 0; i < 3; i++) {
       minVertices[i] = maxVertices[i] = this.vertices[0];
     }
+
     min.copy(this.vertices[0].point);
-    max.copy(this.vertices[0].point);
+    max.copy(this.vertices[0].point); // compute the min/max vertex on all six directions
+
     for (let i = 0, l = this.vertices.length; i < l; i++) {
       const vertex = this.vertices[i];
-      const point = vertex.point;
+      const point = vertex.point; // update the min coordinates
+
       for (let j = 0; j < 3; j++) {
         if (point.getComponent(j) < min.getComponent(j)) {
           min.setComponent(j, point.getComponent(j));
           minVertices[j] = vertex;
         }
-      }
+      } // update the max coordinates
+
+
       for (let j = 0; j < 3; j++) {
         if (point.getComponent(j) > max.getComponent(j)) {
           max.setComponent(j, point.getComponent(j));
           maxVertices[j] = vertex;
         }
       }
-    }
+    } // use min/max vectors to compute an optimal epsilon
+
+
     this.tolerance = 3 * Number.EPSILON * (Math.max(Math.abs(min.x), Math.abs(max.x)) + Math.max(Math.abs(min.y), Math.abs(max.y)) + Math.max(Math.abs(min.z), Math.abs(max.z)));
-    return { min: minVertices, max: maxVertices };
-  }
+    return {
+      min: minVertices,
+      max: maxVertices
+    };
+  } // Computes the initial simplex assigning to its faces all the points
+  // that are candidates to form part of the hull
+
+
   computeInitialHull() {
     const vertices = this.vertices;
     const extremes = this.computeExtremes();
     const min = extremes.min;
-    const max = extremes.max;
+    const max = extremes.max; // 1. Find the two vertices 'v0' and 'v1' with the greatest 1d separation
+    // (max.x - min.x)
+    // (max.y - min.y)
+    // (max.z - min.z)
+
     let maxDistance = 0;
     let index = 0;
+
     for (let i = 0; i < 3; i++) {
       const distance = max[i].point.getComponent(i) - min[i].point.getComponent(i);
+
       if (distance > maxDistance) {
         maxDistance = distance;
         index = i;
       }
     }
+
     const v0 = min[index];
     const v1 = max[index];
     let v2;
-    let v3;
+    let v3; // 2. The next vertex 'v2' is the one farthest to the line formed by 'v0' and 'v1'
+
     maxDistance = 0;
+
     _line3.set(v0.point, v1.point);
+
     for (let i = 0, l = this.vertices.length; i < l; i++) {
       const vertex = vertices[i];
+
       if (vertex !== v0 && vertex !== v1) {
         _line3.closestPointToPoint(vertex.point, true, _closestPoint);
+
         const distance = _closestPoint.distanceToSquared(vertex.point);
+
         if (distance > maxDistance) {
           maxDistance = distance;
           v2 = vertex;
         }
       }
-    }
+    } // 3. The next vertex 'v3' is the one farthest to the plane 'v0', 'v1', 'v2'
+
+
     maxDistance = -1;
+
     _plane.setFromCoplanarPoints(v0.point, v1.point, v2.point);
+
     for (let i = 0, l = this.vertices.length; i < l; i++) {
       const vertex = vertices[i];
+
       if (vertex !== v0 && vertex !== v1 && vertex !== v2) {
         const distance = Math.abs(_plane.distanceToPoint(vertex.point));
+
         if (distance > maxDistance) {
           maxDistance = distance;
           v3 = vertex;
         }
       }
     }
+
     const faces = [];
+
     if (_plane.distanceToPoint(v3.point) < 0) {
-      faces.push(Face.create(v0, v1, v2), Face.create(v3, v1, v0), Face.create(v3, v2, v1), Face.create(v3, v0, v2));
+      // the face is not able to see the point so 'plane.normal' is pointing outside the tetrahedron
+      faces.push(Face.create(v0, v1, v2), Face.create(v3, v1, v0), Face.create(v3, v2, v1), Face.create(v3, v0, v2)); // set the twin edge
+
       for (let i = 0; i < 3; i++) {
-        const j = (i + 1) % 3;
-        faces[i + 1].getEdge(2).setTwin(faces[0].getEdge(j));
+        const j = (i + 1) % 3; // join face[ i ] i > 0, with the first face
+
+        faces[i + 1].getEdge(2).setTwin(faces[0].getEdge(j)); // join face[ i ] with face[ i + 1 ], 1 <= i <= 3
+
         faces[i + 1].getEdge(1).setTwin(faces[j + 1].getEdge(0));
       }
     } else {
-      faces.push(Face.create(v0, v2, v1), Face.create(v3, v0, v1), Face.create(v3, v1, v2), Face.create(v3, v2, v0));
+      // the face is able to see the point so 'plane.normal' is pointing inside the tetrahedron
+      faces.push(Face.create(v0, v2, v1), Face.create(v3, v0, v1), Face.create(v3, v1, v2), Face.create(v3, v2, v0)); // set the twin edge
+
       for (let i = 0; i < 3; i++) {
-        const j = (i + 1) % 3;
-        faces[i + 1].getEdge(2).setTwin(faces[0].getEdge((3 - i) % 3));
+        const j = (i + 1) % 3; // join face[ i ] i > 0, with the first face
+
+        faces[i + 1].getEdge(2).setTwin(faces[0].getEdge((3 - i) % 3)); // join face[ i ] with face[ i + 1 ]
+
         faces[i + 1].getEdge(0).setTwin(faces[j + 1].getEdge(1));
       }
-    }
+    } // the initial hull is the tetrahedron
+
+
     for (let i = 0; i < 4; i++) {
       this.faces.push(faces[i]);
-    }
+    } // initial assignment of vertices to the faces of the tetrahedron
+
+
     for (let i = 0, l = vertices.length; i < l; i++) {
       const vertex = vertices[i];
+
       if (vertex !== v0 && vertex !== v1 && vertex !== v2 && vertex !== v3) {
         maxDistance = this.tolerance;
         let maxFace = null;
+
         for (let j = 0; j < 4; j++) {
           const distance = this.faces[j].distanceToPoint(vertex.point);
+
           if (distance > maxDistance) {
             maxDistance = distance;
             maxFace = this.faces[j];
           }
         }
+
         if (maxFace !== null) {
           this.addVertexToFace(vertex, maxFace);
         }
       }
     }
+
     return this;
-  }
+  } // Removes inactive faces
+
+
   reindexFaces() {
     const activeFaces = [];
+
     for (let i = 0; i < this.faces.length; i++) {
       const face = this.faces[i];
+
       if (face.mark === Visible) {
         activeFaces.push(face);
       }
     }
+
     this.faces = activeFaces;
     return this;
-  }
+  } // Finds the next vertex to create faces with the current hull
+
+
   nextVertexToAdd() {
+    // if the 'assigned' list of vertices is empty, no vertices are left. return with 'undefined'
     if (this.assigned.isEmpty() === false) {
-      let eyeVertex, maxDistance = 0;
+      let eyeVertex,
+          maxDistance = 0; // grap the first available face and start with the first visible vertex of that face
+
       const eyeFace = this.assigned.first().face;
-      let vertex = eyeFace.outside;
+      let vertex = eyeFace.outside; // now calculate the farthest vertex that face can see
+
       do {
         const distance = eyeFace.distanceToPoint(vertex.point);
+
         if (distance > maxDistance) {
           maxDistance = distance;
           eyeVertex = vertex;
         }
+
         vertex = vertex.next;
       } while (vertex !== null && vertex.face === eyeFace);
+
       return eyeVertex;
     }
-  }
+  } // Computes a chain of half edges in CCW order called the 'horizon'.
+  // For an edge to be part of the horizon it must join a face that can see
+  // 'eyePoint' and a face that cannot see 'eyePoint'.
+
+
   computeHorizon(eyePoint, crossEdge, face, horizon) {
+    // moves face's vertices to the 'unassigned' vertex list
     this.deleteFaceVertices(face);
     face.mark = Deleted;
     let edge;
+
     if (crossEdge === null) {
       edge = crossEdge = face.getEdge(0);
     } else {
+      // start from the next edge since 'crossEdge' was already analyzed
+      // (actually 'crossEdge.twin' was the edge who called this method recursively)
       edge = crossEdge.next;
     }
+
     do {
       const twinEdge = edge.twin;
       const oppositeFace = twinEdge.face;
+
       if (oppositeFace.mark === Visible) {
         if (oppositeFace.distanceToPoint(eyePoint) > this.tolerance) {
+          // the opposite face can see the vertex, so proceed with next edge
           this.computeHorizon(eyePoint, twinEdge, oppositeFace, horizon);
         } else {
+          // the opposite face can't see the vertex, so this edge is part of the horizon
           horizon.push(edge);
         }
       }
+
       edge = edge.next;
     } while (edge !== crossEdge);
+
     return this;
-  }
+  } // Creates a face with the vertices 'eyeVertex.point', 'horizonEdge.tail' and 'horizonEdge.head' in CCW order
+
+
   addAdjoiningFace(eyeVertex, horizonEdge) {
+    // all the half edges are created in ccw order thus the face is always pointing outside the hull
     const face = Face.create(eyeVertex, horizonEdge.tail(), horizonEdge.head());
-    this.faces.push(face);
+    this.faces.push(face); // join face.getEdge( - 1 ) with the horizon's opposite edge face.getEdge( - 1 ) = face.getEdge( 2 )
+
     face.getEdge(-1).setTwin(horizonEdge.twin);
-    return face.getEdge(0);
-  }
+    return face.getEdge(0); // the half edge whose vertex is the eyeVertex
+  } //  Adds 'horizon.length' faces to the hull, each face will be linked with the
+  //  horizon opposite face and the face on the left/right
+
+
   addNewFaces(eyeVertex, horizon) {
     this.newFaces = [];
     let firstSideEdge = null;
     let previousSideEdge = null;
+
     for (let i = 0; i < horizon.length; i++) {
-      const horizonEdge = horizon[i];
+      const horizonEdge = horizon[i]; // returns the right side edge
+
       const sideEdge = this.addAdjoiningFace(eyeVertex, horizonEdge);
+
       if (firstSideEdge === null) {
         firstSideEdge = sideEdge;
       } else {
+        // joins face.getEdge( 1 ) with previousFace.getEdge( 0 )
         sideEdge.next.setTwin(previousSideEdge);
       }
+
       this.newFaces.push(sideEdge.face);
       previousSideEdge = sideEdge;
-    }
+    } // perform final join of new faces
+
+
     firstSideEdge.next.setTwin(previousSideEdge);
     return this;
-  }
+  } // Adds a vertex to the hull
+
+
   addVertexToHull(eyeVertex) {
     const horizon = [];
-    this.unassigned.clear();
+    this.unassigned.clear(); // remove 'eyeVertex' from 'eyeVertex.face' so that it can't be added to the 'unassigned' vertex list
+
     this.removeVertexFromFace(eyeVertex, eyeVertex.face);
     this.computeHorizon(eyeVertex.point, null, eyeVertex.face, horizon);
-    this.addNewFaces(eyeVertex, horizon);
+    this.addNewFaces(eyeVertex, horizon); // reassign 'unassigned' vertices to the new faces
+
     this.resolveUnassignedPoints(this.newFaces);
     return this;
   }
+
   cleanup() {
     this.assigned.clear();
     this.unassigned.clear();
     this.newFaces = [];
     return this;
   }
+
   compute() {
     let vertex;
-    this.computeInitialHull();
-    while ((vertex = this.nextVertexToAdd()) !== void 0) {
+    this.computeInitialHull(); // add all available vertices gradually to the hull
+
+    while ((vertex = this.nextVertexToAdd()) !== undefined) {
       this.addVertexToHull(vertex);
     }
+
     this.reindexFaces();
     this.cleanup();
     return this;
   }
-}
+
+} //
+
+
 class Face {
   constructor() {
-    this.normal = new THREE.Vector3();
-    this.midpoint = new THREE.Vector3();
+    this.normal = new Vector3();
+    this.midpoint = new Vector3();
     this.area = 0;
-    this.constant = 0;
-    this.outside = null;
+    this.constant = 0; // signed distance from face to the origin
+
+    this.outside = null; // reference to a vertex in a vertex list this face can see
+
     this.mark = Visible;
     this.edge = null;
   }
+
   static create(a, b, c) {
     const face = new Face();
     const e0 = new HalfEdge(a, face);
     const e1 = new HalfEdge(b, face);
-    const e2 = new HalfEdge(c, face);
+    const e2 = new HalfEdge(c, face); // join edges
+
     e0.next = e2.prev = e1;
     e1.next = e0.prev = e2;
-    e2.next = e1.prev = e0;
+    e2.next = e1.prev = e0; // main half edge reference
+
     face.edge = e0;
     return face.compute();
   }
+
   getEdge(i) {
     let edge = this.edge;
+
     while (i > 0) {
       edge = edge.next;
       i--;
     }
+
     while (i < 0) {
       edge = edge.prev;
       i++;
     }
+
     return edge;
   }
+
   compute() {
     const a = this.edge.tail();
     const b = this.edge.head();
     const c = this.edge.next.head();
+
     _triangle.set(a.point, b.point, c.point);
+
     _triangle.getNormal(this.normal);
+
     _triangle.getMidpoint(this.midpoint);
+
     this.area = _triangle.getArea();
     this.constant = this.normal.dot(this.midpoint);
     return this;
   }
+
   distanceToPoint(point) {
     return this.normal.dot(point) - this.constant;
   }
-}
+
+} // Entity for a Doubly-Connected Edge List (DCEL).
+
+
 class HalfEdge {
   constructor(vertex, face) {
     this.vertex = vertex;
@@ -444,131 +658,177 @@ class HalfEdge {
     this.twin = null;
     this.face = face;
   }
+
   head() {
     return this.vertex;
   }
+
   tail() {
     return this.prev ? this.prev.vertex : null;
   }
+
   length() {
     const head = this.head();
     const tail = this.tail();
+
     if (tail !== null) {
       return tail.point.distanceTo(head.point);
     }
+
     return -1;
   }
+
   lengthSquared() {
     const head = this.head();
     const tail = this.tail();
+
     if (tail !== null) {
       return tail.point.distanceToSquared(head.point);
     }
+
     return -1;
   }
+
   setTwin(edge) {
     this.twin = edge;
     edge.twin = this;
     return this;
   }
-}
+
+} // A vertex as a double linked list node.
+
+
 class VertexNode {
   constructor(point) {
     this.point = point;
     this.prev = null;
     this.next = null;
-    this.face = null;
+    this.face = null; // the face that is able to see this vertex
   }
-}
+
+} // A double linked list that contains vertex nodes.
+
+
 class VertexList {
   constructor() {
     this.head = null;
     this.tail = null;
   }
+
   first() {
     return this.head;
   }
+
   last() {
     return this.tail;
   }
+
   clear() {
     this.head = this.tail = null;
     return this;
-  }
+  } // Inserts a vertex before the target vertex
+
+
   insertBefore(target, vertex) {
     vertex.prev = target.prev;
     vertex.next = target;
+
     if (vertex.prev === null) {
       this.head = vertex;
     } else {
       vertex.prev.next = vertex;
     }
+
     target.prev = vertex;
     return this;
-  }
+  } // Inserts a vertex after the target vertex
+
+
   insertAfter(target, vertex) {
     vertex.prev = target;
     vertex.next = target.next;
+
     if (vertex.next === null) {
       this.tail = vertex;
     } else {
       vertex.next.prev = vertex;
     }
+
     target.next = vertex;
     return this;
-  }
+  } // Appends a vertex to the end of the linked list
+
+
   append(vertex) {
     if (this.head === null) {
       this.head = vertex;
     } else {
       this.tail.next = vertex;
     }
+
     vertex.prev = this.tail;
-    vertex.next = null;
+    vertex.next = null; // the tail has no subsequent vertex
+
     this.tail = vertex;
     return this;
-  }
+  } // Appends a chain of vertices where 'vertex' is the head.
+
+
   appendChain(vertex) {
     if (this.head === null) {
       this.head = vertex;
     } else {
       this.tail.next = vertex;
     }
-    vertex.prev = this.tail;
+
+    vertex.prev = this.tail; // ensure that the 'tail' reference points to the last vertex of the chain
+
     while (vertex.next !== null) {
       vertex = vertex.next;
     }
+
     this.tail = vertex;
     return this;
-  }
+  } // Removes a vertex from the linked list
+
+
   remove(vertex) {
     if (vertex.prev === null) {
       this.head = vertex.next;
     } else {
       vertex.prev.next = vertex.next;
     }
+
     if (vertex.next === null) {
       this.tail = vertex.prev;
     } else {
       vertex.next.prev = vertex.prev;
     }
+
     return this;
-  }
+  } // Removes a list of vertices whose 'head' is 'a' and whose 'tail' is b
+
+
   removeSubList(a, b) {
     if (a.prev === null) {
       this.head = b.next;
     } else {
       a.prev.next = b.next;
     }
+
     if (b.next === null) {
       this.tail = a.prev;
     } else {
       b.next.prev = a.prev;
     }
+
     return this;
   }
+
   isEmpty() {
     return this.head === null;
   }
+
 }
-exports.ConvexHull = ConvexHull;
+
+export { ConvexHull };