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{"version":3,"file":"index.umd.cjs","sources":["../src/Constants.js","../src/MeshBVHNode.js","../src/Utils/ArrayBoxUtilities.js","../src/buildFunctions.js","../src/Utils/SeparatingAxisBounds.js","../src/Utils/MathUtilities.js","../src/Utils/SeparatingAxisTriangle.js","../src/Utils/OrientedBox.js","../src/Utils/TriangleUtils.js","../src/Utils/ThreeIntersectionUtilities.js","../src/Utils/RayIntersectTriUtilities.js","../src/Utils/BufferNodeUtils.js","../src/castFunctions.js","../src/MeshBVH.js","../src/MeshBVHVisualizer.js","../src/Utils/Debug.js","../src/MeshBVHDebug.js","../src/index.js"],"sourcesContent":["// Split strategy constants\nexport const CENTER = 0;\nexport const AVERAGE = 1;\nexport const SAH = 2;\n\n// Traversal constants\nexport const NOT_INTERSECTED = 0;\nexport const INTERSECTED = 1;\nexport const CONTAINED = 2;\n\n// SAH cost constants\n// TODO: hone these costs more. The relative difference between them should be the\n// difference in measured time to perform a triangle intersection vs traversing\n// bounds.\nexport const TRIANGLE_INTERSECT_COST = 1.25;\nexport const TRAVERSAL_COST = 1;\n","\r\nexport default\r\nclass MeshBVHNode {\r\n\r\n\tconstructor() {\r\n\r\n\t\t// internal nodes have boundingData, left, right, and splitAxis\r\n\t\t// leaf nodes have offset and count (referring to primitives in the mesh geometry)\r\n\r\n\t}\r\n\r\n}\r\n","// Returns a Float32Array representing the bounds data for box.\r\nexport function boxToArray( bx ) {\r\n\r\n\tconst arr = new Float32Array( 6 );\r\n\r\n\tarr[ 0 ] = bx.min.x;\r\n\tarr[ 1 ] = bx.min.y;\r\n\tarr[ 2 ] = bx.min.z;\r\n\r\n\tarr[ 3 ] = bx.max.x;\r\n\tarr[ 4 ] = bx.max.y;\r\n\tarr[ 5 ] = bx.max.z;\r\n\r\n\treturn arr;\r\n\r\n}\r\n\r\nexport function arrayToBox( arr, target ) {\r\n\r\n\ttarget.min.x = arr[ 0 ];\r\n\ttarget.min.y = arr[ 1 ];\r\n\ttarget.min.z = arr[ 2 ];\r\n\r\n\ttarget.max.x = arr[ 3 ];\r\n\ttarget.max.y = arr[ 4 ];\r\n\ttarget.max.z = arr[ 5 ];\r\n\r\n\treturn target;\r\n\r\n}\r\n\r\nexport function getLongestEdgeIndex( bounds ) {\r\n\r\n\tlet splitDimIdx = - 1;\r\n\tlet splitDist = - Infinity;\r\n\r\n\tfor ( let i = 0; i < 3; i ++ ) {\r\n\r\n\t\tconst dist = bounds[ i + 3 ] - bounds[ i ];\r\n\t\tif ( dist > splitDist ) {\r\n\r\n\t\t\tsplitDist = dist;\r\n\t\t\tsplitDimIdx = i;\r\n\r\n\t\t}\r\n\r\n\t}\r\n\r\n\treturn splitDimIdx;\r\n\r\n}\r\n\r\n// copys bounds a into bounds b\r\nexport function copyBounds( source, target ) {\r\n\r\n\ttarget.set( source );\r\n\r\n}\r\n\r\n// sets bounds target to the union of bounds a and b\r\nexport function unionBounds( a, b, target ) {\r\n\r\n\tlet aVal, bVal;\r\n\tfor ( let d = 0; d < 3; d ++ ) {\r\n\r\n\t\tconst d3 = d + 3;\r\n\r\n\t\t// set the minimum values\r\n\t\taVal = a[ d ];\r\n\t\tbVal = b[ d ];\r\n\t\ttarget[ d ] = aVal < bVal ? aVal : bVal;\r\n\r\n\t\t// set the max values\r\n\t\taVal = a[ d3 ];\r\n\t\tbVal = b[ d3 ];\r\n\t\ttarget[ d3 ] = aVal > bVal ? aVal : bVal;\r\n\r\n\t}\r\n\r\n}\r\n\r\n// compute bounds surface area\r\nexport function computeSurfaceArea( bounds ) {\r\n\r\n\tconst d0 = bounds[ 3 ] - bounds[ 0 ];\r\n\tconst d1 = bounds[ 4 ] - bounds[ 1 ];\r\n\tconst d2 = bounds[ 5 ] - bounds[ 2 ];\r\n\r\n\treturn 2 * ( d0 * d1 + d1 * d2 + d2 * d0 );\r\n\r\n}\r\n","import { BufferAttribute } from 'three';\nimport MeshBVHNode from './MeshBVHNode.js';\nimport { boxToArray, getLongestEdgeIndex, computeSurfaceArea, copyBounds, unionBounds } from './Utils/ArrayBoxUtilities.js';\nimport { CENTER, AVERAGE, SAH, TRIANGLE_INTERSECT_COST, TRAVERSAL_COST } from './Constants.js';\n\n// https://en.wikipedia.org/wiki/Machine_epsilon#Values_for_standard_hardware_floating_point_arithmetics\nconst FLOAT32_EPSILON = Math.pow( 2, - 24 );\n\nfunction ensureIndex( geo ) {\n\n\tif ( ! geo.index ) {\n\n\t\tconst vertexCount = geo.attributes.position.count;\n\t\tconst index = new ( vertexCount > 65535 ? Uint32Array : Uint16Array )( vertexCount );\n\t\tgeo.setIndex( new BufferAttribute( index, 1 ) );\n\n\t\tfor ( let i = 0; i < vertexCount; i ++ ) {\n\n\t\t\tindex[ i ] = i;\n\n\t\t}\n\n\t}\n\n}\n\n// Computes the set of { offset, count } ranges which need independent BVH roots. Each\n// region in the geometry index that belongs to a different set of material groups requires\n// a separate BVH root, so that triangles indices belonging to one group never get swapped\n// with triangle indices belongs to another group. For example, if the groups were like this:\n//\n// [-------------------------------------------------------------]\n// |__________________|\n// g0 = [0, 20] |______________________||_____________________|\n// g1 = [16, 40] g2 = [41, 60]\n//\n// we would need four BVH roots: [0, 15], [16, 20], [21, 40], [41, 60].\nfunction getRootIndexRanges( geo ) {\n\n\tif ( ! geo.groups || ! geo.groups.length ) {\n\n\t\treturn [ { offset: 0, count: geo.index.count / 3 } ];\n\n\t}\n\n\tconst ranges = [];\n\tconst rangeBoundaries = new Set();\n\tfor ( const group of geo.groups ) {\n\n\t\trangeBoundaries.add( group.start );\n\t\trangeBoundaries.add( group.start + group.count );\n\n\t}\n\n\t// note that if you don't pass in a comparator, it sorts them lexicographically as strings :-(\n\tconst sortedBoundaries = Array.from( rangeBoundaries.values() ).sort( ( a, b ) => a - b );\n\tfor ( let i = 0; i < sortedBoundaries.length - 1; i ++ ) {\n\n\t\tconst start = sortedBoundaries[ i ], end = sortedBoundaries[ i + 1 ];\n\t\tranges.push( { offset: ( start / 3 ), count: ( end - start ) / 3 } );\n\n\t}\n\n\treturn ranges;\n\n}\n\n// computes the union of the bounds of all of the given triangles and puts the resulting box in target. If\n// centroidTarget is provided then a bounding box is computed for the centroids of the triangles, as well.\n// These are computed together to avoid redundant accesses to bounds array.\nfunction getBounds( triangleBounds, offset, count, target, centroidTarget = null ) {\n\n\tlet minx = Infinity;\n\tlet miny = Infinity;\n\tlet minz = Infinity;\n\tlet maxx = - Infinity;\n\tlet maxy = - Infinity;\n\tlet maxz = - Infinity;\n\n\tlet cminx = Infinity;\n\tlet cminy = Infinity;\n\tlet cminz = Infinity;\n\tlet cmaxx = - Infinity;\n\tlet cmaxy = - Infinity;\n\tlet cmaxz = - Infinity;\n\n\tconst includeCentroid = centroidTarget !== null;\n\tfor ( let i = offset * 6, end = ( offset + count ) * 6; i < end; i += 6 ) {\n\n\t\tconst cx = triangleBounds[ i + 0 ];\n\t\tconst hx = triangleBounds[ i + 1 ];\n\t\tconst lx = cx - hx;\n\t\tconst rx = cx + hx;\n\t\tif ( lx < minx ) minx = lx;\n\t\tif ( rx > maxx ) maxx = rx;\n\t\tif ( includeCentroid && cx < cminx ) cminx = cx;\n\t\tif ( includeCentroid && cx > cmaxx ) cmaxx = cx;\n\n\t\tconst cy = triangleBounds[ i + 2 ];\n\t\tconst hy = triangleBounds[ i + 3 ];\n\t\tconst ly = cy - hy;\n\t\tconst ry = cy + hy;\n\t\tif ( ly < miny ) miny = ly;\n\t\tif ( ry > maxy ) maxy = ry;\n\t\tif ( includeCentroid && cy < cminy ) cminy = cy;\n\t\tif ( includeCentroid && cy > cmaxy ) cmaxy = cy;\n\n\t\tconst cz = triangleBounds[ i + 4 ];\n\t\tconst hz = triangleBounds[ i + 5 ];\n\t\tconst lz = cz - hz;\n\t\tconst rz = cz + hz;\n\t\tif ( lz < minz ) minz = lz;\n\t\tif ( rz > maxz ) maxz = rz;\n\t\tif ( includeCentroid && cz < cminz ) cminz = cz;\n\t\tif ( includeCentroid && cz > cmaxz ) cmaxz = cz;\n\n\t}\n\n\ttarget[ 0 ] = minx;\n\ttarget[ 1 ] = miny;\n\ttarget[ 2 ] = minz;\n\n\ttarget[ 3 ] = maxx;\n\ttarget[ 4 ] = maxy;\n\ttarget[ 5 ] = maxz;\n\n\tif ( includeCentroid ) {\n\n\t\tcentroidTarget[ 0 ] = cminx;\n\t\tcentroidTarget[ 1 ] = cminy;\n\t\tcentroidTarget[ 2 ] = cminz;\n\n\t\tcentroidTarget[ 3 ] = cmaxx;\n\t\tcentroidTarget[ 4 ] = cmaxy;\n\t\tcentroidTarget[ 5 ] = cmaxz;\n\n\t}\n\n}\n\n// A stand alone function for retrieving the centroid bounds.\nfunction getCentroidBounds( triangleBounds, offset, count, centroidTarget ) {\n\n\tlet cminx = Infinity;\n\tlet cminy = Infinity;\n\tlet cminz = Infinity;\n\tlet cmaxx = - Infinity;\n\tlet cmaxy = - Infinity;\n\tlet cmaxz = - Infinity;\n\n\tfor ( let i = offset * 6, end = ( offset + count ) * 6; i < end; i += 6 ) {\n\n\t\tconst cx = triangleBounds[ i + 0 ];\n\t\tif ( cx < cminx ) cminx = cx;\n\t\tif ( cx > cmaxx ) cmaxx = cx;\n\n\t\tconst cy = triangleBounds[ i + 2 ];\n\t\tif ( cy < cminy ) cminy = cy;\n\t\tif ( cy > cmaxy ) cmaxy = cy;\n\n\t\tconst cz = triangleBounds[ i + 4 ];\n\t\tif ( cz < cminz ) cminz = cz;\n\t\tif ( cz > cmaxz ) cmaxz = cz;\n\n\t}\n\n\tcentroidTarget[ 0 ] = cminx;\n\tcentroidTarget[ 1 ] = cminy;\n\tcentroidTarget[ 2 ] = cminz;\n\n\tcentroidTarget[ 3 ] = cmaxx;\n\tcentroidTarget[ 4 ] = cmaxy;\n\tcentroidTarget[ 5 ] = cmaxz;\n\n}\n\n\n// reorders `tris` such that for `count` elements after `offset`, elements on the left side of the split\n// will be on the left and elements on the right side of the split will be on the right. returns the index\n// of the first element on the right side, or offset + count if there are no elements on the right side.\nfunction partition( index, triangleBounds, offset, count, split ) {\n\n\tlet left = offset;\n\tlet right = offset + count - 1;\n\tconst pos = split.pos;\n\tconst axisOffset = split.axis * 2;\n\n\t// hoare partitioning, see e.g. https://en.wikipedia.org/wiki/Quicksort#Hoare_partition_scheme\n\twhile ( true ) {\n\n\t\twhile ( left <= right && triangleBounds[ left * 6 + axisOffset ] < pos ) {\n\n\t\t\tleft ++;\n\n\t\t}\n\n\n\t\t// if a triangle center lies on the partition plane it is considered to be on the right side\n\t\twhile ( left <= right && triangleBounds[ right * 6 + axisOffset ] >= pos ) {\n\n\t\t\tright --;\n\n\t\t}\n\n\t\tif ( left < right ) {\n\n\t\t\t// we need to swap all of the information associated with the triangles at index\n\t\t\t// left and right; that's the verts in the geometry index, the bounds,\n\t\t\t// and perhaps the SAH planes\n\n\t\t\tfor ( let i = 0; i < 3; i ++ ) {\n\n\t\t\t\tlet t0 = index[ left * 3 + i ];\n\t\t\t\tindex[ left * 3 + i ] = index[ right * 3 + i ];\n\t\t\t\tindex[ right * 3 + i ] = t0;\n\n\t\t\t\tlet t1 = triangleBounds[ left * 6 + i * 2 + 0 ];\n\t\t\t\ttriangleBounds[ left * 6 + i * 2 + 0 ] = triangleBounds[ right * 6 + i * 2 + 0 ];\n\t\t\t\ttriangleBounds[ right * 6 + i * 2 + 0 ] = t1;\n\n\t\t\t\tlet t2 = triangleBounds[ left * 6 + i * 2 + 1 ];\n\t\t\t\ttriangleBounds[ left * 6 + i * 2 + 1 ] = triangleBounds[ right * 6 + i * 2 + 1 ];\n\t\t\t\ttriangleBounds[ right * 6 + i * 2 + 1 ] = t2;\n\n\t\t\t}\n\n\t\t\tleft ++;\n\t\t\tright --;\n\n\t\t} else {\n\n\t\t\treturn left;\n\n\t\t}\n\n\t}\n\n}\n\nconst BIN_COUNT = 32;\nconst sahBins = new Array( BIN_COUNT ).fill().map( () => {\n\n\treturn {\n\n\t\tcount: 0,\n\t\tbounds: new Float32Array( 6 ),\n\t\trightCacheBounds: new Float32Array( 6 ),\n\t\tcandidate: 0,\n\n\t};\n\n} );\nconst leftBounds = new Float32Array( 6 );\n\nfunction getOptimalSplit( nodeBoundingData, centroidBoundingData, triangleBounds, offset, count, strategy ) {\n\n\tlet axis = - 1;\n\tlet pos = 0;\n\n\t// Center\n\tif ( strategy === CENTER ) {\n\n\t\taxis = getLongestEdgeIndex( centroidBoundingData );\n\t\tif ( axis !== - 1 ) {\n\n\t\t\tpos = ( centroidBoundingData[ axis ] + centroidBoundingData[ axis + 3 ] ) / 2;\n\n\t\t}\n\n\t} else if ( strategy === AVERAGE ) {\n\n\t\taxis = getLongestEdgeIndex( nodeBoundingData );\n\t\tif ( axis !== - 1 ) {\n\n\t\t\tpos = getAverage( triangleBounds, offset, count, axis );\n\n\t\t}\n\n\t} else if ( strategy === SAH ) {\n\n\t\tconst rootSurfaceArea = computeSurfaceArea( nodeBoundingData );\n\t\tlet bestCost = TRIANGLE_INTERSECT_COST * count;\n\n\t\t// iterate over all axes\n\t\tconst cStart = offset * 6;\n\t\tconst cEnd = ( offset + count ) * 6;\n\t\tfor ( let a = 0; a < 3; a ++ ) {\n\n\t\t\tconst axisLeft = centroidBoundingData[ a ];\n\t\t\tconst axisRight = centroidBoundingData[ a + 3 ];\n\t\t\tconst axisLength = axisRight - axisLeft;\n\t\t\tconst binWidth = axisLength / BIN_COUNT;\n\n\t\t\t// reset the bins\n\t\t\tfor ( let i = 0; i < BIN_COUNT; i ++ ) {\n\n\t\t\t\tconst bin = sahBins[ i ];\n\t\t\t\tbin.count = 0;\n\t\t\t\tbin.candidate = axisLeft + binWidth + i * binWidth;\n\n\t\t\t\tconst bounds = bin.bounds;\n\t\t\t\tfor ( let d = 0; d < 3; d ++ ) {\n\n\t\t\t\t\tbounds[ d ] = Infinity;\n\t\t\t\t\tbounds[ d + 3 ] = - Infinity;\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\t// iterate over all center positions\n\t\t\tfor ( let c = cStart; c < cEnd; c += 6 ) {\n\n\t\t\t\tconst triCenter = triangleBounds[ c + 2 * a ];\n\t\t\t\tconst relativeCenter = triCenter - axisLeft;\n\n\t\t\t\t// in the partition function if the centroid lies on the split plane then it is\n\t\t\t\t// considered to be on the right side of the split\n\t\t\t\tlet binIndex = ~ ~ ( relativeCenter / binWidth );\n\t\t\t\tif ( binIndex >= BIN_COUNT ) binIndex = BIN_COUNT - 1;\n\n\t\t\t\tconst bin = sahBins[ binIndex ];\n\t\t\t\tbin.count ++;\n\n\t\t\t\tconst bounds = bin.bounds;\n\t\t\t\tfor ( let d = 0; d < 3; d ++ ) {\n\n\t\t\t\t\tconst tCenter = triangleBounds[ c + 2 * d ];\n\t\t\t\t\tconst tHalf = triangleBounds[ c + 2 * d + 1 ];\n\n\t\t\t\t\tconst tMin = tCenter - tHalf;\n\t\t\t\t\tconst tMax = tCenter + tHalf;\n\n\t\t\t\t\tif ( tMin < bounds[ d ] ) {\n\n\t\t\t\t\t\tbounds[ d ] = tMin;\n\n\t\t\t\t\t}\n\n\t\t\t\t\tif ( tMax > bounds[ d + 3 ] ) {\n\n\t\t\t\t\t\tbounds[ d + 3 ] = tMax;\n\n\t\t\t\t\t}\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\t// cache the unioned bounds from right to left so we don't have to regenerate them each time\n\t\t\tconst lastBin = sahBins[ BIN_COUNT - 1 ];\n\t\t\tcopyBounds( lastBin.bounds, lastBin.rightCacheBounds );\n\t\t\tfor ( let i = BIN_COUNT - 2; i >= 0; i -- ) {\n\n\t\t\t\tconst bin = sahBins[ i ];\n\t\t\t\tconst nextBin = sahBins[ i + 1 ];\n\t\t\t\tunionBounds( bin.bounds, nextBin.rightCacheBounds, bin.rightCacheBounds );\n\n\t\t\t}\n\n\t\t\tlet leftCount = 0;\n\t\t\tfor ( let i = 0; i < BIN_COUNT - 1; i ++ ) {\n\n\t\t\t\tconst bin = sahBins[ i ];\n\t\t\t\tconst binCount = bin.count;\n\t\t\t\tconst bounds = bin.bounds;\n\n\t\t\t\tconst nextBin = sahBins[ i + 1 ];\n\t\t\t\tconst rightBounds = nextBin.rightCacheBounds;\n\n\t\t\t\t// dont do anything with the bounds if the new bounds have no triangles\n\t\t\t\tif ( binCount !== 0 ) {\n\n\t\t\t\t\tif ( leftCount === 0 ) {\n\n\t\t\t\t\t\tcopyBounds( bounds, leftBounds );\n\n\t\t\t\t\t} else {\n\n\t\t\t\t\t\tunionBounds( bounds, leftBounds, leftBounds );\n\n\t\t\t\t\t}\n\n\t\t\t\t}\n\n\t\t\t\tleftCount += binCount;\n\n\t\t\t\t// check the cost of this split\n\t\t\t\tlet leftProb = 0;\n\t\t\t\tlet rightProb = 0;\n\n\t\t\t\tif ( leftCount !== 0 ) {\n\n\t\t\t\t\tleftProb = computeSurfaceArea( leftBounds ) / rootSurfaceArea;\n\n\t\t\t\t}\n\n\t\t\t\tconst rightCount = count - leftCount;\n\t\t\t\tif ( rightCount !== 0 ) {\n\n\t\t\t\t\trightProb = computeSurfaceArea( rightBounds ) / rootSurfaceArea;\n\n\t\t\t\t}\n\n\t\t\t\tconst cost = TRAVERSAL_COST + TRIANGLE_INTERSECT_COST * (\n\t\t\t\t\tleftProb * leftCount + rightProb * rightCount\n\t\t\t\t);\n\n\t\t\t\tif ( cost < bestCost ) {\n\n\t\t\t\t\taxis = a;\n\t\t\t\t\tbestCost = cost;\n\t\t\t\t\tpos = bin.candidate;\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t}\n\n\t}\n\n\treturn { axis, pos };\n\n}\n\n// returns the average coordinate on the specified axis of the all the provided triangles\nfunction getAverage( triangleBounds, offset, count, axis ) {\n\n\tlet avg = 0;\n\tfor ( let i = offset, end = offset + count; i < end; i ++ ) {\n\n\t\tavg += triangleBounds[ i * 6 + axis * 2 ];\n\n\t}\n\n\treturn avg / count;\n\n}\n\n// precomputes the bounding box for each triangle; required for quickly calculating tree splits.\n// result is an array of size tris.length * 6 where triangle i maps to a\n// [x_center, x_delta, y_center, y_delta, z_center, z_delta] tuple starting at index i * 6,\n// representing the center and half-extent in each dimension of triangle i\nfunction computeTriangleBounds( geo ) {\n\n\tconst posAttr = geo.attributes.position;\n\tconst posArr = posAttr.array;\n\tconst index = geo.index.array;\n\tconst triCount = index.length / 3;\n\tconst triangleBounds = new Float32Array( triCount * 6 );\n\n\t// support for an interleaved position buffer\n\tconst bufferOffset = posAttr.offset || 0;\n\tlet stride = 3;\n\tif ( posAttr.isInterleavedBufferAttribute ) {\n\n\t\tstride = posAttr.data.stride;\n\n\t}\n\n\tfor ( let tri = 0; tri < triCount; tri ++ ) {\n\n\t\tconst tri3 = tri * 3;\n\t\tconst tri6 = tri * 6;\n\t\tconst ai = index[ tri3 + 0 ] * stride + bufferOffset;\n\t\tconst bi = index[ tri3 + 1 ] * stride + bufferOffset;\n\t\tconst ci = index[ tri3 + 2 ] * stride + bufferOffset;\n\n\t\tfor ( let el = 0; el < 3; el ++ ) {\n\n\t\t\tconst a = posArr[ ai + el ];\n\t\t\tconst b = posArr[ bi + el ];\n\t\t\tconst c = posArr[ ci + el ];\n\n\t\t\tlet min = a;\n\t\t\tif ( b < min ) min = b;\n\t\t\tif ( c < min ) min = c;\n\n\t\t\tlet max = a;\n\t\t\tif ( b > max ) max = b;\n\t\t\tif ( c > max ) max = c;\n\n\t\t\t// Increase the bounds size by float32 epsilon to avoid precision errors when\n\t\t\t// converting to 32 bit float. Scale the epsilon by the size of the numbers being\n\t\t\t// worked with.\n\t\t\tconst halfExtents = ( max - min ) / 2;\n\t\t\tconst el2 = el * 2;\n\t\t\ttriangleBounds[ tri6 + el2 + 0 ] = min + halfExtents;\n\t\t\ttriangleBounds[ tri6 + el2 + 1 ] = halfExtents + ( Math.abs( min ) + halfExtents ) * FLOAT32_EPSILON;\n\n\t\t}\n\n\t}\n\n\treturn triangleBounds;\n\n}\n\nexport function buildTree( geo, options ) {\n\n\t// either recursively splits the given node, creating left and right subtrees for it, or makes it a leaf node,\n\t// recording the offset and count of its triangles and writing them into the reordered geometry index.\n\tfunction splitNode( node, offset, count, centroidBoundingData = null, depth = 0 ) {\n\n\t\tif ( ! reachedMaxDepth && depth >= maxDepth ) {\n\n\t\t\treachedMaxDepth = true;\n\t\t\tif ( verbose ) {\n\n\t\t\t\tconsole.warn( `MeshBVH: Max depth of ${ maxDepth } reached when generating BVH. Consider increasing maxDepth.` );\n\t\t\t\tconsole.warn( this, geo );\n\n\t\t\t}\n\n\t\t}\n\n\t\t// early out if we've met our capacity\n\t\tif ( count <= maxLeafTris || depth >= maxDepth ) {\n\n\t\t\tnode.offset = offset;\n\t\t\tnode.count = count;\n\t\t\treturn node;\n\n\t\t}\n\n\t\t// Find where to split the volume\n\t\tconst split = getOptimalSplit( node.boundingData, centroidBoundingData, triangleBounds, offset, count, strategy );\n\t\tif ( split.axis === - 1 ) {\n\n\t\t\tnode.offset = offset;\n\t\t\tnode.count = count;\n\t\t\treturn node;\n\n\t\t}\n\n\t\tconst splitOffset = partition( indexArray, triangleBounds, offset, count, split );\n\n\t\t// create the two new child nodes\n\t\tif ( splitOffset === offset || splitOffset === offset + count ) {\n\n\t\t\tnode.offset = offset;\n\t\t\tnode.count = count;\n\n\t\t} else {\n\n\t\t\tnode.splitAxis = split.axis;\n\n\t\t\t// create the left child and compute its bounding box\n\t\t\tconst left = new MeshBVHNode();\n\t\t\tconst lstart = offset;\n\t\t\tconst lcount = splitOffset - offset;\n\t\t\tnode.left = left;\n\t\t\tleft.boundingData = new Float32Array( 6 );\n\n\t\t\tgetBounds( triangleBounds, lstart, lcount, left.boundingData, cacheCentroidBoundingData );\n\t\t\tsplitNode( left, lstart, lcount, cacheCentroidBoundingData, depth + 1 );\n\n\t\t\t// repeat for right\n\t\t\tconst right = new MeshBVHNode();\n\t\t\tconst rstart = splitOffset;\n\t\t\tconst rcount = count - lcount;\n\t\t\tnode.right = right;\n\t\t\tright.boundingData = new Float32Array( 6 );\n\n\t\t\tgetBounds( triangleBounds, rstart, rcount, right.boundingData, cacheCentroidBoundingData );\n\t\t\tsplitNode( right, rstart, rcount, cacheCentroidBoundingData, depth + 1 );\n\n\t\t}\n\n\t\treturn node;\n\n\t}\n\n\tensureIndex( geo );\n\n\tconst cacheCentroidBoundingData = new Float32Array( 6 );\n\tconst triangleBounds = computeTriangleBounds( geo );\n\tconst indexArray = geo.index.array;\n\tconst maxDepth = options.maxDepth;\n\tconst verbose = options.verbose;\n\tconst maxLeafTris = options.maxLeafTris;\n\tconst strategy = options.strategy;\n\tlet reachedMaxDepth = false;\n\n\tconst roots = [];\n\tconst ranges = getRootIndexRanges( geo );\n\n\tif ( ranges.length === 1 ) {\n\n\t\tconst root = new MeshBVHNode();\n\t\tconst range = ranges[ 0 ];\n\n\t\tif ( geo.boundingBox != null ) {\n\n\t\t\troot.boundingData = boxToArray( geo.boundingBox );\n\t\t\tgetCentroidBounds( triangleBounds, range.offset, range.count, cacheCentroidBoundingData );\n\n\t\t} else {\n\n\t\t\troot.boundingData = new Float32Array( 6 );\n\t\t\tgetBounds( triangleBounds, range.offset, range.count, root.boundingData, cacheCentroidBoundingData );\n\n\t\t}\n\n\t\tsplitNode( root, range.offset, range.count, cacheCentroidBoundingData );\n\t\troots.push( root );\n\n\t} else {\n\n\t\tfor ( let range of ranges ) {\n\n\t\t\tconst root = new MeshBVHNode();\n\t\t\troot.boundingData = new Float32Array( 6 );\n\t\t\tgetBounds( triangleBounds, range.offset, range.count, root.boundingData, cacheCentroidBoundingData );\n\n\t\t\tsplitNode( root, range.offset, range.count, cacheCentroidBoundingData );\n\t\t\troots.push( root );\n\n\t\t}\n\n\t}\n\n\treturn roots;\n\n}\n\nexport const BYTES_PER_NODE = 6 * 4 + 4 + 4;\n\nexport const IS_LEAFNODE_FLAG = 0xFFFF;\n\nexport function buildPackedTree( geo, options ) {\n\n\t// boundingData \t\t\t\t: 6 float32\n\t// right / offset \t\t\t\t: 1 uint32\n\t// splitAxis / isLeaf + count \t: 1 uint32 / 2 uint16\n\tconst roots = buildTree( geo, options );\n\n\tlet float32Array;\n\tlet uint32Array;\n\tlet uint16Array;\n\tconst packedRoots = [];\n\tfor ( let i = 0; i < roots.length; i ++ ) {\n\n\t\tconst root = roots[ i ];\n\t\tlet nodeCount = countNodes( root );\n\n\t\tconst buffer = new ArrayBuffer( BYTES_PER_NODE * nodeCount );\n\t\tfloat32Array = new Float32Array( buffer );\n\t\tuint32Array = new Uint32Array( buffer );\n\t\tuint16Array = new Uint16Array( buffer );\n\t\tpopulateBuffer( 0, root );\n\t\tpackedRoots.push( buffer );\n\n\t}\n\n\treturn packedRoots;\n\n\tfunction countNodes( node ) {\n\n\t\tif ( node.count ) {\n\n\t\t\treturn 1;\n\n\t\t} else {\n\n\t\t\treturn 1 + countNodes( node.left ) + countNodes( node.right );\n\n\t\t}\n\n\t}\n\n\tfunction populateBuffer( byteOffset, node ) {\n\n\t\tconst stride4Offset = byteOffset / 4;\n\t\tconst stride2Offset = byteOffset / 2;\n\t\tconst isLeaf = ! ! node.count;\n\t\tconst boundingData = node.boundingData;\n\t\tfor ( let i = 0; i < 6; i ++ ) {\n\n\t\t\tfloat32Array[ stride4Offset + i ] = boundingData[ i ];\n\n\t\t}\n\n\t\tif ( isLeaf ) {\n\n\t\t\tconst offset = node.offset;\n\t\t\tconst count = node.count;\n\t\t\tuint32Array[ stride4Offset + 6 ] = offset;\n\t\t\tuint16Array[ stride2Offset + 14 ] = count;\n\t\t\tuint16Array[ stride2Offset + 15 ] = IS_LEAFNODE_FLAG;\n\t\t\treturn byteOffset + BYTES_PER_NODE;\n\n\t\t} else {\n\n\t\t\tconst left = node.left;\n\t\t\tconst right = node.right;\n\t\t\tconst splitAxis = node.splitAxis;\n\n\t\t\tlet nextUnusedPointer;\n\t\t\tnextUnusedPointer = populateBuffer( byteOffset + BYTES_PER_NODE, left );\n\n\t\t\tif ( ( nextUnusedPointer / 4 ) > Math.pow( 2, 32 ) ) {\n\n\t\t\t\tthrow new Error( 'MeshBVH: Cannot store child pointer greater than 32 bits.' );\n\n\t\t\t}\n\n\t\t\tuint32Array[ stride4Offset + 6 ] = nextUnusedPointer / 4;\n\t\t\tnextUnusedPointer = populateBuffer( nextUnusedPointer, right );\n\n\t\t\tuint32Array[ stride4Offset + 7 ] = splitAxis;\n\t\t\treturn nextUnusedPointer;\n\n\t\t}\n\n\t}\n\n}\n","import { Vector3 } from 'three';\r\n\r\nexport class SeparatingAxisBounds {\r\n\r\n\tconstructor() {\r\n\r\n\t\tthis.min = Infinity;\r\n\t\tthis.max = - Infinity;\r\n\r\n\t}\r\n\r\n\tsetFromPointsField( points, field ) {\r\n\r\n\t\tlet min = Infinity;\r\n\t\tlet max = - Infinity;\r\n\t\tfor ( let i = 0, l = points.length; i < l; i ++ ) {\r\n\r\n\t\t\tconst p = points[ i ];\r\n\t\t\tconst val = p[ field ];\r\n\t\t\tmin = Math.min( val, min );\r\n\t\t\tmax = Math.max( val, max );\r\n\r\n\t\t}\r\n\r\n\t\tthis.min = min;\r\n\t\tthis.max = max;\r\n\r\n\r\n\t}\r\n\r\n\tsetFromPoints( axis, points ) {\r\n\r\n\t\tlet min = Infinity;\r\n\t\tlet max = - Infinity;\r\n\t\tfor ( let i = 0, l = points.length; i < l; i ++ ) {\r\n\r\n\t\t\tconst p = points[ i ];\r\n\t\t\tconst val = axis.dot( p );\r\n\t\t\tmin = Math.min( val, min );\r\n\t\t\tmax = Math.max( val, max );\r\n\r\n\t\t}\r\n\r\n\t\tthis.min = min;\r\n\t\tthis.max = max;\r\n\r\n\t}\r\n\r\n\tisSeparated( other ) {\r\n\r\n\t\treturn this.min > other.max || other.min > this.max;\r\n\r\n\t}\r\n\r\n}\r\n\r\nSeparatingAxisBounds.prototype.setFromBox = ( function () {\r\n\r\n\tconst p = new Vector3();\r\n\treturn function setFromBox( axis, box ) {\r\n\r\n\t\tconst boxMin = box.min;\r\n\t\tconst boxMax = box.max;\r\n\t\tlet min = Infinity;\r\n\t\tlet max = - Infinity;\r\n\t\tfor ( let x = 0; x <= 1; x ++ ) {\r\n\r\n\t\t\tfor ( let y = 0; y <= 1; y ++ ) {\r\n\r\n\t\t\t\tfor ( let z = 0; z <= 1; z ++ ) {\r\n\r\n\t\t\t\t\tp.x = boxMin.x * x + boxMax.x * ( 1 - x );\r\n\t\t\t\t\tp.y = boxMin.y * y + boxMax.y * ( 1 - y );\r\n\t\t\t\t\tp.z = boxMin.z * z + boxMax.z * ( 1 - z );\r\n\r\n\t\t\t\t\tconst val = axis.dot( p );\r\n\t\t\t\t\tmin = Math.min( val, min );\r\n\t\t\t\t\tmax = Math.max( val, max );\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\tthis.min = min;\r\n\t\tthis.max = max;\r\n\r\n\t};\r\n\r\n} )();\r\n\r\nexport const areIntersecting = ( function () {\r\n\r\n\tconst cacheSatBounds = new SeparatingAxisBounds();\r\n\treturn function areIntersecting( shape1, shape2 ) {\r\n\r\n\t\tconst points1 = shape1.points;\r\n\t\tconst satAxes1 = shape1.satAxes;\r\n\t\tconst satBounds1 = shape1.satBounds;\r\n\r\n\t\tconst points2 = shape2.points;\r\n\t\tconst satAxes2 = shape2.satAxes;\r\n\t\tconst satBounds2 = shape2.satBounds;\r\n\r\n\t\t// check axes of the first shape\r\n\t\tfor ( let i = 0; i < 3; i ++ ) {\r\n\r\n\t\t\tconst sb = satBounds1[ i ];\r\n\t\t\tconst sa = satAxes1[ i ];\r\n\t\t\tcacheSatBounds.setFromPoints( sa, points2 );\r\n\t\t\tif ( sb.isSeparated( cacheSatBounds ) ) return false;\r\n\r\n\t\t}\r\n\r\n\t\t// check axes of the second shape\r\n\t\tfor ( let i = 0; i < 3; i ++ ) {\r\n\r\n\t\t\tconst sb = satBounds2[ i ];\r\n\t\t\tconst sa = satAxes2[ i ];\r\n\t\t\tcacheSatBounds.setFromPoints( sa, points1 );\r\n\t\t\tif ( sb.isSeparated( cacheSatBounds ) ) return false;\r\n\r\n\t\t}\r\n\r\n\t};\r\n\r\n} )();\r\n","import { Vector3, Vector2, Plane, Line3 } from 'three';\nexport const closestPointLineToLine = ( function () {\n\n\t// https://github.com/juj/MathGeoLib/blob/master/src/Geometry/Line.cpp#L56\n\tconst dir1 = new Vector3();\n\tconst dir2 = new Vector3();\n\tconst v02 = new Vector3();\n\treturn function closestPointLineToLine( l1, l2, result ) {\n\n\t\tconst v0 = l1.start;\n\t\tconst v10 = dir1;\n\t\tconst v2 = l2.start;\n\t\tconst v32 = dir2;\n\n\t\tv02.subVectors( v0, v2 );\n\t\tdir1.subVectors( l1.end, l2.start );\n\t\tdir2.subVectors( l2.end, l2.start );\n\n\t\t// float d0232 = v02.Dot(v32);\n\t\tconst d0232 = v02.dot( v32 );\n\n\t\t// float d3210 = v32.Dot(v10);\n\t\tconst d3210 = v32.dot( v10 );\n\n\t\t// float d3232 = v32.Dot(v32);\n\t\tconst d3232 = v32.dot( v32 );\n\n\t\t// float d0210 = v02.Dot(v10);\n\t\tconst d0210 = v02.dot( v10 );\n\n\t\t// float d1010 = v10.Dot(v10);\n\t\tconst d1010 = v10.dot( v10 );\n\n\t\t// float denom = d1010*d3232 - d3210*d3210;\n\t\tconst denom = d1010 * d3232 - d3210 * d3210;\n\n\t\tlet d, d2;\n\t\tif ( denom !== 0 ) {\n\n\t\t\td = ( d0232 * d3210 - d0210 * d3232 ) / denom;\n\n\t\t} else {\n\n\t\t\td = 0;\n\n\t\t}\n\n\t\td2 = ( d0232 + d * d3210 ) / d3232;\n\n\t\tresult.x = d;\n\t\tresult.y = d2;\n\n\t};\n\n} )();\n\nexport const closestPointsSegmentToSegment = ( function () {\n\n\t// https://github.com/juj/MathGeoLib/blob/master/src/Geometry/LineSegment.cpp#L187\n\tconst paramResult = new Vector2();\n\tconst temp1 = new Vector3();\n\tconst temp2 = new Vector3();\n\treturn function closestPointsSegmentToSegment( l1, l2, target1, target2 ) {\n\n\t\tclosestPointLineToLine( l1, l2, paramResult );\n\n\t\tlet d = paramResult.x;\n\t\tlet d2 = paramResult.y;\n\t\tif ( d >= 0 && d <= 1 && d2 >= 0 && d2 <= 1 ) {\n\n\t\t\tl1.at( d, target1 );\n\t\t\tl2.at( d2, target2 );\n\n\t\t\treturn;\n\n\t\t} else if ( d >= 0 && d <= 1 ) {\n\n\t\t\t// Only d2 is out of bounds.\n\t\t\tif ( d2 < 0 ) {\n\n\t\t\t\tl2.at( 0, target2 );\n\n\t\t\t} else {\n\n\t\t\t\tl2.at( 1, target2 );\n\n\t\t\t}\n\n\t\t\tl1.closestPointToPoint( target2, true, target1 );\n\t\t\treturn;\n\n\t\t} else if ( d2 >= 0 && d2 <= 1 ) {\n\n\t\t\t// Only d is out of bounds.\n\t\t\tif ( d < 0 ) {\n\n\t\t\t\tl1.at( 0, target1 );\n\n\t\t\t} else {\n\n\t\t\t\tl1.at( 1, target1 );\n\n\t\t\t}\n\n\t\t\tl2.closestPointToPoint( target1, true, target2 );\n\t\t\treturn;\n\n\t\t} else {\n\n\t\t\t// Both u and u2 are out of bounds.\n\t\t\tlet p;\n\t\t\tif ( d < 0 ) {\n\n\t\t\t\tp = l1.start;\n\n\t\t\t} else {\n\n\t\t\t\tp = l1.end;\n\n\t\t\t}\n\n\t\t\tlet p2;\n\t\t\tif ( d2 < 0 ) {\n\n\t\t\t\tp2 = l2.start;\n\n\t\t\t} else {\n\n\t\t\t\tp2 = l2.end;\n\n\t\t\t}\n\n\t\t\tconst closestPoint = temp1;\n\t\t\tconst closestPoint2 = temp2;\n\t\t\tl1.closestPointToPoint( p2, true, temp1 );\n\t\t\tl2.closestPointToPoint( p, true, temp2 );\n\n\t\t\tif ( closestPoint.distanceToSquared( p2 ) <= closestPoint2.distanceToSquared( p ) ) {\n\n\t\t\t\ttarget1.copy( closestPoint );\n\t\t\t\ttarget2.copy( p2 );\n\t\t\t\treturn;\n\n\t\t\t} else {\n\n\t\t\t\ttarget1.copy( p );\n\t\t\t\ttarget2.copy( closestPoint2 );\n\t\t\t\treturn;\n\n\t\t\t}\n\n\t\t}\n\n\t};\n\n} )();\n\n\nexport const sphereIntersectTriangle = ( function () {\n\n\t// https://stackoverflow.com/questions/34043955/detect-collision-between-sphere-and-triangle-in-three-js\n\tconst closestPointTemp = new Vector3();\n\tconst projectedPointTemp = new Vector3();\n\tconst planeTemp = new Plane();\n\tconst lineTemp = new Line3();\n\treturn function sphereIntersectTriangle( sphere, triangle ) {\n\n\t\tconst { radius, center } = sphere;\n\t\tconst { a, b, c } = triangle;\n\n\t\t// phase 1\n\t\tlineTemp.start = a;\n\t\tlineTemp.end = b;\n\t\tconst closestPoint1 = lineTemp.closestPointToPoint( center, true, closestPointTemp );\n\t\tif ( closestPoint1.distanceTo( center ) <= radius ) return true;\n\n\t\tlineTemp.start = a;\n\t\tlineTemp.end = c;\n\t\tconst closestPoint2 = lineTemp.closestPointToPoint( center, true, closestPointTemp );\n\t\tif ( closestPoint2.distanceTo( center ) <= radius ) return true;\n\n\t\tlineTemp.start = b;\n\t\tlineTemp.end = c;\n\t\tconst closestPoint3 = lineTemp.closestPointToPoint( center, true, closestPointTemp );\n\t\tif ( closestPoint3.distanceTo( center ) <= radius ) return true;\n\n\t\t// phase 2\n\t\tconst plane = triangle.getPlane( planeTemp );\n\t\tconst dp = Math.abs( plane.distanceToPoint( center ) );\n\t\tif ( dp <= radius ) {\n\n\t\t\tconst pp = plane.projectPoint( center, projectedPointTemp );\n\t\t\tconst cp = triangle.containsPoint( pp );\n\t\t\tif ( cp ) return true;\n\n\t\t}\n\n\t\treturn false;\n\n\t};\n\n} )();\n","import { Triangle, Vector3, Line3, Sphere } from 'three';\r\nimport { SeparatingAxisBounds } from './SeparatingAxisBounds.js';\r\nimport { closestPointsSegmentToSegment, sphereIntersectTriangle } from './MathUtilities.js';\r\n\r\nexport class SeparatingAxisTriangle extends Triangle {\r\n\r\n\tconstructor( ...args ) {\r\n\r\n\t\tsuper( ...args );\r\n\r\n\t\tthis.isSeparatingAxisTriangle = true;\r\n\t\tthis.satAxes = new Array( 4 ).fill().map( () => new Vector3() );\r\n\t\tthis.satBounds = new Array( 4 ).fill().map( () => new SeparatingAxisBounds() );\r\n\t\tthis.points = [ this.a, this.b, this.c ];\r\n\t\tthis.sphere = new Sphere();\r\n\t\tthis.needsUpdate = false;\r\n\r\n\t}\r\n\r\n\tintersectsSphere( sphere ) {\r\n\r\n\t\treturn sphereIntersectTriangle( sphere, this );\r\n\r\n\t}\r\n\r\n\tupdate() {\r\n\r\n\t\tconst a = this.a;\r\n\t\tconst b = this.b;\r\n\t\tconst c = this.c;\r\n\t\tconst points = this.points;\r\n\r\n\t\tconst satAxes = this.satAxes;\r\n\t\tconst satBounds = this.satBounds;\r\n\r\n\t\tconst axis0 = satAxes[ 0 ];\r\n\t\tconst sab0 = satBounds[ 0 ];\r\n\t\tthis.getNormal( axis0 );\r\n\t\tsab0.setFromPoints( axis0, points );\r\n\r\n\t\tconst axis1 = satAxes[ 1 ];\r\n\t\tconst sab1 = satBounds[ 1 ];\r\n\t\taxis1.subVectors( a, b );\r\n\t\tsab1.setFromPoints( axis1, points );\r\n\r\n\t\tconst axis2 = satAxes[ 2 ];\r\n\t\tconst sab2 = satBounds[ 2 ];\r\n\t\taxis2.subVectors( b, c );\r\n\t\tsab2.setFromPoints( axis2, points );\r\n\r\n\t\tconst axis3 = satAxes[ 3 ];\r\n\t\tconst sab3 = satBounds[ 3 ];\r\n\t\taxis3.subVectors( c, a );\r\n\t\tsab3.setFromPoints( axis3, points );\r\n\r\n\t\tthis.sphere.setFromPoints( this.points );\r\n\t\tthis.needsUpdate = false;\r\n\r\n\t}\r\n\r\n}\r\n\r\nSeparatingAxisTriangle.prototype.closestPointToSegment = ( function () {\r\n\r\n\tconst point1 = new Vector3();\r\n\tconst point2 = new Vector3();\r\n\tconst edge = new Line3();\r\n\r\n\treturn function distanceToSegment( segment, target1 = null, target2 = null ) {\r\n\r\n\t\tconst { start, end } = segment;\r\n\t\tconst points = this.points;\r\n\t\tlet distSq;\r\n\t\tlet closestDistanceSq = Infinity;\r\n\r\n\t\t// check the triangle edges\r\n\t\tfor ( let i = 0; i < 3; i ++ ) {\r\n\r\n\t\t\tconst nexti = ( i + 1 ) % 3;\r\n\t\t\tedge.start.copy( points[ i ] );\r\n\t\t\tedge.end.copy( points[ nexti ] );\r\n\r\n\t\t\tclosestPointsSegmentToSegment( edge, segment, point1, point2 );\r\n\r\n\t\t\tdistSq = point1.distanceToSquared( point2 );\r\n\t\t\tif ( distSq < closestDistanceSq ) {\r\n\r\n\t\t\t\tclosestDistanceSq = distSq;\r\n\t\t\t\tif ( target1 ) target1.copy( point1 );\r\n\t\t\t\tif ( target2 ) target2.copy( point2 );\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\t// check end points\r\n\t\tthis.closestPointToPoint( start, point1 );\r\n\t\tdistSq = start.distanceToSquared( point1 );\r\n\t\tif ( distSq < closestDistanceSq ) {\r\n\r\n\t\t\tclosestDistanceSq = distSq;\r\n\t\t\tif ( target1 ) target1.copy( point1 );\r\n\t\t\tif ( target2 ) target2.copy( start );\r\n\r\n\t\t}\r\n\r\n\t\tthis.closestPointToPoint( end, point1 );\r\n\t\tdistSq = end.distanceToSquared( point1 );\r\n\t\tif ( distSq < closestDistanceSq ) {\r\n\r\n\t\t\tclosestDistanceSq = distSq;\r\n\t\t\tif ( target1 ) target1.copy( point1 );\r\n\t\t\tif ( target2 ) target2.copy( end );\r\n\r\n\t\t}\r\n\r\n\t\treturn Math.sqrt( closestDistanceSq );\r\n\r\n\t};\r\n\r\n} )();\r\n\r\nSeparatingAxisTriangle.prototype.intersectsTriangle = ( function () {\r\n\r\n\tconst saTri2 = new SeparatingAxisTriangle();\r\n\tconst arr1 = new Array( 3 );\r\n\tconst arr2 = new Array( 3 );\r\n\tconst cachedSatBounds = new SeparatingAxisBounds();\r\n\tconst cachedSatBounds2 = new SeparatingAxisBounds();\r\n\tconst cachedAxis = new Vector3();\r\n\treturn function intersectsTriangle( other ) {\r\n\r\n\t\tif ( this.needsUpdate ) {\r\n\r\n\t\t\tthis.update();\r\n\r\n\t\t}\r\n\r\n\t\tif ( ! other.isSeparatingAxisTriangle ) {\r\n\r\n\t\t\tsaTri2.copy( other );\r\n\t\t\tsaTri2.update();\r\n\t\t\tother = saTri2;\r\n\r\n\t\t} else if ( other.needsUpdate ) {\r\n\r\n\t\t\tother.update();\r\n\r\n\t\t}\r\n\r\n\t\tconst satBounds1 = this.satBounds;\r\n\t\tconst satAxes1 = this.satAxes;\r\n\t\tarr2[ 0 ] = other.a;\r\n\t\tarr2[ 1 ] = other.b;\r\n\t\tarr2[ 2 ] = other.c;\r\n\t\tfor ( let i = 0; i < 4; i ++ ) {\r\n\r\n\t\t\tconst sb = satBounds1[ i ];\r\n\t\t\tconst sa = satAxes1[ i ];\r\n\t\t\tcachedSatBounds.setFromPoints( sa, arr2 );\r\n\t\t\tif ( sb.isSeparated( cachedSatBounds ) ) return false;\r\n\r\n\t\t}\r\n\r\n\t\tconst satBounds2 = other.satBounds;\r\n\t\tconst satAxes2 = other.satAxes;\r\n\t\tarr1[ 0 ] = this.a;\r\n\t\tarr1[ 1 ] = this.b;\r\n\t\tarr1[ 2 ] = this.c;\r\n\t\tfor ( let i = 0; i < 4; i ++ ) {\r\n\r\n\t\t\tconst sb = satBounds2[ i ];\r\n\t\t\tconst sa = satAxes2[ i ];\r\n\t\t\tcachedSatBounds.setFromPoints( sa, arr1 );\r\n\t\t\tif ( sb.isSeparated( cachedSatBounds ) ) return false;\r\n\r\n\t\t}\r\n\r\n\t\t// check crossed axes\r\n\t\tfor ( let i = 0; i < 4; i ++ ) {\r\n\r\n\t\t\tconst sa1 = satAxes1[ i ];\r\n\t\t\tfor ( let i2 = 0; i2 < 4; i2 ++ ) {\r\n\r\n\t\t\t\tconst sa2 = satAxes2[ i2 ];\r\n\t\t\t\tcachedAxis.crossVectors( sa1, sa2 );\r\n\t\t\t\tcachedSatBounds.setFromPoints( cachedAxis, arr1 );\r\n\t\t\t\tcachedSatBounds2.setFromPoints( cachedAxis, arr2 );\r\n\t\t\t\tif ( cachedSatBounds.isSeparated( cachedSatBounds2 ) ) return false;\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\treturn true;\r\n\r\n\t};\r\n\r\n} )();\r\n\r\n\r\nSeparatingAxisTriangle.prototype.distanceToPoint = ( function () {\r\n\r\n\tconst target = new Vector3();\r\n\treturn function distanceToPoint( point ) {\r\n\r\n\t\tthis.closestPointToPoint( point, target );\r\n\t\treturn point.distanceTo( target );\r\n\r\n\t};\r\n\r\n} )();\r\n\r\n\r\nSeparatingAxisTriangle.prototype.distanceToTriangle = ( function () {\r\n\r\n\tconst point = new Vector3();\r\n\tconst point2 = new Vector3();\r\n\tconst cornerFields = [ 'a', 'b', 'c' ];\r\n\tconst line1 = new Line3();\r\n\tconst line2 = new Line3();\r\n\r\n\treturn function distanceToTriangle( other, target1 = null, target2 = null ) {\r\n\r\n\t\tif ( this.intersectsTriangle( other ) ) {\r\n\r\n\t\t\t// TODO: This will not result in a point that lies on\r\n\t\t\t// the intersection line of the triangles\r\n\t\t\tif ( target1 || target2 ) {\r\n\r\n\t\t\t\tthis.getMidpoint( point );\r\n\t\t\t\tother.closestPointToPoint( point, point2 );\r\n\t\t\t\tthis.closestPointToPoint( point2, point );\r\n\r\n\t\t\t\tif ( target1 ) target1.copy( point );\r\n\t\t\t\tif ( target2 ) target2.copy( point2 );\r\n\r\n\t\t\t}\r\n\r\n\t\t\treturn 0;\r\n\r\n\t\t}\r\n\r\n\t\tlet closestDistanceSq = Infinity;\r\n\r\n\t\t// check all point distances\r\n\t\tfor ( let i = 0; i < 3; i ++ ) {\r\n\r\n\t\t\tlet dist;\r\n\t\t\tconst field = cornerFields[ i ];\r\n\t\t\tconst otherVec = other[ field ];\r\n\t\t\tthis.closestPointToPoint( otherVec, point );\r\n\r\n\t\t\tdist = otherVec.distanceToSquared( point );\r\n\r\n\t\t\tif ( dist < closestDistanceSq ) {\r\n\r\n\t\t\t\tclosestDistanceSq = dist;\r\n\t\t\t\tif ( target1 ) target1.copy( point );\r\n\t\t\t\tif ( target2 ) target2.copy( otherVec );\r\n\r\n\t\t\t}\r\n\r\n\r\n\t\t\tconst thisVec = this[ field ];\r\n\t\t\tother.closestPointToPoint( thisVec, point );\r\n\r\n\t\t\tdist = thisVec.distanceToSquared( point );\r\n\r\n\t\t\tif ( dist < closestDistanceSq ) {\r\n\r\n\t\t\t\tclosestDistanceSq = dist;\r\n\t\t\t\tif ( target1 ) target1.copy( thisVec );\r\n\t\t\t\tif ( target2 ) target2.copy( point );\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\tfor ( let i = 0; i < 3; i ++ ) {\r\n\r\n\t\t\tconst f11 = cornerFields[ i ];\r\n\t\t\tconst f12 = cornerFields[ ( i + 1 ) % 3 ];\r\n\t\t\tline1.set( this[ f11 ], this[ f12 ] );\r\n\t\t\tfor ( let i2 = 0; i2 < 3; i2 ++ ) {\r\n\r\n\t\t\t\tconst f21 = cornerFields[ i2 ];\r\n\t\t\t\tconst f22 = cornerFields[ ( i2 + 1 ) % 3 ];\r\n\t\t\t\tline2.set( other[ f21 ], other[ f22 ] );\r\n\r\n\t\t\t\tclosestPointsSegmentToSegment( line1, line2, point, point2 );\r\n\r\n\t\t\t\tconst dist = point.distanceToSquared( point2 );\r\n\t\t\t\tif ( dist < closestDistanceSq ) {\r\n\r\n\t\t\t\t\tclosestDistanceSq = dist;\r\n\t\t\t\t\tif ( target1 ) target1.copy( point );\r\n\t\t\t\t\tif ( target2 ) target2.copy( point2 );\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\treturn Math.sqrt( closestDistanceSq );\r\n\r\n\t};\r\n\r\n} )();\r\n\r\n","import { Box3, Vector3, Matrix4, Sphere, Line3 } from 'three';\r\nimport { SeparatingAxisBounds } from './SeparatingAxisBounds.js';\r\nimport { SeparatingAxisTriangle } from './SeparatingAxisTriangle.js';\r\nimport { closestPointsSegmentToSegment } from './MathUtilities.js';\r\n\r\nexport class OrientedBox extends Box3 {\r\n\r\n\tconstructor( ...args ) {\r\n\r\n\t\tsuper( ...args );\r\n\r\n\t\tthis.isOrientedBox = true;\r\n\t\tthis.matrix = new Matrix4();\r\n\t\tthis.invMatrix = new Matrix4();\r\n\t\tthis.points = new Array( 8 ).fill().map( () => new Vector3() );\r\n\t\tthis.satAxes = new Array( 3 ).fill().map( () => new Vector3() );\r\n\t\tthis.satBounds = new Array( 3 ).fill().map( () => new SeparatingAxisBounds() );\r\n\t\tthis.alignedSatBounds = new Array( 3 ).fill().map( () => new SeparatingAxisBounds() );\r\n\t\tthis.sphere = new Sphere();\r\n\t\tthis.needsUpdate = false;\r\n\r\n\t}\r\n\r\n\tset( min, max, matrix ) {\r\n\r\n\t\tsuper.set( min, max );\r\n\t\tthis.matrix = matrix;\r\n\t\tthis.needsUpdate = true;\r\n\r\n\t}\r\n\r\n\tcopy( other ) {\r\n\r\n\t\tsuper.copy( other );\r\n\t\tthis.matrix.copy( other.matrix );\r\n\t\tthis.needsUpdate = true;\r\n\r\n\t}\r\n\r\n}\r\n\r\nOrientedBox.prototype.update = ( function () {\r\n\r\n\treturn function update() {\r\n\r\n\t\tconst matrix = this.matrix;\r\n\t\tconst min = this.min;\r\n\t\tconst max = this.max;\r\n\r\n\t\tconst points = this.points;\r\n\t\tfor ( let x = 0; x <= 1; x ++ ) {\r\n\r\n\t\t\tfor ( let y = 0; y <= 1; y ++ ) {\r\n\r\n\t\t\t\tfor ( let z = 0; z <= 1; z ++ ) {\r\n\r\n\t\t\t\t\tconst i = ( ( 1 << 0 ) * x ) | ( ( 1 << 1 ) * y ) | ( ( 1 << 2 ) * z );\r\n\t\t\t\t\tconst v = points[ i ];\r\n\t\t\t\t\tv.x = x ? max.x : min.x;\r\n\t\t\t\t\tv.y = y ? max.y : min.y;\r\n\t\t\t\t\tv.z = z ? max.z : min.z;\r\n\r\n\t\t\t\t\tv.applyMatrix4( matrix );\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\tthis.sphere.setFromPoints( this.points );\r\n\r\n\t\tconst satBounds = this.satBounds;\r\n\t\tconst satAxes = this.satAxes;\r\n\t\tconst minVec = points[ 0 ];\r\n\t\tfor ( let i = 0; i < 3; i ++ ) {\r\n\r\n\t\t\tconst axis = satAxes[ i ];\r\n\t\t\tconst sb = satBounds[ i ];\r\n\t\t\tconst index = 1 << i;\r\n\t\t\tconst pi = points[ index ];\r\n\r\n\t\t\taxis.subVectors( minVec, pi );\r\n\t\t\tsb.setFromPoints( axis, points );\r\n\r\n\t\t}\r\n\r\n\t\tconst alignedSatBounds = this.alignedSatBounds;\r\n\t\talignedSatBounds[ 0 ].setFromPointsField( points, 'x' );\r\n\t\talignedSatBounds[ 1 ].setFromPointsField( points, 'y' );\r\n\t\talignedSatBounds[ 2 ].setFromPointsField( points, 'z' );\r\n\r\n\t\tthis.invMatrix.copy( this.matrix ).invert();\r\n\t\tthis.needsUpdate = false;\r\n\r\n\t};\r\n\r\n} )();\r\n\r\nOrientedBox.prototype.intersectsBox = ( function () {\r\n\r\n\tconst aabbBounds = new SeparatingAxisBounds();\r\n\treturn function intersectsBox( box ) {\r\n\r\n\t\tif ( this.needsUpdate ) {\r\n\r\n\t\t\tthis.update();\r\n\r\n\t\t}\r\n\r\n\t\tif ( ! box.intersectsSphere( this.sphere ) ) return false;\r\n\r\n\t\tconst min = box.min;\r\n\t\tconst max = box.max;\r\n\t\tconst satBounds = this.satBounds;\r\n\t\tconst satAxes = this.satAxes;\r\n\t\tconst alignedSatBounds = this.alignedSatBounds;\r\n\r\n\t\taabbBounds.min = min.x;\r\n\t\taabbBounds.max = max.x;\r\n\t\tif ( alignedSatBounds[ 0 ].isSeparated( aabbBounds ) ) return false;\r\n\r\n\t\taabbBounds.min = min.y;\r\n\t\taabbBounds.max = max.y;\r\n\t\tif ( alignedSatBounds[ 1 ].isSeparated( aabbBounds ) ) return false;\r\n\r\n\t\taabbBounds.min = min.z;\r\n\t\taabbBounds.max = max.z;\r\n\t\tif ( alignedSatBounds[ 2 ].isSeparated( aabbBounds ) ) return false;\r\n\r\n\t\tfor ( let i = 0; i < 3; i ++ ) {\r\n\r\n\t\t\tconst axis = satAxes[ i ];\r\n\t\t\tconst sb = satBounds[ i ];\r\n\t\t\taabbBounds.setFromBox( axis, box );\r\n\t\t\tif ( sb.isSeparated( aabbBounds ) ) return false;\r\n\r\n\t\t}\r\n\r\n\t\treturn true;\r\n\r\n\t};\r\n\r\n} )();\r\n\r\nOrientedBox.prototype.intersectsTriangle = ( function () {\r\n\r\n\tconst saTri = new SeparatingAxisTriangle();\r\n\tconst pointsArr = new Array( 3 );\r\n\tconst cachedSatBounds = new SeparatingAxisBounds();\r\n\tconst cachedSatBounds2 = new SeparatingAxisBounds();\r\n\tconst cachedAxis = new Vector3();\r\n\treturn function intersectsTriangle( triangle ) {\r\n\r\n\t\tif ( this.needsUpdate ) {\r\n\r\n\t\t\tthis.update();\r\n\r\n\t\t}\r\n\r\n\t\tif ( ! triangle.isSeparatingAxisTriangle ) {\r\n\r\n\t\t\tsaTri.copy( triangle );\r\n\t\t\tsaTri.update();\r\n\t\t\ttriangle = saTri;\r\n\r\n\t\t} else if ( triangle.needsUpdate ) {\r\n\r\n\t\t\ttriangle.update();\r\n\r\n\t\t}\r\n\r\n\t\tconst satBounds = this.satBounds;\r\n\t\tconst satAxes = this.satAxes;\r\n\r\n\t\tpointsArr[ 0 ] = triangle.a;\r\n\t\tpointsArr[ 1 ] = triangle.b;\r\n\t\tpointsArr[ 2 ] = triangle.c;\r\n\r\n\t\tfor ( let i = 0; i < 3; i ++ ) {\r\n\r\n\t\t\tconst sb = satBounds[ i ];\r\n\t\t\tconst sa = satAxes[ i ];\r\n\t\t\tcachedSatBounds.setFromPoints( sa, pointsArr );\r\n\t\t\tif ( sb.isSeparated( cachedSatBounds ) ) return false;\r\n\r\n\t\t}\r\n\r\n\t\tconst triSatBounds = triangle.satBounds;\r\n\t\tconst triSatAxes = triangle.satAxes;\r\n\t\tconst points = this.points;\r\n\t\tfor ( let i = 0; i < 3; i ++ ) {\r\n\r\n\t\t\tconst sb = triSatBounds[ i ];\r\n\t\t\tconst sa = triSatAxes[ i ];\r\n\t\t\tcachedSatBounds.setFromPoints( sa, points );\r\n\t\t\tif ( sb.isSeparated( cachedSatBounds ) ) return false;\r\n\r\n\t\t}\r\n\r\n\t\t// check crossed axes\r\n\t\tfor ( let i = 0; i < 3; i ++ ) {\r\n\r\n\t\t\tconst sa1 = satAxes[ i ];\r\n\t\t\tfor ( let i2 = 0; i2 < 4; i2 ++ ) {\r\n\r\n\t\t\t\tconst sa2 = triSatAxes[ i2 ];\r\n\t\t\t\tcachedAxis.crossVectors( sa1, sa2 );\r\n\t\t\t\tcachedSatBounds.setFromPoints( cachedAxis, pointsArr );\r\n\t\t\t\tcachedSatBounds2.setFromPoints( cachedAxis, points );\r\n\t\t\t\tif ( cachedSatBounds.isSeparated( cachedSatBounds2 ) ) return false;\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\treturn true;\r\n\r\n\t};\r\n\r\n} )();\r\n\r\nOrientedBox.prototype.closestPointToPoint = ( function () {\r\n\r\n\treturn function closestPointToPoint( point, target1 ) {\r\n\r\n\t\tif ( this.needsUpdate ) {\r\n\r\n\t\t\tthis.update();\r\n\r\n\t\t}\r\n\r\n\t\ttarget1\r\n\t\t\t.copy( point )\r\n\t\t\t.applyMatrix4( this.invMatrix )\r\n\t\t\t.clamp( this.min, this.max )\r\n\t\t\t.applyMatrix4( this.matrix );\r\n\r\n\t\treturn target1;\r\n\r\n\t};\r\n\r\n} )();\r\n\r\nOrientedBox.prototype.distanceToPoint = ( function () {\r\n\r\n\tconst target = new Vector3();\r\n\treturn function distanceToPoint( point ) {\r\n\r\n\t\tthis.closestPointToPoint( point, target );\r\n\t\treturn point.distanceTo( target );\r\n\r\n\t};\r\n\r\n} )();\r\n\r\n\r\nOrientedBox.prototype.distanceToBox = ( function () {\r\n\r\n\tconst xyzFields = [ 'x', 'y', 'z' ];\r\n\tconst segments1 = new Array( 12 ).fill().map( () => new Line3() );\r\n\tconst segments2 = new Array( 12 ).fill().map( () => new Line3() );\r\n\r\n\tconst point1 = new Vector3();\r\n\tconst point2 = new Vector3();\r\n\r\n\t// early out if we find a value below threshold\r\n\treturn function distanceToBox( box, threshold = 0, target1 = null, target2 = null ) {\r\n\r\n\t\tif ( this.needsUpdate ) {\r\n\r\n\t\t\tthis.update();\r\n\r\n\t\t}\r\n\r\n\t\tif ( this.intersectsBox( box ) ) {\r\n\r\n\t\t\tif ( target1 || target2 ) {\r\n\r\n\t\t\t\tbox.getCenter( point2 );\r\n\t\t\t\tthis.closestPointToPoint( point2, point1 );\r\n\t\t\t\tbox.closestPointToPoint( point1, point2 );\r\n\r\n\t\t\t\tif ( target1 ) target1.copy( point1 );\r\n\t\t\t\tif ( target2 ) target2.copy( point2 );\r\n\r\n\t\t\t}\r\n\r\n\t\t\treturn 0;\r\n\r\n\t\t}\r\n\r\n\t\tconst threshold2 = threshold * threshold;\r\n\t\tconst min = box.min;\r\n\t\tconst max = box.max;\r\n\t\tconst points = this.points;\r\n\r\n\r\n\t\t// iterate over every edge and compare distances\r\n\t\tlet closestDistanceSq = Infinity;\r\n\r\n\t\t// check over all these points\r\n\t\tfor ( let i = 0; i < 8; i ++ ) {\r\n\r\n\t\t\tconst p = points[ i ];\r\n\t\t\tpoint2.copy( p ).clamp( min, max );\r\n\r\n\t\t\tconst dist = p.distanceToSquared( point2 );\r\n\t\t\tif ( dist < closestDistanceSq ) {\r\n\r\n\t\t\t\tclosestDistanceSq = dist;\r\n\t\t\t\tif ( target1 ) target1.copy( p );\r\n\t\t\t\tif ( target2 ) target2.copy( point2 );\r\n\r\n\t\t\t\tif ( dist < threshold2 ) return Math.sqrt( dist );\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\t// generate and check all line segment distances\r\n\t\tlet count = 0;\r\n\t\tfor ( let i = 0; i < 3; i ++ ) {\r\n\r\n\t\t\tfor ( let i1 = 0; i1 <= 1; i1 ++ ) {\r\n\r\n\t\t\t\tfor ( let i2 = 0; i2 <= 1; i2 ++ ) {\r\n\r\n\t\t\t\t\tconst nextIndex = ( i + 1 ) % 3;\r\n\t\t\t\t\tconst nextIndex2 = ( i + 2 ) % 3;\r\n\r\n\t\t\t\t\t// get obb line segments\r\n\t\t\t\t\tconst index = i1 << nextIndex | i2 << nextIndex2;\r\n\t\t\t\t\tconst index2 = 1 << i | i1 << nextIndex | i2 << nextIndex2;\r\n\t\t\t\t\tconst p1 = points[ index ];\r\n\t\t\t\t\tconst p2 = points[ index2 ];\r\n\t\t\t\t\tconst line1 = segments1[ count ];\r\n\t\t\t\t\tline1.set( p1, p2 );\r\n\r\n\r\n\t\t\t\t\t// get aabb line segments\r\n\t\t\t\t\tconst f1 = xyzFields[ i ];\r\n\t\t\t\t\tconst f2 = xyzFields[ nextIndex ];\r\n\t\t\t\t\tconst f3 = xyzFields[ nextIndex2 ];\r\n\t\t\t\t\tconst line2 = segments2[ count ];\r\n\t\t\t\t\tconst start = line2.start;\r\n\t\t\t\t\tconst end = line2.end;\r\n\r\n\t\t\t\t\tstart[ f1 ] = min[ f1 ];\r\n\t\t\t\t\tstart[ f2 ] = i1 ? min[ f2 ] : max[ f2 ];\r\n\t\t\t\t\tstart[ f3 ] = i2 ? min[ f3 ] : max[ f2 ];\r\n\r\n\t\t\t\t\tend[ f1 ] = max[ f1 ];\r\n\t\t\t\t\tend[ f2 ] = i1 ? min[ f2 ] : max[ f2 ];\r\n\t\t\t\t\tend[ f3 ] = i2 ? min[ f3 ] : max[ f2 ];\r\n\r\n\t\t\t\t\tcount ++;\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\t// check all the other boxes point\r\n\t\tfor ( let x = 0; x <= 1; x ++ ) {\r\n\r\n\t\t\tfor ( let y = 0; y <= 1; y ++ ) {\r\n\r\n\t\t\t\tfor ( let z = 0; z <= 1; z ++ ) {\r\n\r\n\t\t\t\t\tpoint2.x = x ? max.x : min.x;\r\n\t\t\t\t\tpoint2.y = y ? max.y : min.y;\r\n\t\t\t\t\tpoint2.z = z ? max.z : min.z;\r\n\r\n\t\t\t\t\tthis.closestPointToPoint( point2, point1 );\r\n\t\t\t\t\tconst dist = point2.distanceToSquared( point1 );\r\n\t\t\t\t\tif ( dist < closestDistanceSq ) {\r\n\r\n\t\t\t\t\t\tclosestDistanceSq = dist;\r\n\t\t\t\t\t\tif ( target1 ) target1.copy( point1 );\r\n\t\t\t\t\t\tif ( target2 ) target2.copy( point2 );\r\n\r\n\t\t\t\t\t\tif ( dist < threshold2 ) return Math.sqrt( dist );\r\n\r\n\t\t\t\t\t}\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\tfor ( let i = 0; i < 12; i ++ ) {\r\n\r\n\t\t\tconst l1 = segments1[ i ];\r\n\t\t\tfor ( let i2 = 0; i2 < 12; i2 ++ ) {\r\n\r\n\t\t\t\tconst l2 = segments2[ i2 ];\r\n\t\t\t\tclosestPointsSegmentToSegment( l1, l2, point1, point2 );\r\n\t\t\t\tconst dist = point1.distanceToSquared( point2 );\r\n\t\t\t\tif ( dist < closestDistanceSq ) {\r\n\r\n\t\t\t\t\tclosestDistanceSq = dist;\r\n\t\t\t\t\tif ( target1 ) target1.copy( point1 );\r\n\t\t\t\t\tif ( target2 ) target2.copy( point2 );\r\n\r\n\t\t\t\t\tif ( dist < threshold2 ) return Math.sqrt( dist );\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\treturn Math.sqrt( closestDistanceSq );\r\n\r\n\t};\r\n\r\n} )();\r\n","// sets the vertices of triangle `tri` with the 3 vertices after i\r\nexport function setTriangle( tri, i, index, pos ) {\r\n\r\n\tconst ta = tri.a;\r\n\tconst tb = tri.b;\r\n\tconst tc = tri.c;\r\n\r\n\tlet i0 = i;\r\n\tlet i1 = i + 1;\r\n\tlet i2 = i + 2;\r\n\tif ( index ) {\r\n\r\n\t\ti0 = index.getX( i );\r\n\t\ti1 = index.getX( i + 1 );\r\n\t\ti2 = index.getX( i + 2 );\r\n\r\n\t}\r\n\r\n\tta.x = pos.getX( i0 );\r\n\tta.y = pos.getY( i0 );\r\n\tta.z = pos.getZ( i0 );\r\n\r\n\ttb.x = pos.getX( i1 );\r\n\ttb.y = pos.getY( i1 );\r\n\ttb.z = pos.getZ( i1 );\r\n\r\n\ttc.x = pos.getX( i2 );\r\n\ttc.y = pos.getY( i2 );\r\n\ttc.z = pos.getZ( i2 );\r\n\r\n}\r\n","import { Vector3, Vector2, Triangle, DoubleSide, BackSide } from 'three';\r\n\r\n// Ripped and modified From THREE.js Mesh raycast\r\n// https://github.com/mrdoob/three.js/blob/0aa87c999fe61e216c1133fba7a95772b503eddf/src/objects/Mesh.js#L115\r\nvar vA = new Vector3();\r\nvar vB = new Vector3();\r\nvar vC = new Vector3();\r\n\r\nvar uvA = new Vector2();\r\nvar uvB = new Vector2();\r\nvar uvC = new Vector2();\r\n\r\nvar intersectionPoint = new Vector3();\r\nvar intersectionPointWorld = new Vector3();\r\n\r\nfunction checkIntersection( object, material, raycaster, ray, pA, pB, pC, point ) {\r\n\r\n\tvar intersect;\r\n\tif ( material.side === BackSide ) {\r\n\r\n\t\tintersect = ray.intersectTriangle( pC, pB, pA, true, point );\r\n\r\n\t} else {\r\n\r\n\t\tintersect = ray.intersectTriangle( pA, pB, pC, material.side !== DoubleSide, point );\r\n\r\n\t}\r\n\r\n\tif ( intersect === null ) return null;\r\n\r\n\tintersectionPointWorld.copy( point );\r\n\tintersectionPointWorld.applyMatrix4( object.matrixWorld );\r\n\r\n\tvar distance = raycaster.ray.origin.distanceTo( intersectionPointWorld );\r\n\r\n\tif ( distance < raycaster.near || distance > raycaster.far ) return null;\r\n\r\n\treturn {\r\n\r\n\t\t// EDITED\r\n\t\t// Including the local-space point so it can be used to accelerate raycasting\r\n\t\tlocalPoint: point,\r\n\t\tdistance: distance,\r\n\t\tpoint: intersectionPointWorld.clone(),\r\n\t\tobject: object\r\n\t};\r\n\r\n}\r\n\r\nfunction checkBufferGeometryIntersection( object, raycaster, ray, position, uv, a, b, c ) {\r\n\r\n\tvA.fromBufferAttribute( position, a );\r\n\tvB.fromBufferAttribute( position, b );\r\n\tvC.fromBufferAttribute( position, c );\r\n\r\n\tvar intersection = checkIntersection( object, object.material, raycaster, ray, vA, vB, vC, intersectionPoint );\r\n\r\n\tif ( intersection ) {\r\n\r\n\t\tif ( uv ) {\r\n\r\n\t\t\tuvA.fromBufferAttribute( uv, a );\r\n\t\t\tuvB.fromBufferAttribute( uv, b );\r\n\t\t\tuvC.fromBufferAttribute( uv, c );\r\n\r\n\t\t\tintersection.uv = Triangle.getUV( intersectionPoint, vA, vB, vC, uvA, uvB, uvC, new Vector2( ) );\r\n\r\n\t\t}\r\n\r\n\t\tconst face = {\r\n\t\t\ta: a,\r\n\t\t\tb: b,\r\n\t\t\tc: c,\r\n\t\t\tnormal: new Vector3( ),\r\n\t\t\tmaterialIndex: 0\r\n\t\t};\r\n\r\n\t\tTriangle.getNormal( vA, vB, vC, face.normal );\r\n\r\n\t\tintersection.face = face;\r\n\t\tintersection.faceIndex = a;\r\n\r\n\t}\r\n\r\n\treturn intersection;\r\n\r\n}\r\n\r\n// https://github.com/mrdoob/three.js/blob/0aa87c999fe61e216c1133fba7a95772b503eddf/src/objects/Mesh.js#L258\r\nfunction intersectTri( mesh, geo, raycaster, ray, tri, intersections ) {\r\n\r\n\tconst triOffset = tri * 3;\r\n\tconst a = geo.index.getX( triOffset );\r\n\tconst b = geo.index.getX( triOffset + 1 );\r\n\tconst c = geo.index.getX( triOffset + 2 );\r\n\r\n\tconst intersection = checkBufferGeometryIntersection( mesh, raycaster, ray, geo.attributes.position, geo.attributes.uv, a, b, c );\r\n\r\n\tif ( intersection ) {\r\n\r\n\t\tintersection.faceIndex = tri;\r\n\t\tif ( intersections ) intersections.push( intersection );\r\n\t\treturn intersection;\r\n\r\n\t}\r\n\r\n\treturn null;\r\n\r\n}\r\n\r\nexport { intersectTri };\r\n","import { intersectTri } from './ThreeIntersectionUtilities.js';\r\n\r\nexport function intersectTris( mesh, geo, raycaster, ray, offset, count, intersections ) {\r\n\r\n\tfor ( let i = offset, end = offset + count; i < end; i ++ ) {\r\n\r\n\t\tintersectTri( mesh, geo, raycaster, ray, i, intersections );\r\n\r\n\t}\r\n\r\n}\r\n\r\nexport function intersectClosestTri( mesh, geo, raycaster, ray, offset, count ) {\r\n\r\n\tlet dist = Infinity;\r\n\tlet res = null;\r\n\tfor ( let i = offset, end = offset + count; i < end; i ++ ) {\r\n\r\n\t\tconst intersection = intersectTri( mesh, geo, raycaster, ray, i );\r\n\t\tif ( intersection && intersection.distance < dist ) {\r\n\r\n\t\t\tres = intersection;\r\n\t\t\tdist = intersection.distance;\r\n\r\n\t\t}\r\n\r\n\t}\r\n\r\n\treturn res;\r\n\r\n}\r\n","import { setTriangle } from './TriangleUtils.js';\r\n\r\nexport function arrayToBox( nodeIndex32, array, target ) {\r\n\r\n\ttarget.min.x = array[ nodeIndex32 ];\r\n\ttarget.min.y = array[ nodeIndex32 + 1 ];\r\n\ttarget.min.z = array[ nodeIndex32 + 2 ];\r\n\r\n\ttarget.max.x = array[ nodeIndex32 + 3 ];\r\n\ttarget.max.y = array[ nodeIndex32 + 4 ];\r\n\ttarget.max.z = array[ nodeIndex32 + 5 ];\r\n\r\n}\r\n\r\nexport function iterateOverTriangles(\r\n\toffset,\r\n\tcount,\r\n\tgeometry,\r\n\tintersectsTriangleFunc,\r\n\tcontained,\r\n\tdepth,\r\n\ttriangle\r\n) {\r\n\r\n\tconst index = geometry.index;\r\n\tconst pos = geometry.attributes.position;\r\n\tfor ( let i = offset, l = count + offset; i < l; i ++ ) {\r\n\r\n\t\tsetTriangle( triangle, i * 3, index, pos );\r\n\t\ttriangle.needsUpdate = true;\r\n\r\n\t\tif ( intersectsTriangleFunc( triangle, i, contained, depth ) ) {\r\n\r\n\t\t\treturn true;\r\n\r\n\t\t}\r\n\r\n\t}\r\n\r\n\treturn false;\r\n\r\n}\r\n","// For speed and readability this script is processed to replace the macro-like calls\n// with inline buffer reads. See generate-cast-functions.js.\nimport { Box3, Vector3, Mesh, Matrix4 } from 'three';\nimport { intersectTris, intersectClosestTri } from './Utils/RayIntersectTriUtilities.js';\nimport { arrayToBox } from './Utils/BufferNodeUtils.js';\n\nimport { OrientedBox } from './Utils/OrientedBox.js';\nimport { setTriangle } from './Utils/TriangleUtils.js';\nimport { SeparatingAxisTriangle } from './Utils/SeparatingAxisTriangle.js';\nimport { CONTAINED } from './Constants.js';\n\nconst boundingBox = new Box3();\nconst boxIntersection = new Vector3();\nconst xyzFields = [ 'x', 'y', 'z' ];\n\nfunction IS_LEAF( n16, uint16Array ) {\n\n\treturn uint16Array[ n16 + 15 ] === 0xFFFF;\n\n}\n\nfunction OFFSET( n32, uint32Array ) {\n\n\treturn uint32Array[ n32 + 6 ];\n\n}\n\nfunction COUNT( n32, uint16Array ) {\n\n\treturn uint16Array[ n32 + 14 ];\n\n}\n\nfunction LEFT_NODE( n32 ) {\n\n\treturn n32 + 8;\n\n}\n\nfunction RIGHT_NODE( n32, uint32Array ) {\n\n\treturn uint32Array[ n32 + 6 ];\n\n}\n\nfunction SPLIT_AXIS( n32, uint32Array ) {\n\n\treturn uint32Array[ n32 + 7 ];\n\n}\n\nfunction BOUNDING_DATA_INDEX( n32 ) {\n\n\treturn n32;\n\n}\n\nexport function raycast( nodeIndex32, mesh, geometry, raycaster, ray, intersects ) {\n\n\tlet nodeIndex16 = nodeIndex32 * 2, float32Array = _float32Array, uint16Array = _uint16Array, uint32Array = _uint32Array;\n\n\tconst isLeaf = IS_LEAF( nodeIndex16, uint16Array );\n\tif ( isLeaf ) {\n\n\t\tconst offset = OFFSET( nodeIndex32, uint32Array );\n\t\tconst count = COUNT( nodeIndex16, uint16Array );\n\n\t\tintersectTris( mesh, geometry, raycaster, ray, offset, count, intersects );\n\n\t} else {\n\n\t\tconst leftIndex = LEFT_NODE( nodeIndex32 );\n\t\tif ( intersectRay( leftIndex, float32Array, ray, boxIntersection ) ) {\n\n\t\t\traycast( leftIndex, mesh, geometry, raycaster, ray, intersects );\n\n\t\t}\n\n\t\tconst rightIndex = RIGHT_NODE( nodeIndex32, uint32Array );\n\t\tif ( intersectRay( rightIndex, float32Array, ray, boxIntersection ) ) {\n\n\t\t\traycast( rightIndex, mesh, geometry, raycaster, ray, intersects );\n\n\t\t}\n\n\t}\n\n}\n\nexport function raycastFirst( nodeIndex32, mesh, geometry, raycaster, ray ) {\n\n\tlet nodeIndex16 = nodeIndex32 * 2, float32Array = _float32Array, uint16Array = _uint16Array, uint32Array = _uint32Array;\n\n\tconst isLeaf = IS_LEAF( nodeIndex16, uint16Array );\n\tif ( isLeaf ) {\n\n\t\tconst offset = OFFSET( nodeIndex32, uint32Array );\n\t\tconst count = COUNT( nodeIndex16, uint16Array );\n\t\treturn intersectClosestTri( mesh, geometry, raycaster, ray, offset, count );\n\n\t} else {\n\n\t\t// consider the position of the split plane with respect to the oncoming ray; whichever direction\n\t\t// the ray is coming from, look for an intersection among that side of the tree first\n\t\tconst splitAxis = SPLIT_AXIS( nodeIndex32, uint32Array );\n\t\tconst xyzAxis = xyzFields[ splitAxis ];\n\t\tconst rayDir = ray.direction[ xyzAxis ];\n\t\tconst leftToRight = rayDir >= 0;\n\n\t\t// c1 is the child to check first\n\t\tlet c1, c2;\n\t\tif ( leftToRight ) {\n\n\t\t\tc1 = LEFT_NODE( nodeIndex32 );\n\t\t\tc2 = RIGHT_NODE( nodeIndex32, uint32Array );\n\n\t\t} else {\n\n\t\t\tc1 = RIGHT_NODE( nodeIndex32, uint32Array );\n\t\t\tc2 = LEFT_NODE( nodeIndex32 );\n\n\t\t}\n\n\t\tconst c1Intersection = intersectRay( c1, float32Array, ray, boxIntersection );\n\t\tconst c1Result = c1Intersection ? raycastFirst( c1, mesh, geometry, raycaster, ray ) : null;\n\n\t\t// if we got an intersection in the first node and it's closer than the second node's bounding\n\t\t// box, we don't need to consider the second node because it couldn't possibly be a better result\n\t\tif ( c1Result ) {\n\n\t\t\t// check if the point is within the second bounds\n\t\t\tconst point = c1Result.localPoint[ xyzAxis ];\n\t\t\tconst isOutside = leftToRight ?\n\t\t\t\tpoint <= float32Array[ c2 + splitAxis ] : // min bounding data\n\t\t\t\tpoint >= float32Array[ c2 + splitAxis + 3 ]; // max bounding data\n\n\t\t\tif ( isOutside ) {\n\n\t\t\t\treturn c1Result;\n\n\t\t\t}\n\n\t\t}\n\n\t\t// either there was no intersection in the first node, or there could still be a closer\n\t\t// intersection in the second, so check the second node and then take the better of the two\n\t\tconst c2Intersection = intersectRay( c2, float32Array, ray, boxIntersection );\n\t\tconst c2Result = c2Intersection ? raycastFirst( c2, mesh, geometry, raycaster, ray ) : null;\n\n\t\tif ( c1Result && c2Result ) {\n\n\t\t\treturn c1Result.distance <= c2Result.distance ? c1Result : c2Result;\n\n\t\t} else {\n\n\t\t\treturn c1Result || c2Result || null;\n\n\t\t}\n\n\t}\n\n}\n\nexport const shapecast = ( function () {\n\n\tconst _box1 = new Box3();\n\tconst _box2 = new Box3();\n\n\treturn function shapecast(\n\t\tnodeIndex32,\n\t\tgeometry,\n\t\tintersectsBoundsFunc,\n\t\tintersectsRangeFunc,\n\t\tnodeScoreFunc = null,\n\t\tnodeIndexByteOffset = 0, // offset for unique node identifier\n\t\tdepth = 0\n\t) {\n\n\t\t// Define these inside the function so it has access to the local variables needed\n\t\t// when converting to the buffer equivalents\n\t\tfunction getLeftOffset( nodeIndex32 ) {\n\n\t\t\tlet nodeIndex16 = nodeIndex32 * 2, uint16Array = _uint16Array, uint32Array = _uint32Array;\n\n\t\t\t// traverse until we find a leaf\n\t\t\twhile ( ! IS_LEAF( nodeIndex16, uint16Array ) ) {\n\n\t\t\t\tnodeIndex32 = LEFT_NODE( nodeIndex32 );\n\t\t\t\tnodeIndex16 = nodeIndex32 * 2;\n\n\t\t\t}\n\n\t\t\treturn OFFSET( nodeIndex32, uint32Array );\n\n\t\t}\n\n\t\tfunction getRightEndOffset( nodeIndex32 ) {\n\n\t\t\tlet nodeIndex16 = nodeIndex32 * 2, uint16Array = _uint16Array, uint32Array = _uint32Array;\n\n\t\t\t// traverse until we find a leaf\n\t\t\twhile ( ! IS_LEAF( nodeIndex16, uint16Array ) ) {\n\n\t\t\t\t// adjust offset to point to the right node\n\t\t\t\tnodeIndex32 = RIGHT_NODE( nodeIndex32, uint32Array );\n\t\t\t\tnodeIndex16 = nodeIndex32 * 2;\n\n\t\t\t}\n\n\t\t\t// return the end offset of the triangle range\n\t\t\treturn OFFSET( nodeIndex32, uint32Array ) + COUNT( nodeIndex16, uint16Array );\n\n\t\t}\n\n\t\tlet nodeIndex16 = nodeIndex32 * 2, float32Array = _float32Array, uint16Array = _uint16Array, uint32Array = _uint32Array;\n\n\t\tconst isLeaf = IS_LEAF( nodeIndex16, uint16Array );\n\t\tif ( isLeaf ) {\n\n\t\t\tconst offset = OFFSET( nodeIndex32, uint32Array );\n\t\t\tconst count = COUNT( nodeIndex16, uint16Array );\n\t\t\treturn intersectsRangeFunc( offset, count, false, depth, nodeIndexByteOffset + nodeIndex32 );\n\n\t\t} else {\n\n\t\t\tconst left = LEFT_NODE( nodeIndex32 );\n\t\t\tconst right = RIGHT_NODE( nodeIndex32, uint32Array );\n\t\t\tlet c1 = left;\n\t\t\tlet c2 = right;\n\n\t\t\tlet score1, score2;\n\t\t\tlet box1, box2;\n\t\t\tif ( nodeScoreFunc ) {\n\n\t\t\t\tbox1 = _box1;\n\t\t\t\tbox2 = _box2;\n\n\t\t\t\t// bounding data is not offset\n\t\t\t\tarrayToBox( BOUNDING_DATA_INDEX( c1 ), float32Array, box1 );\n\t\t\t\tarrayToBox( BOUNDING_DATA_INDEX( c2 ), float32Array, box2 );\n\n\t\t\t\tscore1 = nodeScoreFunc( box1 );\n\t\t\t\tscore2 = nodeScoreFunc( box2 );\n\n\t\t\t\tif ( score2 < score1 ) {\n\n\t\t\t\t\tc1 = right;\n\t\t\t\t\tc2 = left;\n\n\t\t\t\t\tconst temp = score1;\n\t\t\t\t\tscore1 = score2;\n\t\t\t\t\tscore2 = temp;\n\n\t\t\t\t\tbox1 = box2;\n\t\t\t\t\t// box2 is always set before use below\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\t// Check box 1 intersection\n\t\t\tif ( ! box1 ) {\n\n\t\t\t\tbox1 = _box1;\n\t\t\t\tarrayToBox( BOUNDING_DATA_INDEX( c1 ), float32Array, box1 );\n\n\t\t\t}\n\n\t\t\tconst isC1Leaf = IS_LEAF( c1 * 2, uint16Array );\n\t\t\tconst c1Intersection = intersectsBoundsFunc( box1, isC1Leaf, score1, depth + 1, nodeIndexByteOffset + c1 );\n\n\t\t\tlet c1StopTraversal;\n\t\t\tif ( c1Intersection === CONTAINED ) {\n\n\t\t\t\tconst offset = getLeftOffset( c1 );\n\t\t\t\tconst end = getRightEndOffset( c1 );\n\t\t\t\tconst count = end - offset;\n\n\t\t\t\tc1StopTraversal = intersectsRangeFunc( offset, count, true, depth + 1, nodeIndexByteOffset + c1 );\n\n\t\t\t} else {\n\n\t\t\t\tc1StopTraversal =\n\t\t\t\t\tc1Intersection &&\n\t\t\t\t\tshapecast(\n\t\t\t\t\t\tc1,\n\t\t\t\t\t\tgeometry,\n\t\t\t\t\t\tintersectsBoundsFunc,\n\t\t\t\t\t\tintersectsRangeFunc,\n\t\t\t\t\t\tnodeScoreFunc,\n\t\t\t\t\t\tnodeIndexByteOffset,\n\t\t\t\t\t\tdepth + 1\n\t\t\t\t\t);\n\n\t\t\t}\n\n\t\t\tif ( c1StopTraversal ) return true;\n\n\t\t\t// Check box 2 intersection\n\t\t\t// cached box2 will have been overwritten by previous traversal\n\t\t\tbox2 = _box2;\n\t\t\tarrayToBox( BOUNDING_DATA_INDEX( c2 ), float32Array, box2 );\n\n\t\t\tconst isC2Leaf = IS_LEAF( c2 * 2, uint16Array );\n\t\t\tconst c2Intersection = intersectsBoundsFunc( box2, isC2Leaf, score2, depth + 1, nodeIndexByteOffset + c2 );\n\n\t\t\tlet c2StopTraversal;\n\t\t\tif ( c2Intersection === CONTAINED ) {\n\n\t\t\t\tconst offset = getLeftOffset( c2 );\n\t\t\t\tconst end = getRightEndOffset( c2 );\n\t\t\t\tconst count = end - offset;\n\n\t\t\t\tc2StopTraversal = intersectsRangeFunc( offset, count, true, depth + 1, nodeIndexByteOffset + c2 );\n\n\t\t\t} else {\n\n\t\t\t\tc2StopTraversal =\n\t\t\t\t\tc2Intersection &&\n\t\t\t\t\tshapecast(\n\t\t\t\t\t\tc2,\n\t\t\t\t\t\tgeometry,\n\t\t\t\t\t\tintersectsBoundsFunc,\n\t\t\t\t\t\tintersectsRangeFunc,\n\t\t\t\t\t\tnodeScoreFunc,\n\t\t\t\t\t\tnodeIndexByteOffset,\n\t\t\t\t\t\tdepth + 1\n\t\t\t\t\t);\n\n\t\t\t}\n\n\t\t\tif ( c2StopTraversal ) return true;\n\n\t\t\treturn false;\n\n\t\t}\n\n\t};\n\n} )();\n\nexport const intersectsGeometry = ( function () {\n\n\tconst triangle = new SeparatingAxisTriangle();\n\tconst triangle2 = new SeparatingAxisTriangle();\n\tconst cachedMesh = new Mesh();\n\tconst invertedMat = new Matrix4();\n\n\tconst obb = new OrientedBox();\n\tconst obb2 = new OrientedBox();\n\n\treturn function intersectsGeometry( nodeIndex32, mesh, geometry, otherGeometry, geometryToBvh, cachedObb = null ) {\n\n\t\tlet nodeIndex16 = nodeIndex32 * 2, float32Array = _float32Array, uint16Array = _uint16Array, uint32Array = _uint32Array;\n\n\t\tif ( cachedObb === null ) {\n\n\t\t\tif ( ! otherGeometry.boundingBox ) {\n\n\t\t\t\totherGeometry.computeBoundingBox();\n\n\t\t\t}\n\n\t\t\tobb.set( otherGeometry.boundingBox.min, otherGeometry.boundingBox.max, geometryToBvh );\n\t\t\tcachedObb = obb;\n\n\t\t}\n\n\t\tconst isLeaf = IS_LEAF( nodeIndex16, uint16Array );\n\t\tif ( isLeaf ) {\n\n\t\t\tconst thisGeometry = geometry;\n\t\t\tconst thisIndex = thisGeometry.index;\n\t\t\tconst thisPos = thisGeometry.attributes.position;\n\n\t\t\tconst index = otherGeometry.index;\n\t\t\tconst pos = otherGeometry.attributes.position;\n\n\t\t\tconst offset = OFFSET( nodeIndex32, uint32Array );\n\t\t\tconst count = COUNT( nodeIndex16, uint16Array );\n\n\t\t\t// get the inverse of the geometry matrix so we can transform our triangles into the\n\t\t\t// geometry space we're trying to test. We assume there are fewer triangles being checked\n\t\t\t// here.\n\t\t\tinvertedMat.copy( geometryToBvh ).invert();\n\n\t\t\tif ( otherGeometry.boundsTree ) {\n\n\t\t\t\tarrayToBox( BOUNDING_DATA_INDEX( nodeIndex32 ), float32Array, obb2 );\n\t\t\t\tobb2.matrix.copy( invertedMat );\n\t\t\t\tobb2.needsUpdate = true;\n\n\t\t\t\tcachedMesh.geometry = otherGeometry;\n\t\t\t\tconst res = otherGeometry.boundsTree.shapecast( cachedMesh, {\n\n\t\t\t\t\tintersectsBounds: box => obb2.intersectsBox( box ),\n\n\t\t\t\t\tintersectsTriangle: tri => {\n\n\t\t\t\t\t\ttri.a.applyMatrix4( geometryToBvh );\n\t\t\t\t\t\ttri.b.applyMatrix4( geometryToBvh );\n\t\t\t\t\t\ttri.c.applyMatrix4( geometryToBvh );\n\t\t\t\t\t\ttri.needsUpdate = true;\n\n\t\t\t\t\t\tfor ( let i = offset * 3, l = ( count + offset ) * 3; i < l; i += 3 ) {\n\n\t\t\t\t\t\t\t// this triangle needs to be transformed into the current BVH coordinate frame\n\t\t\t\t\t\t\tsetTriangle( triangle2, i, thisIndex, thisPos );\n\t\t\t\t\t\t\ttriangle2.needsUpdate = true;\n\t\t\t\t\t\t\tif ( tri.intersectsTriangle( triangle2 ) ) {\n\n\t\t\t\t\t\t\t\treturn true;\n\n\t\t\t\t\t\t\t}\n\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\treturn false;\n\n\t\t\t\t\t}\n\n\t\t\t\t} );\n\t\t\t\tcachedMesh.geometry = null;\n\n\t\t\t\treturn res;\n\n\t\t\t} else {\n\n\t\t\t\tfor ( let i = offset * 3, l = ( count + offset * 3 ); i < l; i += 3 ) {\n\n\t\t\t\t\t// this triangle needs to be transformed into the current BVH coordinate frame\n\t\t\t\t\tsetTriangle( triangle, i, thisIndex, thisPos );\n\t\t\t\t\ttriangle.a.applyMatrix4( invertedMat );\n\t\t\t\t\ttriangle.b.applyMatrix4( invertedMat );\n\t\t\t\t\ttriangle.c.applyMatrix4( invertedMat );\n\t\t\t\t\ttriangle.needsUpdate = true;\n\n\t\t\t\t\tfor ( let i2 = 0, l2 = index.count; i2 < l2; i2 += 3 ) {\n\n\t\t\t\t\t\tsetTriangle( triangle2, i2, index, pos );\n\t\t\t\t\t\ttriangle2.needsUpdate = true;\n\n\t\t\t\t\t\tif ( triangle.intersectsTriangle( triangle2 ) ) {\n\n\t\t\t\t\t\t\treturn true;\n\n\t\t\t\t\t\t}\n\n\t\t\t\t\t}\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t} else {\n\n\t\t\tconst left = nodeIndex32 + 8;\n\t\t\tconst right = uint32Array[ nodeIndex32 + 6 ];\n\n\t\t\tarrayToBox( BOUNDING_DATA_INDEX( left ), float32Array, boundingBox );\n\t\t\tconst leftIntersection =\n\t\t\t\tcachedObb.intersectsBox( boundingBox ) &&\n\t\t\t\tintersectsGeometry( left, mesh, geometry, otherGeometry, geometryToBvh, cachedObb );\n\n\t\t\tif ( leftIntersection ) return true;\n\n\t\t\tarrayToBox( BOUNDING_DATA_INDEX( right ), float32Array, boundingBox );\n\t\t\tconst rightIntersection =\n\t\t\t\tcachedObb.intersectsBox( boundingBox ) &&\n\t\t\t\tintersectsGeometry( right, mesh, geometry, otherGeometry, geometryToBvh, cachedObb );\n\n\t\t\tif ( rightIntersection ) return true;\n\n\t\t\treturn false;\n\n\t\t}\n\n\t};\n\n} )();\n\nfunction intersectRay( nodeIndex32, array, ray, target ) {\n\n\tarrayToBox( nodeIndex32, array, boundingBox );\n\treturn ray.intersectBox( boundingBox, target );\n\n}\n\nconst bufferStack = [];\nlet _prevBuffer;\nlet _float32Array;\nlet _uint16Array;\nlet _uint32Array;\nexport function setBuffer( buffer ) {\n\n\tif ( _prevBuffer ) {\n\n\t\tbufferStack.push( _prevBuffer );\n\n\t}\n\n\t_prevBuffer = buffer;\n\t_float32Array = new Float32Array( buffer );\n\t_uint16Array = new Uint16Array( buffer );\n\t_uint32Array = new Uint32Array( buffer );\n\n}\n\nexport function clearBuffer() {\n\n\t_prevBuffer = null;\n\t_float32Array = null;\n\t_uint16Array = null;\n\t_uint32Array = null;\n\n\tif ( bufferStack.length ) {\n\n\t\tsetBuffer( bufferStack.pop() );\n\n\t}\n\n}\n","import { Vector3, BufferAttribute, Box3 } from 'three';\r\nimport { CENTER } from './Constants.js';\r\nimport { BYTES_PER_NODE, IS_LEAFNODE_FLAG, buildPackedTree } from './buildFunctions.js';\r\nimport { OrientedBox } from './Utils/OrientedBox.js';\r\nimport { SeparatingAxisTriangle } from './Utils/SeparatingAxisTriangle.js';\r\nimport { setTriangle } from './Utils/TriangleUtils.js';\r\nimport {\r\n\traycast,\r\n\traycastFirst,\r\n\tshapecast,\r\n\tintersectsGeometry,\r\n\tsetBuffer,\r\n\tclearBuffer,\r\n} from './castFunctions.js';\r\nimport { arrayToBox, iterateOverTriangles } from './Utils/BufferNodeUtils.js';\r\n\r\nconst SKIP_GENERATION = Symbol( 'skip tree generation' );\r\n\r\nconst obb = new OrientedBox();\r\nconst obb2 = new OrientedBox();\r\nconst temp = new Vector3();\r\nconst temp1 = new Vector3();\r\nconst temp2 = new Vector3();\r\nconst tempBox = new Box3();\r\nconst triangle = new SeparatingAxisTriangle();\r\nconst triangle2 = new SeparatingAxisTriangle();\r\n\r\nexport default class MeshBVH {\r\n\r\n\tstatic serialize( bvh, geometry, copyIndexBuffer = true ) {\r\n\r\n\t\tconst rootData = bvh._roots;\r\n\t\tconst indexAttribute = geometry.getIndex();\r\n\t\tconst result = {\r\n\t\t\troots: rootData,\r\n\t\t\tindex: copyIndexBuffer ? indexAttribute.array.slice() : indexAttribute.array,\r\n\t\t};\r\n\r\n\t\treturn result;\r\n\r\n\t}\r\n\r\n\tstatic deserialize( data, geometry, setIndex = true ) {\r\n\r\n\t\tconst { index, roots } = data;\r\n\t\tconst bvh = new MeshBVH( geometry, { [ SKIP_GENERATION ]: true } );\r\n\t\tbvh._roots = roots;\r\n\r\n\t\tif ( setIndex ) {\r\n\r\n\t\t\tconst indexAttribute = geometry.getIndex();\r\n\t\t\tif ( indexAttribute === null ) {\r\n\r\n\t\t\t\tconst newIndex = new BufferAttribute( data.index, 1, false );\r\n\t\t\t\tgeometry.setIndex( newIndex );\r\n\r\n\t\t\t} else if ( indexAttribute.array !== index ) {\r\n\r\n\t\t\t\tindexAttribute.array.set( index );\r\n\t\t\t\tindexAttribute.needsUpdate = true;\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\treturn bvh;\r\n\r\n\t}\r\n\r\n\tconstructor( geometry, options = {} ) {\r\n\r\n\t\tif ( ! geometry.isBufferGeometry ) {\r\n\r\n\t\t\tthrow new Error( 'MeshBVH: Only BufferGeometries are supported.' );\r\n\r\n\t\t} else if ( geometry.index && geometry.index.isInterleavedBufferAttribute ) {\r\n\r\n\t\t\tthrow new Error( 'MeshBVH: InterleavedBufferAttribute is not supported for the index attribute.' );\r\n\r\n\t\t}\r\n\r\n\t\t// default options\r\n\t\toptions = Object.assign( {\r\n\r\n\t\t\tstrategy: CENTER,\r\n\t\t\tmaxDepth: 40,\r\n\t\t\tmaxLeafTris: 10,\r\n\t\t\tverbose: true,\r\n\r\n\t\t\tsetBoundingBox: true,\r\n\r\n\t\t\t// undocumented options\r\n\r\n\t\t\t// Whether to skip generating the tree. Used for deserialization.\r\n\t\t\t[ SKIP_GENERATION ]: false\r\n\r\n\t\t}, options );\r\n\t\toptions.strategy = Math.max( 0, Math.min( 2, options.strategy ) );\r\n\r\n\t\tthis._roots = null;\r\n\t\tif ( ! options[ SKIP_GENERATION ] ) {\r\n\r\n\t\t\tthis._roots = buildPackedTree( geometry, options );\r\n\r\n\t\t\tif ( ! geometry.boundingBox && options.setBoundingBox ) {\r\n\r\n\t\t\t\tgeometry.boundingBox = this.getBoundingBox( new Box3() );\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\t// retain references to the geometry so we can use them it without having to\r\n\t\t// take a geometry reference in every function.\r\n\t\tthis.geometry = geometry;\r\n\r\n\t}\r\n\r\n\trefit( nodeIndices = null, terminationIndices = null ) {\r\n\r\n\t\tif ( nodeIndices && Array.isArray( nodeIndices ) ) {\r\n\r\n\t\t\tnodeIndices = new Set( nodeIndices );\r\n\r\n\t\t}\r\n\r\n\t\tif ( terminationIndices && Array.isArray( terminationIndices ) ) {\r\n\r\n\t\t\tterminationIndices = new Set( terminationIndices );\r\n\r\n\t\t}\r\n\r\n\t\tconst geometry = this.geometry;\r\n\t\tconst indexArr = geometry.index.array;\r\n\t\tconst posAttr = geometry.attributes.position;\r\n\t\tconst posArr = posAttr.array;\r\n\r\n\t\t// support for an interleaved position buffer\r\n\t\tconst bufferOffset = posAttr.offset || 0;\r\n\t\tlet stride = 3;\r\n\t\tif ( posAttr.isInterleavedBufferAttribute ) {\r\n\r\n\t\t\tstride = posAttr.data.stride;\r\n\r\n\t\t}\r\n\r\n\t\tlet buffer, uint32Array, uint16Array, float32Array;\r\n\t\tlet byteOffset = 0;\r\n\t\tconst roots = this._roots;\r\n\t\tfor ( let i = 0, l = roots.length; i < l; i ++ ) {\r\n\r\n\t\t\tbuffer = roots[ i ];\r\n\t\t\tuint32Array = new Uint32Array( buffer );\r\n\t\t\tuint16Array = new Uint16Array( buffer );\r\n\t\t\tfloat32Array = new Float32Array( buffer );\r\n\r\n\t\t\t_traverse( 0, byteOffset );\r\n\t\t\tbyteOffset += buffer.byteLength;\r\n\r\n\t\t}\r\n\r\n\t\tfunction _traverse( node32Index, byteOffset, force = false ) {\r\n\r\n\t\t\tconst node16Index = node32Index * 2;\r\n\t\t\tconst isLeaf = uint16Array[ node16Index + 15 ] === IS_LEAFNODE_FLAG;\r\n\t\t\tif ( isLeaf ) {\r\n\r\n\t\t\t\tconst offset = uint32Array[ node32Index + 6 ];\r\n\t\t\t\tconst count = uint16Array[ node16Index + 14 ];\r\n\r\n\t\t\t\tlet minx = Infinity;\r\n\t\t\t\tlet miny = Infinity;\r\n\t\t\t\tlet minz = Infinity;\r\n\t\t\t\tlet maxx = - Infinity;\r\n\t\t\t\tlet maxy = - Infinity;\r\n\t\t\t\tlet maxz = - Infinity;\r\n\t\t\t\tfor ( let i = 3 * offset, l = 3 * ( offset + count ); i < l; i ++ ) {\r\n\r\n\t\t\t\t\tconst index = indexArr[ i ] * stride + bufferOffset;\r\n\t\t\t\t\tconst x = posArr[ index + 0 ];\r\n\t\t\t\t\tconst y = posArr[ index + 1 ];\r\n\t\t\t\t\tconst z = posArr[ index + 2 ];\r\n\r\n\t\t\t\t\tif ( x < minx ) minx = x;\r\n\t\t\t\t\tif ( x > maxx ) maxx = x;\r\n\r\n\t\t\t\t\tif ( y < miny ) miny = y;\r\n\t\t\t\t\tif ( y > maxy ) maxy = y;\r\n\r\n\t\t\t\t\tif ( z < minz ) minz = z;\r\n\t\t\t\t\tif ( z > maxz ) maxz = z;\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t\tif (\r\n\t\t\t\t\tfloat32Array[ node32Index + 0 ] !== minx ||\r\n\t\t\t\t\tfloat32Array[ node32Index + 1 ] !== miny ||\r\n\t\t\t\t\tfloat32Array[ node32Index + 2 ] !== minz ||\r\n\r\n\t\t\t\t\tfloat32Array[ node32Index + 3 ] !== maxx ||\r\n\t\t\t\t\tfloat32Array[ node32Index + 4 ] !== maxy ||\r\n\t\t\t\t\tfloat32Array[ node32Index + 5 ] !== maxz\r\n\t\t\t\t) {\r\n\r\n\t\t\t\t\tfloat32Array[ node32Index + 0 ] = minx;\r\n\t\t\t\t\tfloat32Array[ node32Index + 1 ] = miny;\r\n\t\t\t\t\tfloat32Array[ node32Index + 2 ] = minz;\r\n\r\n\t\t\t\t\tfloat32Array[ node32Index + 3 ] = maxx;\r\n\t\t\t\t\tfloat32Array[ node32Index + 4 ] = maxy;\r\n\t\t\t\t\tfloat32Array[ node32Index + 5 ] = maxz;\r\n\r\n\t\t\t\t\treturn true;\r\n\r\n\t\t\t\t} else {\r\n\r\n\t\t\t\t\treturn false;\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t} else {\r\n\r\n\t\t\t\tconst left = node32Index + 8;\r\n\t\t\t\tconst right = uint32Array[ node32Index + 6 ];\r\n\r\n\t\t\t\t// the indentifying node indices provided by the shapecast function include offsets of all\r\n\t\t\t\t// root buffers to guarantee they're unique between roots so offset left and right indices here.\r\n\t\t\t\tconst offsetLeft = left + byteOffset;\r\n\t\t\t\tconst offsetRight = right + byteOffset;\r\n\r\n\t\t\t\tlet leftChange = false;\r\n\t\t\t\tlet forceLeft = force || terminationIndices && terminationIndices.has( offsetLeft );\r\n\t\t\t\tlet traverseLeft = forceLeft || ( nodeIndices ? nodeIndices.has( offsetLeft ) : true );\r\n\t\t\t\tif ( traverseLeft ) {\r\n\r\n\t\t\t\t\tleftChange = _traverse( left, byteOffset, forceLeft );\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t\tlet rightChange = false;\r\n\t\t\t\tlet forceRight = force || terminationIndices && terminationIndices.has( offsetRight );\r\n\t\t\t\tlet traverseRight = forceRight || ( nodeIndices ? nodeIndices.has( offsetRight ) : true );\r\n\t\t\t\tif ( traverseRight ) {\r\n\r\n\t\t\t\t\trightChange = _traverse( right, byteOffset, forceRight );\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t\tconst didChange = leftChange || rightChange;\r\n\r\n\t\t\t\tif ( didChange ) {\r\n\r\n\t\t\t\t\tfor ( let i = 0; i < 3; i ++ ) {\r\n\r\n\t\t\t\t\t\tconst lefti = left + i;\r\n\t\t\t\t\t\tconst righti = right + i;\r\n\t\t\t\t\t\tconst minLeftValue = float32Array[ lefti ];\r\n\t\t\t\t\t\tconst maxLeftValue = float32Array[ lefti + 3 ];\r\n\t\t\t\t\t\tconst minRightValue = float32Array[ righti ];\r\n\t\t\t\t\t\tconst maxRightValue = float32Array[ righti + 3 ];\r\n\r\n\t\t\t\t\t\tfloat32Array[ node32Index + i ] = minLeftValue < minRightValue ? minLeftValue : minRightValue;\r\n\t\t\t\t\t\tfloat32Array[ node32Index + i + 3 ] = maxLeftValue > maxRightValue ? maxLeftValue : maxRightValue;\r\n\r\n\t\t\t\t\t}\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t\treturn didChange;\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t}\r\n\r\n\ttraverse( callback, rootIndex = 0 ) {\r\n\r\n\t\tconst buffer = this._roots[ rootIndex ];\r\n\t\tconst uint32Array = new Uint32Array( buffer );\r\n\t\tconst uint16Array = new Uint16Array( buffer );\r\n\t\t_traverse( 0 );\r\n\r\n\t\tfunction _traverse( node32Index, depth = 0 ) {\r\n\r\n\t\t\tconst node16Index = node32Index * 2;\r\n\t\t\tconst isLeaf = uint16Array[ node16Index + 15 ] === IS_LEAFNODE_FLAG;\r\n\t\t\tif ( isLeaf ) {\r\n\r\n\t\t\t\tconst offset = uint32Array[ node32Index + 6 ];\r\n\t\t\t\tconst count = uint16Array[ node16Index + 14 ];\r\n\t\t\t\tcallback( depth, isLeaf, new Float32Array( buffer, node32Index * 4, 6 ), offset, count );\r\n\r\n\t\t\t} else {\r\n\r\n\t\t\t\tconst left = node32Index + BYTES_PER_NODE / 4;\r\n\t\t\t\tconst right = uint32Array[ node32Index + 6 ];\r\n\t\t\t\tconst splitAxis = uint32Array[ node32Index + 7 ];\r\n\t\t\t\tconst stopTraversal = callback( depth, isLeaf, new Float32Array( buffer, node32Index * 4, 6 ), splitAxis );\r\n\r\n\t\t\t\tif ( ! stopTraversal ) {\r\n\r\n\t\t\t\t\t_traverse( left, depth + 1 );\r\n\t\t\t\t\t_traverse( right, depth + 1 );\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t}\r\n\r\n\t/* Core Cast Functions */\r\n\traycast( mesh, raycaster, ray, intersects ) {\r\n\r\n\t\tconst geometry = this.geometry;\r\n\t\tconst localIntersects = intersects ? [] : null;\r\n\t\tfor ( const root of this._roots ) {\r\n\r\n\t\t\tsetBuffer( root );\r\n\t\t\traycast( 0, mesh, geometry, raycaster, ray, localIntersects );\r\n\t\t\tclearBuffer();\r\n\r\n\t\t}\r\n\r\n\t\tif ( intersects ) {\r\n\r\n\t\t\tfor ( let i = 0, l = localIntersects.length; i < l; i ++ ) {\r\n\r\n\t\t\t\tdelete localIntersects[ i ].localPoint;\r\n\r\n\t\t\t}\r\n\r\n\t\t\tintersects.push( ...localIntersects );\r\n\r\n\t\t}\r\n\r\n\t}\r\n\r\n\traycastFirst( mesh, raycaster, ray ) {\r\n\r\n\t\tconst geometry = this.geometry;\r\n\t\tlet closestResult = null;\r\n\t\tfor ( const root of this._roots ) {\r\n\r\n\t\t\tsetBuffer( root );\r\n\t\t\tconst result = raycastFirst( 0, mesh, geometry, raycaster, ray );\r\n\t\t\tclearBuffer();\r\n\r\n\t\t\tif ( result != null && ( closestResult == null || result.distance < closestResult.distance ) ) {\r\n\r\n\t\t\t\tclosestResult = result;\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\tif ( closestResult ) {\r\n\r\n\t\t\tdelete closestResult.localPoint;\r\n\r\n\t\t}\r\n\r\n\t\treturn closestResult;\r\n\r\n\t}\r\n\r\n\tintersectsGeometry( mesh, otherGeometry, geomToMesh ) {\r\n\r\n\t\tconst geometry = this.geometry;\r\n\t\tlet result = false;\r\n\t\tfor ( const root of this._roots ) {\r\n\r\n\t\t\tsetBuffer( root );\r\n\t\t\tresult = intersectsGeometry( 0, mesh, geometry, otherGeometry, geomToMesh );\r\n\t\t\tclearBuffer();\r\n\r\n\t\t\tif ( result ) {\r\n\r\n\t\t\t\tbreak;\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\treturn result;\r\n\r\n\t}\r\n\r\n\tshapecast( mesh, callbacks, _intersectsTriangleFunc, _orderNodesFunc ) {\r\n\r\n\t\tconst geometry = this.geometry;\r\n\t\tif ( callbacks instanceof Function ) {\r\n\r\n\t\t\tif ( _intersectsTriangleFunc ) {\r\n\r\n\t\t\t\t// Support the previous function signature that provided three sequential index buffer\r\n\t\t\t\t// indices here.\r\n\t\t\t\tconst originalTriangleFunc = _intersectsTriangleFunc;\r\n\t\t\t\t_intersectsTriangleFunc = ( tri, index, contained, depth ) => {\r\n\r\n\t\t\t\t\tconst i3 = index * 3;\r\n\t\t\t\t\treturn originalTriangleFunc( tri, i3, i3 + 1, i3 + 2, contained, depth );\r\n\r\n\t\t\t\t};\r\n\r\n\r\n\t\t\t}\r\n\r\n\t\t\tcallbacks = {\r\n\r\n\t\t\t\tboundsTraverseOrder: _orderNodesFunc,\r\n\t\t\t\tintersectsBounds: callbacks,\r\n\t\t\t\tintersectsTriangle: _intersectsTriangleFunc,\r\n\t\t\t\tintersectsRange: null,\r\n\r\n\t\t\t};\r\n\r\n\t\t\tconsole.warn( 'MeshBVH: Shapecast function signature has changed and now takes an object of callbacks as a second argument. See docs for new signature.' );\r\n\r\n\t\t}\r\n\r\n\t\tlet {\r\n\t\t\tboundsTraverseOrder,\r\n\t\t\tintersectsBounds,\r\n\t\t\tintersectsRange,\r\n\t\t\tintersectsTriangle,\r\n\t\t} = callbacks;\r\n\r\n\t\tif ( intersectsRange && intersectsTriangle ) {\r\n\r\n\t\t\tconst originalIntersectsRange = intersectsRange;\r\n\t\t\tintersectsRange = ( offset, count, contained, depth, nodeIndex ) => {\r\n\r\n\t\t\t\tif ( ! originalIntersectsRange( offset, count, contained, depth, nodeIndex ) ) {\r\n\r\n\t\t\t\t\treturn iterateOverTriangles( offset, count, geometry, intersectsTriangle, contained, depth, triangle );\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t\treturn true;\r\n\r\n\t\t\t};\r\n\r\n\t\t} else if ( ! intersectsRange ) {\r\n\r\n\t\t\tif ( intersectsTriangle ) {\r\n\r\n\t\t\t\tintersectsRange = ( offset, count, contained, depth ) => {\r\n\r\n\t\t\t\t\treturn iterateOverTriangles( offset, count, geometry, intersectsTriangle, contained, depth, triangle );\r\n\r\n\t\t\t\t};\r\n\r\n\t\t\t} else {\r\n\r\n\t\t\t\tintersectsRange = ( offset, count, contained ) => {\r\n\r\n\t\t\t\t\treturn contained;\r\n\r\n\t\t\t\t};\r\n\r\n\t\t\t}\r\n\r\n\t\t}\r\n\r\n\t\tlet result = false;\r\n\t\tlet byteOffset = 0;\r\n\t\tfor ( const root of this._roots ) {\r\n\r\n\t\t\tsetBuffer( root );\r\n\t\t\tresult = shapecast( 0, geometry, intersectsBounds, intersectsRange, boundsTraverseOrder, byteOffset );\r\n\t\t\tclearBuffer();\r\n\r\n\t\t\tif ( result ) {\r\n\r\n\t\t\t\tbreak;\r\n\r\n\t\t\t}\r\n\r\n\t\t\tbyteOffset += root.byteLength;\r\n\r\n\t\t}\r\n\r\n\t\treturn result;\r\n\r\n\t}\r\n\r\n\t/* Derived Cast Functions */\r\n\tintersectsBox( mesh, box, boxToMesh ) {\r\n\r\n\t\tobb.set( box.min, box.max, boxToMesh );\r\n\t\tobb.needsUpdate = true;\r\n\r\n\t\treturn this.shapecast(\r\n\t\t\tmesh,\r\n\t\t\t{\r\n\t\t\t\tintersectsBounds: box => obb.intersectsBox( box ),\r\n\t\t\t\tintersectsTriangle: tri => obb.intersectsTriangle( tri )\r\n\t\t\t}\r\n\t\t);\r\n\r\n\t}\r\n\r\n\tintersectsSphere( mesh, sphere ) {\r\n\r\n\t\treturn this.shapecast(\r\n\t\t\tmesh,\r\n\t\t\t{\r\n\t\t\t\tintersectsBounds: box => sphere.intersectsBox( box ),\r\n\t\t\t\tintersectsTriangle: tri => tri.intersectsSphere( sphere )\r\n\t\t\t}\r\n\t\t);\r\n\r\n\t}\r\n\r\n\tclosestPointToGeometry( mesh, otherGeometry, geometryToBvh, target1 = null, target2 = null, minThreshold = 0, maxThreshold = Infinity ) {\r\n\r\n\t\tif ( ! otherGeometry.boundingBox ) {\r\n\r\n\t\t\totherGeometry.computeBoundingBox();\r\n\r\n\t\t}\r\n\r\n\t\tobb.set( otherGeometry.boundingBox.min, otherGeometry.boundingBox.max, geometryToBvh );\r\n\t\tobb.needsUpdate = true;\r\n\r\n\t\tconst geometry = this.geometry;\r\n\t\tconst pos = geometry.attributes.position;\r\n\t\tconst index = geometry.index;\r\n\t\tconst otherPos = otherGeometry.attributes.position;\r\n\t\tconst otherIndex = otherGeometry.index;\r\n\r\n\t\tlet tempTarget1 = null;\r\n\t\tlet tempTarget2 = null;\r\n\t\tif ( target1 ) {\r\n\r\n\t\t\ttempTarget1 = temp1;\r\n\r\n\t\t}\r\n\r\n\t\tif ( target2 ) {\r\n\r\n\t\t\ttempTarget2 = temp2;\r\n\r\n\t\t}\r\n\r\n\t\tlet closestDistance = Infinity;\r\n\t\tobb2.matrix.copy( geometryToBvh ).invert();\r\n\t\tthis.shapecast(\r\n\t\t\tmesh,\r\n\t\t\t{\r\n\r\n\t\t\t\tboundsTraverseOrder: box => {\r\n\r\n\t\t\t\t\treturn obb.distanceToBox( box, Math.min( closestDistance, maxThreshold ) );\r\n\r\n\t\t\t\t},\r\n\r\n\t\t\t\tintersectsBounds: ( box, isLeaf, score ) => {\r\n\r\n\t\t\t\t\tif ( score < closestDistance && score < maxThreshold ) {\r\n\r\n\t\t\t\t\t\t// if we know the triangles of this bounds will be intersected next then\r\n\t\t\t\t\t\t// save the bounds to use during triangle checks.\r\n\t\t\t\t\t\tif ( isLeaf ) {\r\n\r\n\t\t\t\t\t\t\tobb2.min.copy( box.min );\r\n\t\t\t\t\t\t\tobb2.max.copy( box.max );\r\n\t\t\t\t\t\t\tobb2.needsUpdate = true;\r\n\r\n\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\treturn true;\r\n\r\n\t\t\t\t\t}\r\n\r\n\t\t\t\t\treturn false;\r\n\r\n\t\t\t\t},\r\n\r\n\t\t\t\tintersectsRange: ( offset, count ) => {\r\n\r\n\t\t\t\t\tif ( otherGeometry.boundsTree ) {\r\n\r\n\t\t\t\t\t\t// if the other geometry has a bvh then use the accelerated path where we use shapecast to find\r\n\t\t\t\t\t\t// the closest bounds in the other geometry to check.\r\n\t\t\t\t\t\treturn otherGeometry.boundsTree.shapecast(\r\n\t\t\t\t\t\t\tnull,\r\n\t\t\t\t\t\t\t{\r\n\t\t\t\t\t\t\t\tboundsTraverseOrder: box => {\r\n\r\n\t\t\t\t\t\t\t\t\treturn obb2.distanceToBox( box, Math.min( closestDistance, maxThreshold ) );\r\n\r\n\t\t\t\t\t\t\t\t},\r\n\r\n\t\t\t\t\t\t\t\tintersectsBounds: ( box, isLeaf, score ) => {\r\n\r\n\t\t\t\t\t\t\t\t\treturn score < closestDistance && score < maxThreshold;\r\n\r\n\t\t\t\t\t\t\t\t},\r\n\r\n\t\t\t\t\t\t\t\tintersectsRange: ( otherOffset, otherCount ) => {\r\n\r\n\t\t\t\t\t\t\t\t\tfor ( let i2 = otherOffset * 3, l2 = ( otherOffset + otherCount ) * 3; i2 < l2; i2 += 3 ) {\r\n\r\n\t\t\t\t\t\t\t\t\t\tsetTriangle( triangle2, i2, otherIndex, otherPos );\r\n\t\t\t\t\t\t\t\t\t\ttriangle2.a.applyMatrix4( geometryToBvh );\r\n\t\t\t\t\t\t\t\t\t\ttriangle2.b.applyMatrix4( geometryToBvh );\r\n\t\t\t\t\t\t\t\t\t\ttriangle2.c.applyMatrix4( geometryToBvh );\r\n\t\t\t\t\t\t\t\t\t\ttriangle2.needsUpdate = true;\r\n\r\n\t\t\t\t\t\t\t\t\t\tfor ( let i = offset * 3, l = ( offset + count ) * 3; i < l; i += 3 ) {\r\n\r\n\t\t\t\t\t\t\t\t\t\t\tsetTriangle( triangle, i, index, pos );\r\n\t\t\t\t\t\t\t\t\t\t\ttriangle.needsUpdate = true;\r\n\r\n\t\t\t\t\t\t\t\t\t\t\tconst dist = triangle.distanceToTriangle( triangle2, tempTarget1, tempTarget2 );\r\n\t\t\t\t\t\t\t\t\t\t\tif ( dist < closestDistance ) {\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t\tif ( target1 ) {\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t\t\ttarget1.copy( tempTarget1 );\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t\tif ( target2 ) {\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t\t\ttarget2.copy( tempTarget2 );\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t\tclosestDistance = dist;\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t// stop traversal if we find a point that's under the given threshold\r\n\t\t\t\t\t\t\t\t\t\t\tif ( dist < minThreshold ) {\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t\treturn true;\r\n\r\n\t\t\t\t\t\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\t\t\t},\r\n\t\t\t\t\t\t\t}\r\n\t\t\t\t\t\t);\r\n\r\n\t\t\t\t\t} else {\r\n\r\n\t\t\t\t\t\t// If no bounds tree then we'll just check every triangle.\r\n\t\t\t\t\t\tconst triCount = otherIndex ? otherIndex.count : otherPos.count;\r\n\t\t\t\t\t\tfor ( let i2 = 0, l2 = triCount; i2 < l2; i2 += 3 ) {\r\n\r\n\t\t\t\t\t\t\tsetTriangle( triangle2, i2, otherIndex, otherPos );\r\n\t\t\t\t\t\t\ttriangle2.a.applyMatrix4( geometryToBvh );\r\n\t\t\t\t\t\t\ttriangle2.b.applyMatrix4( geometryToBvh );\r\n\t\t\t\t\t\t\ttriangle2.c.applyMatrix4( geometryToBvh );\r\n\t\t\t\t\t\t\ttriangle2.needsUpdate = true;\r\n\r\n\t\t\t\t\t\t\tfor ( let i = offset * 3, l = ( offset + count ) * 3; i < l; i += 3 ) {\r\n\r\n\t\t\t\t\t\t\t\tsetTriangle( triangle, i, index, pos );\r\n\t\t\t\t\t\t\t\ttriangle.needsUpdate = true;\r\n\r\n\t\t\t\t\t\t\t\tconst dist = triangle.distanceToTriangle( triangle2, tempTarget1, tempTarget2 );\r\n\t\t\t\t\t\t\t\tif ( dist < closestDistance ) {\r\n\r\n\t\t\t\t\t\t\t\t\tif ( target1 ) {\r\n\r\n\t\t\t\t\t\t\t\t\t\ttarget1.copy( tempTarget1 );\r\n\r\n\t\t\t\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\t\t\t\tif ( target2 ) {\r\n\r\n\t\t\t\t\t\t\t\t\t\ttarget2.copy( tempTarget2 );\r\n\r\n\t\t\t\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\t\t\t\tclosestDistance = dist;\r\n\r\n\t\t\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\t\t\t// stop traversal if we find a point that's under the given threshold\r\n\t\t\t\t\t\t\t\tif ( dist < minThreshold ) {\r\n\r\n\t\t\t\t\t\t\t\t\treturn true;\r\n\r\n\t\t\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t}\r\n\r\n\t\t\t\t},\r\n\r\n\t\t\t}\r\n\r\n\t\t);\r\n\r\n\t\treturn closestDistance;\r\n\r\n\t}\r\n\r\n\tdistanceToGeometry( mesh, geom, matrix, minThreshold, maxThreshold ) {\r\n\r\n\t\treturn this.closestPointToGeometry( mesh, geom, matrix, null, null, minThreshold, maxThreshold );\r\n\r\n\t}\r\n\r\n\tclosestPointToPoint( mesh, point, target, minThreshold = 0, maxThreshold = Infinity ) {\r\n\r\n\t\t// early out if under minThreshold\r\n\t\t// skip checking if over maxThreshold\r\n\t\t// set minThreshold = maxThreshold to quickly check if a point is within a threshold\r\n\t\t// returns Infinity if no value found\r\n\t\tconst minThresholdSq = minThreshold * minThreshold;\r\n\t\tconst maxThresholdSq = maxThreshold * maxThreshold;\r\n\t\tlet closestDistanceSq = Infinity;\r\n\t\tthis.shapecast(\r\n\r\n\t\t\tmesh,\r\n\t\t\t{\r\n\r\n\t\t\t\tboundsTraverseOrder: box => {\r\n\r\n\t\t\t\t\ttemp.copy( point ).clamp( box.min, box.max );\r\n\t\t\t\t\treturn temp.distanceToSquared( point );\r\n\r\n\t\t\t\t},\r\n\r\n\t\t\t\tintersectsBounds: ( box, isLeaf, score ) => {\r\n\r\n\t\t\t\t\treturn score < closestDistanceSq && score < maxThresholdSq;\r\n\r\n\t\t\t\t},\r\n\r\n\t\t\t\tintersectsTriangle: tri => {\r\n\r\n\t\t\t\t\ttri.closestPointToPoint( point, temp );\r\n\t\t\t\t\tconst distSq = point.distanceToSquared( temp );\r\n\t\t\t\t\tif ( distSq < closestDistanceSq ) {\r\n\r\n\t\t\t\t\t\tif ( target ) {\r\n\r\n\t\t\t\t\t\t\ttarget.copy( temp );\r\n\r\n\t\t\t\t\t\t}\r\n\r\n\t\t\t\t\t\tclosestDistanceSq = distSq;\r\n\r\n\t\t\t\t\t}\r\n\r\n\t\t\t\t\tif ( distSq < minThresholdSq ) {\r\n\r\n\t\t\t\t\t\treturn true;\r\n\r\n\t\t\t\t\t} else {\r\n\r\n\t\t\t\t\t\treturn false;\r\n\r\n\t\t\t\t\t}\r\n\r\n\t\t\t\t},\r\n\r\n\t\t\t}\r\n\r\n\t\t);\r\n\r\n\t\treturn Math.sqrt( closestDistanceSq );\r\n\r\n\t}\r\n\r\n\tdistanceToPoint( mesh, point, minThreshold, maxThreshold ) {\r\n\r\n\t\treturn this.closestPointToPoint( mesh, point, null, minThreshold, maxThreshold );\r\n\r\n\t}\r\n\r\n\tgetBoundingBox( target ) {\r\n\r\n\t\ttarget.makeEmpty();\r\n\r\n\t\tconst roots = this._roots;\r\n\t\troots.forEach( buffer => {\r\n\r\n\t\t\tarrayToBox( 0, new Float32Array( buffer ), tempBox );\r\n\t\t\ttarget.union( tempBox );\r\n\r\n\t\t} );\r\n\r\n\t\treturn target;\r\n\r\n\t}\r\n\r\n}\r\n","import { LineBasicMaterial, BufferAttribute, Box3, Group, MeshBasicMaterial, Object3D, BufferGeometry } from 'three';\nimport { arrayToBox } from './Utils/ArrayBoxUtilities.js';\n\nconst boundingBox = new Box3();\nclass MeshBVHRootVisualizer extends Object3D {\n\n\tget isMesh() {\n\n\t\treturn ! this.displayEdges;\n\n\t}\n\n\tget isLineSegments() {\n\n\t\treturn this.displayEdges;\n\n\t}\n\n\tget isLine() {\n\n\t\treturn this.displayEdges;\n\n\t}\n\n\tconstructor( mesh, material, depth = 10, group = 0 ) {\n\n\t\tsuper();\n\n\t\tthis.material = material;\n\t\tthis.geometry = new BufferGeometry();\n\t\tthis.name = 'MeshBVHRootVisualizer';\n\t\tthis.depth = depth;\n\t\tthis.displayParents = false;\n\t\tthis.mesh = mesh;\n\t\tthis.displayEdges = true;\n\t\tthis._group = group;\n\n\t}\n\n\traycast() {}\n\n\tupdate() {\n\n\t\tconst geometry = this.geometry;\n\t\tconst boundsTree = this.mesh.geometry.boundsTree;\n\t\tconst group = this._group;\n\t\tgeometry.dispose();\n\t\tthis.visible = false;\n\t\tif ( boundsTree ) {\n\n\t\t\t// count the number of bounds required\n\t\t\tconst targetDepth = this.depth - 1;\n\t\t\tconst displayParents = this.displayParents;\n\t\t\tlet boundsCount = 0;\n\t\t\tboundsTree.traverse( ( depth, isLeaf ) => {\n\n\t\t\t\tif ( depth === targetDepth || isLeaf ) {\n\n\t\t\t\t\tboundsCount ++;\n\t\t\t\t\treturn true;\n\n\t\t\t\t} else if ( displayParents ) {\n\n\t\t\t\t\tboundsCount ++;\n\n\t\t\t\t}\n\n\t\t\t}, group );\n\n\t\t\t// fill in the position buffer with the bounds corners\n\t\t\tlet posIndex = 0;\n\t\t\tconst positionArray = new Float32Array( 8 * 3 * boundsCount );\n\t\t\tboundsTree.traverse( ( depth, isLeaf, boundingData ) => {\n\n\t\t\t\tconst terminate = depth === targetDepth || isLeaf;\n\t\t\t\tif ( terminate || displayParents ) {\n\n\t\t\t\t\tarrayToBox( boundingData, boundingBox );\n\n\t\t\t\t\tconst { min, max } = boundingBox;\n\t\t\t\t\tfor ( let x = - 1; x <= 1; x += 2 ) {\n\n\t\t\t\t\t\tconst xVal = x < 0 ? min.x : max.x;\n\t\t\t\t\t\tfor ( let y = - 1; y <= 1; y += 2 ) {\n\n\t\t\t\t\t\t\tconst yVal = y < 0 ? min.y : max.y;\n\t\t\t\t\t\t\tfor ( let z = - 1; z <= 1; z += 2 ) {\n\n\t\t\t\t\t\t\t\tconst zVal = z < 0 ? min.z : max.z;\n\t\t\t\t\t\t\t\tpositionArray[ posIndex + 0 ] = xVal;\n\t\t\t\t\t\t\t\tpositionArray[ posIndex + 1 ] = yVal;\n\t\t\t\t\t\t\t\tpositionArray[ posIndex + 2 ] = zVal;\n\n\t\t\t\t\t\t\t\tposIndex += 3;\n\n\t\t\t\t\t\t\t}\n\n\t\t\t\t\t\t}\n\n\t\t\t\t\t}\n\n\t\t\t\t\treturn terminate;\n\n\t\t\t\t}\n\n\t\t\t}, group );\n\n\t\t\tlet indexArray;\n\t\t\tlet indices;\n\t\t\tif ( this.displayEdges ) {\n\n\t\t\t\t// fill in the index buffer to point to the corner points\n\t\t\t\tindices = new Uint8Array( [\n\t\t\t\t\t// x axis\n\t\t\t\t\t0, 4,\n\t\t\t\t\t1, 5,\n\t\t\t\t\t2, 6,\n\t\t\t\t\t3, 7,\n\n\t\t\t\t\t// y axis\n\t\t\t\t\t0, 2,\n\t\t\t\t\t1, 3,\n\t\t\t\t\t4, 6,\n\t\t\t\t\t5, 7,\n\n\t\t\t\t\t// z axis\n\t\t\t\t\t0, 1,\n\t\t\t\t\t2, 3,\n\t\t\t\t\t4, 5,\n\t\t\t\t\t6, 7,\n\t\t\t\t] );\n\n\t\t\t} else {\n\n\t\t\t\tindices = new Uint8Array( [\n\n\t\t\t\t\t// X-, X+\n\t\t\t\t\t0, 1, 2,\n\t\t\t\t\t2, 1, 3,\n\n\t\t\t\t\t4, 6, 5,\n\t\t\t\t\t6, 7, 5,\n\n\t\t\t\t\t// Y-, Y+\n\t\t\t\t\t1, 4, 5,\n\t\t\t\t\t0, 4, 1,\n\n\t\t\t\t\t2, 3, 6,\n\t\t\t\t\t3, 7, 6,\n\n\t\t\t\t\t// Z-, Z+\n\t\t\t\t\t0, 2, 4,\n\t\t\t\t\t2, 6, 4,\n\n\t\t\t\t\t1, 5, 3,\n\t\t\t\t\t3, 5, 7,\n\n\t\t\t\t] );\n\n\t\t\t}\n\n\t\t\tif ( positionArray.length > 65535 ) {\n\n\t\t\t\tindexArray = new Uint32Array( indices.length * boundsCount );\n\n\t\t\t} else {\n\n\t\t\t\tindexArray = new Uint16Array( indices.length * boundsCount );\n\n\t\t\t}\n\n\t\t\tconst indexLength = indices.length;\n\t\t\tfor ( let i = 0; i < boundsCount; i ++ ) {\n\n\t\t\t\tconst posOffset = i * 8;\n\t\t\t\tconst indexOffset = i * indexLength;\n\t\t\t\tfor ( let j = 0; j < indexLength; j ++ ) {\n\n\t\t\t\t\tindexArray[ indexOffset + j ] = posOffset + indices[ j ];\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\t// update the geometry\n\t\t\tgeometry.setIndex(\n\t\t\t\tnew BufferAttribute( indexArray, 1, false ),\n\t\t\t);\n\t\t\tgeometry.setAttribute(\n\t\t\t\t'position',\n\t\t\t\tnew BufferAttribute( positionArray, 3, false ),\n\t\t\t);\n\t\t\tthis.visible = true;\n\n\t\t}\n\n\t}\n\n}\n\nclass MeshBVHVisualizer extends Group {\n\n\tget color() {\n\n\t\treturn this.edgeMaterial.color;\n\n\t}\n\n\tget opacity() {\n\n\t\treturn this.edgeMaterial.opacity;\n\n\t}\n\n\tset opacity( v ) {\n\n\t\tthis.edgeMaterial.opacity = v;\n\t\tthis.meshMaterial.opacity = v;\n\n\t}\n\n\tconstructor( mesh, depth = 10 ) {\n\n\t\tsuper();\n\n\t\tthis.name = 'MeshBVHVisualizer';\n\t\tthis.depth = depth;\n\t\tthis.mesh = mesh;\n\t\tthis.displayParents = false;\n\t\tthis.displayEdges = true;\n\t\tthis._roots = [];\n\n\t\tconst edgeMaterial = new LineBasicMaterial( {\n\t\t\tcolor: 0x00FF88,\n\t\t\ttransparent: true,\n\t\t\topacity: 0.3,\n\t\t\tdepthWrite: false,\n\t\t} );\n\n\t\tconst meshMaterial = new MeshBasicMaterial( {\n\t\t\tcolor: 0x00FF88,\n\t\t\ttransparent: true,\n\t\t\topacity: 0.3,\n\t\t\tdepthWrite: false,\n\t\t} );\n\n\t\tmeshMaterial.color = edgeMaterial.color;\n\n\t\tthis.edgeMaterial = edgeMaterial;\n\t\tthis.meshMaterial = meshMaterial;\n\n\t\tthis.update();\n\n\t}\n\n\tupdate() {\n\n\t\tconst bvh = this.mesh.geometry.boundsTree;\n\t\tconst totalRoots = bvh ? bvh._roots.length : 0;\n\t\twhile ( this._roots.length > totalRoots ) {\n\n\t\t\tthis._roots.pop();\n\n\t\t}\n\n\t\tfor ( let i = 0; i < totalRoots; i ++ ) {\n\n\t\t\tif ( i >= this._roots.length ) {\n\n\t\t\t\tconst root = new MeshBVHRootVisualizer( this.mesh, this.edgeMaterial, this.depth, i );\n\t\t\t\tthis.add( root );\n\t\t\t\tthis._roots.push( root );\n\n\t\t\t}\n\n\t\t\tconst root = this._roots[ i ];\n\t\t\troot.depth = this.depth;\n\t\t\troot.mesh = this.mesh;\n\t\t\troot.displayParents = this.displayParents;\n\t\t\troot.displayEdges = this.displayEdges;\n\t\t\troot.material = this.displayEdges ? this.edgeMaterial : this.meshMaterial;\n\t\t\troot.update();\n\n\t\t}\n\n\t}\n\n\tupdateMatrixWorld( ...args ) {\n\n\t\tthis.position.copy( this.mesh.position );\n\t\tthis.rotation.copy( this.mesh.rotation );\n\t\tthis.scale.copy( this.mesh.scale );\n\n\t\tsuper.updateMatrixWorld( ...args );\n\n\t}\n\n\tcopy( source ) {\n\n\t\tthis.depth = source.depth;\n\t\tthis.mesh = source.mesh;\n\n\t}\n\n\tclone() {\n\n\t\treturn new MeshBVHVisualizer( this.mesh, this.depth );\n\n\t}\n\n\tdispose() {\n\n\t\tthis.edgeMaterial.dispose();\n\t\tthis.meshMaterial.dispose();\n\n\t\tconst children = this.children;\n\t\tfor ( let i = 0, l = children.length; i < l; i ++ ) {\n\n\t\t\tchildren[ i ].geometry.dispose();\n\n\t\t}\n\n\t}\n\n}\n\n\nexport default MeshBVHVisualizer;\n","import { TRAVERSAL_COST, TRIANGLE_INTERSECT_COST } from '../Constants.js';\r\n\r\n// https://stackoverflow.com/questions/1248302/how-to-get-the-size-of-a-javascript-object\r\nfunction getPrimitiveSize( el ) {\r\n\r\n\tswitch ( typeof el ) {\r\n\r\n\t\tcase 'number':\r\n\t\t\treturn 8;\r\n\t\tcase 'string':\r\n\t\t\treturn el.length * 2;\r\n\t\tcase 'boolean':\r\n\t\t\treturn 4;\r\n\t\tdefault:\r\n\t\t\treturn 0;\r\n\r\n\t}\r\n\r\n}\r\n\r\nfunction isTypedArray( arr ) {\r\n\r\n\tconst regex = /(Uint|Int|Float)(8|16|32)Array/;\r\n\treturn regex.test( arr.constructor.name );\r\n\r\n}\r\n\r\nfunction getRootExtremes( bvh, group ) {\r\n\r\n\tconst result = {\r\n\t\tget total() {\r\n\r\n\t\t\tconsole.warn( 'getRootExtremes: \"total\" has been replaced by \"nodeCount\" and will be removed in the next release.' );\r\n\t\t\treturn this.nodeCount;\r\n\r\n\t\t},\r\n\t\tnodeCount: 0,\r\n\t\tleafNodeCount: 0,\r\n\r\n\t\tdepth: {\r\n\t\t\tmin: Infinity, max: - Infinity\r\n\t\t},\r\n\t\ttris: {\r\n\t\t\tmin: Infinity, max: - Infinity\r\n\t\t},\r\n\t\tsplits: [ 0, 0, 0 ],\r\n\t\tsurfaceAreaScore: 0,\r\n\t};\r\n\r\n\tbvh.traverse( ( depth, isLeaf, boundingData, offsetOrSplit, count ) => {\r\n\r\n\t\tconst l0 = boundingData[ 0 + 3 ] - boundingData[ 0 ];\r\n\t\tconst l1 = boundingData[ 1 + 3 ] - boundingData[ 1 ];\r\n\t\tconst l2 = boundingData[ 2 + 3 ] - boundingData[ 2 ];\r\n\r\n\t\tconst surfaceArea = 2 * ( l0 * l1 + l1 * l2 + l2 * l0 );\r\n\r\n\t\tresult.nodeCount ++;\r\n\t\tif ( isLeaf ) {\r\n\r\n\t\t\tresult.leafNodeCount ++;\r\n\r\n\t\t\tresult.depth.min = Math.min( depth, result.depth.min );\r\n\t\t\tresult.depth.max = Math.max( depth, result.depth.max );\r\n\r\n\t\t\tresult.tris.min = Math.min( count, result.tris.min );\r\n\t\t\tresult.tris.max = Math.max( count, result.tris.max );\r\n\r\n\t\t\tresult.surfaceAreaScore += surfaceArea * TRIANGLE_INTERSECT_COST * count;\r\n\r\n\t\t} else {\r\n\r\n\t\t\tresult.splits[ offsetOrSplit ] ++;\r\n\r\n\t\t\tresult.surfaceAreaScore += surfaceArea * TRAVERSAL_COST;\r\n\r\n\t\t}\r\n\r\n\t}, group );\r\n\r\n\t// If there are no leaf nodes because the tree hasn't finished generating yet.\r\n\tif ( result.tris.min === Infinity ) {\r\n\r\n\t\tresult.tris.min = 0;\r\n\t\tresult.tris.max = 0;\r\n\r\n\t}\r\n\r\n\tif ( result.depth.min === Infinity ) {\r\n\r\n\t\tresult.depth.min = 0;\r\n\t\tresult.depth.max = 0;\r\n\r\n\t}\r\n\r\n\treturn result;\r\n\r\n}\r\n\r\nfunction getBVHExtremes( bvh ) {\r\n\r\n\treturn bvh._roots.map( ( root, i ) => getRootExtremes( bvh, i ) );\r\n\r\n}\r\n\r\nfunction estimateMemoryInBytes( obj ) {\r\n\r\n\tconst traversed = new Set();\r\n\tconst stack = [ obj ];\r\n\tlet bytes = 0;\r\n\r\n\twhile ( stack.length ) {\r\n\r\n\t\tconst curr = stack.pop();\r\n\t\tif ( traversed.has( curr ) ) {\r\n\r\n\t\t\tcontinue;\r\n\r\n\t\t}\r\n\r\n\t\ttraversed.add( curr );\r\n\r\n\t\tfor ( let key in curr ) {\r\n\r\n\t\t\tif ( ! curr.hasOwnProperty( key ) ) {\r\n\r\n\t\t\t\tcontinue;\r\n\r\n\t\t\t}\r\n\r\n\t\t\tbytes += getPrimitiveSize( key );\r\n\r\n\t\t\tconst value = curr[ key ];\r\n\t\t\tif ( value && ( typeof value === 'object' || typeof value === 'function' ) ) {\r\n\r\n\t\t\t\tif ( isTypedArray( value ) ) {\r\n\r\n\t\t\t\t\tbytes += value.byteLength;\r\n\r\n\t\t\t\t} else if ( value instanceof ArrayBuffer ) {\r\n\r\n\t\t\t\t\tbytes += value.byteLength;\r\n\r\n\t\t\t\t} else {\r\n\r\n\t\t\t\t\tstack.push( value );\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t} else {\r\n\r\n\t\t\t\tbytes += getPrimitiveSize( value );\r\n\r\n\t\t\t}\r\n\r\n\r\n\t\t}\r\n\r\n\t}\r\n\r\n\treturn bytes;\r\n\r\n}\r\n\r\nexport { estimateMemoryInBytes, getBVHExtremes };\r\n","import { Box3, Vector3 } from 'three';\r\nimport { arrayToBox } from './Utils/ArrayBoxUtilities.js';\r\nconst box1 = new Box3();\r\nconst box2 = new Box3();\r\nconst vec = new Vector3();\r\n\r\nexport class MeshBVHDebug {\r\n\r\n\tconstructor( bvh, geometry ) {\r\n\r\n\t\tthis.bvh = bvh;\r\n\t\tthis.geometry = geometry;\r\n\r\n\t}\r\n\r\n\t// Returns a simple, human readable object that represents the BVH.\r\n\tgetJSONStructure() {\r\n\r\n\t\tconst { bvh } = this;\r\n\t\tconst depthStack = [];\r\n\r\n\t\tbvh.traverse( ( depth, isLeaf, boundingData, offset, count ) => {\r\n\r\n\t\t\tconst info = {\r\n\t\t\t\tbounds: arrayToBox( boundingData, new Box3() ),\r\n\t\t\t};\r\n\r\n\t\t\tif ( isLeaf ) {\r\n\r\n\t\t\t\tinfo.count = count;\r\n\t\t\t\tinfo.offset = offset;\r\n\r\n\t\t\t} else {\r\n\r\n\t\t\t\tinfo.left = null;\r\n\t\t\t\tinfo.right = null;\r\n\r\n\t\t\t}\r\n\r\n\t\t\tdepthStack[ depth ] = info;\r\n\r\n\t\t\t// traversal hits the left then right node\r\n\t\t\tconst parent = depthStack[ depth - 1 ];\r\n\t\t\tif ( parent ) {\r\n\r\n\t\t\t\tif ( parent.left === null ) {\r\n\r\n\t\t\t\t\tparent.left = 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index.getX( i + 2 );\r\n\r\n\t\t\t\t\tlet isContained;\r\n\r\n\t\t\t\t\tvec.fromBufferAttribute( position, i0 );\r\n\t\t\t\t\tisContained = box1.containsPoint( vec );\r\n\r\n\t\t\t\t\tvec.fromBufferAttribute( position, i1 );\r\n\t\t\t\t\tisContained = isContained && box1.containsPoint( vec );\r\n\r\n\t\t\t\t\tvec.fromBufferAttribute( position, i2 );\r\n\t\t\t\t\tisContained = isContained && box1.containsPoint( vec );\r\n\r\n\t\t\t\t\tconsole.assert( isContained, 'Leaf bounds does not fully contain triangle.' );\r\n\t\t\t\t\tpasses = passes && isContained;\r\n\r\n\t\t\t\t}\r\n\r\n\t\t\t}\r\n\r\n\t\t\tif ( parent ) {\r\n\r\n\t\t\t\t// check if my bounds fit in my parents\r\n\t\t\t\tarrayToBox( boundingData, box2 );\r\n\r\n\t\t\t\tconst isContained = box2.containsBox( box1 );\r\n\t\t\t\tconsole.assert( isContained, 'Parent bounds does not fully contain child.' );\r\n\t\t\t\tpasses = passes && isContained;\r\n\r\n\t\t\t}\r\n\r\n\t\t} );\r\n\r\n\t\treturn passes;\r\n\r\n\t}\r\n\r\n}\r\n","import { Ray, Matrix4, Mesh } from 'three';\r\nimport MeshBVH from './MeshBVH.js';\r\nimport Visualizer from './MeshBVHVisualizer.js';\r\nimport { CENTER, AVERAGE, SAH, NOT_INTERSECTED, INTERSECTED, CONTAINED } from './Constants.js';\r\nimport { getBVHExtremes, estimateMemoryInBytes } from './Utils/Debug.js';\r\nimport { MeshBVHDebug } from './MeshBVHDebug.js';\r\n\r\nconst ray = new Ray();\r\nconst tmpInverseMatrix = new Matrix4();\r\nconst origMeshRaycastFunc = Mesh.prototype.raycast;\r\n\r\nfunction acceleratedRaycast( raycaster, intersects ) {\r\n\r\n\tif ( this.geometry.boundsTree ) {\r\n\r\n\t\tif ( this.material === undefined ) return;\r\n\r\n\t\ttmpInverseMatrix.copy( this.matrixWorld ).invert();\r\n\t\tray.copy( raycaster.ray ).applyMatrix4( tmpInverseMatrix );\r\n\r\n\t\tif ( raycaster.firstHitOnly === true ) {\r\n\r\n\t\t\tconst res = this.geometry.boundsTree.raycastFirst( this, raycaster, ray );\r\n\t\t\tif ( res ) intersects.push( res 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