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547 lines
10 KiB
547 lines
10 KiB
6 months ago
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import {
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Box3,
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Line3,
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Plane,
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Sphere,
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Triangle,
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Vector3,
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Layers
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} from 'three';
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import { Capsule } from '../math/Capsule.js';
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const _v1 = new Vector3();
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const _v2 = new Vector3();
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const _point1 = new Vector3();
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const _point2 = new Vector3();
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const _plane = new Plane();
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const _line1 = new Line3();
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const _line2 = new Line3();
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const _sphere = new Sphere();
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const _capsule = new Capsule();
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const _temp1 = new Vector3();
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const _temp2 = new Vector3();
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const _temp3 = new Vector3();
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const EPS = 1e-10;
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function lineToLineClosestPoints( line1, line2, target1 = null, target2 = null ) {
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const r = _temp1.copy( line1.end ).sub( line1.start );
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const s = _temp2.copy( line2.end ).sub( line2.start );
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const w = _temp3.copy( line2.start ).sub( line1.start );
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const a = r.dot( s ),
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b = r.dot( r ),
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c = s.dot( s ),
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d = s.dot( w ),
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e = r.dot( w );
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let t1, t2;
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const divisor = b * c - a * a;
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if ( Math.abs( divisor ) < EPS ) {
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const d1 = - d / c;
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const d2 = ( a - d ) / c;
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if ( Math.abs( d1 - 0.5 ) < Math.abs( d2 - 0.5 ) ) {
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t1 = 0;
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t2 = d1;
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} else {
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t1 = 1;
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t2 = d2;
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}
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} else {
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t1 = ( d * a + e * c ) / divisor;
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t2 = ( t1 * a - d ) / c;
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}
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t2 = Math.max( 0, Math.min( 1, t2 ) );
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t1 = Math.max( 0, Math.min( 1, t1 ) );
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if ( target1 ) {
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target1.copy( r ).multiplyScalar( t1 ).add( line1.start );
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}
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if ( target2 ) {
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target2.copy( s ).multiplyScalar( t2 ).add( line2.start );
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}
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}
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class Octree {
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constructor( box ) {
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this.box = box;
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this.bounds = new Box3();
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this.subTrees = [];
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this.triangles = [];
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this.layers = new Layers();
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}
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addTriangle( triangle ) {
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this.bounds.min.x = Math.min( this.bounds.min.x, triangle.a.x, triangle.b.x, triangle.c.x );
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this.bounds.min.y = Math.min( this.bounds.min.y, triangle.a.y, triangle.b.y, triangle.c.y );
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this.bounds.min.z = Math.min( this.bounds.min.z, triangle.a.z, triangle.b.z, triangle.c.z );
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this.bounds.max.x = Math.max( this.bounds.max.x, triangle.a.x, triangle.b.x, triangle.c.x );
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this.bounds.max.y = Math.max( this.bounds.max.y, triangle.a.y, triangle.b.y, triangle.c.y );
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this.bounds.max.z = Math.max( this.bounds.max.z, triangle.a.z, triangle.b.z, triangle.c.z );
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this.triangles.push( triangle );
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return this;
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}
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calcBox() {
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this.box = this.bounds.clone();
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// offset small amount to account for regular grid
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this.box.min.x -= 0.01;
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this.box.min.y -= 0.01;
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this.box.min.z -= 0.01;
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return this;
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}
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split( level ) {
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if ( ! this.box ) return;
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const subTrees = [];
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const halfsize = _v2.copy( this.box.max ).sub( this.box.min ).multiplyScalar( 0.5 );
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for ( let x = 0; x < 2; x ++ ) {
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for ( let y = 0; y < 2; y ++ ) {
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for ( let z = 0; z < 2; z ++ ) {
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const box = new Box3();
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const v = _v1.set( x, y, z );
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box.min.copy( this.box.min ).add( v.multiply( halfsize ) );
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box.max.copy( box.min ).add( halfsize );
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subTrees.push( new Octree( box ) );
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}
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}
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}
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let triangle;
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while ( triangle = this.triangles.pop() ) {
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for ( let i = 0; i < subTrees.length; i ++ ) {
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if ( subTrees[ i ].box.intersectsTriangle( triangle ) ) {
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subTrees[ i ].triangles.push( triangle );
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}
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}
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}
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for ( let i = 0; i < subTrees.length; i ++ ) {
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const len = subTrees[ i ].triangles.length;
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if ( len > 8 && level < 16 ) {
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subTrees[ i ].split( level + 1 );
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}
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if ( len !== 0 ) {
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this.subTrees.push( subTrees[ i ] );
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}
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}
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return this;
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}
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build() {
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this.calcBox();
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this.split( 0 );
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return this;
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}
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getRayTriangles( ray, triangles ) {
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for ( let i = 0; i < this.subTrees.length; i ++ ) {
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const subTree = this.subTrees[ i ];
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if ( ! ray.intersectsBox( subTree.box ) ) continue;
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if ( subTree.triangles.length > 0 ) {
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for ( let j = 0; j < subTree.triangles.length; j ++ ) {
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if ( triangles.indexOf( subTree.triangles[ j ] ) === - 1 ) triangles.push( subTree.triangles[ j ] );
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}
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} else {
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subTree.getRayTriangles( ray, triangles );
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}
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}
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return triangles;
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}
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triangleCapsuleIntersect( capsule, triangle ) {
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triangle.getPlane( _plane );
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const d1 = _plane.distanceToPoint( capsule.start ) - capsule.radius;
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const d2 = _plane.distanceToPoint( capsule.end ) - capsule.radius;
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if ( ( d1 > 0 && d2 > 0 ) || ( d1 < - capsule.radius && d2 < - capsule.radius ) ) {
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return false;
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}
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const delta = Math.abs( d1 / ( Math.abs( d1 ) + Math.abs( d2 ) ) );
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const intersectPoint = _v1.copy( capsule.start ).lerp( capsule.end, delta );
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if ( triangle.containsPoint( intersectPoint ) ) {
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return { normal: _plane.normal.clone(), point: intersectPoint.clone(), depth: Math.abs( Math.min( d1, d2 ) ) };
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}
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const r2 = capsule.radius * capsule.radius;
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const line1 = _line1.set( capsule.start, capsule.end );
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const lines = [
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[ triangle.a, triangle.b ],
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[ triangle.b, triangle.c ],
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[ triangle.c, triangle.a ]
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];
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for ( let i = 0; i < lines.length; i ++ ) {
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const line2 = _line2.set( lines[ i ][ 0 ], lines[ i ][ 1 ] );
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lineToLineClosestPoints( line1, line2, _point1, _point2 );
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if ( _point1.distanceToSquared( _point2 ) < r2 ) {
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return {
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normal: _point1.clone().sub( _point2 ).normalize(),
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point: _point2.clone(),
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depth: capsule.radius - _point1.distanceTo( _point2 )
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};
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}
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}
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return false;
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}
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triangleSphereIntersect( sphere, triangle ) {
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triangle.getPlane( _plane );
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if ( ! sphere.intersectsPlane( _plane ) ) return false;
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const depth = Math.abs( _plane.distanceToSphere( sphere ) );
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const r2 = sphere.radius * sphere.radius - depth * depth;
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const plainPoint = _plane.projectPoint( sphere.center, _v1 );
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if ( triangle.containsPoint( sphere.center ) ) {
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return { normal: _plane.normal.clone(), point: plainPoint.clone(), depth: Math.abs( _plane.distanceToSphere( sphere ) ) };
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}
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const lines = [
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[ triangle.a, triangle.b ],
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[ triangle.b, triangle.c ],
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[ triangle.c, triangle.a ]
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];
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for ( let i = 0; i < lines.length; i ++ ) {
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_line1.set( lines[ i ][ 0 ], lines[ i ][ 1 ] );
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_line1.closestPointToPoint( plainPoint, true, _v2 );
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const d = _v2.distanceToSquared( sphere.center );
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if ( d < r2 ) {
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return { normal: sphere.center.clone().sub( _v2 ).normalize(), point: _v2.clone(), depth: sphere.radius - Math.sqrt( d ) };
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}
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}
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return false;
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}
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getSphereTriangles( sphere, triangles ) {
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for ( let i = 0; i < this.subTrees.length; i ++ ) {
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const subTree = this.subTrees[ i ];
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if ( ! sphere.intersectsBox( subTree.box ) ) continue;
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if ( subTree.triangles.length > 0 ) {
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for ( let j = 0; j < subTree.triangles.length; j ++ ) {
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if ( triangles.indexOf( subTree.triangles[ j ] ) === - 1 ) triangles.push( subTree.triangles[ j ] );
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}
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} else {
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subTree.getSphereTriangles( sphere, triangles );
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}
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}
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}
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getCapsuleTriangles( capsule, triangles ) {
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for ( let i = 0; i < this.subTrees.length; i ++ ) {
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const subTree = this.subTrees[ i ];
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if ( ! capsule.intersectsBox( subTree.box ) ) continue;
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if ( subTree.triangles.length > 0 ) {
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for ( let j = 0; j < subTree.triangles.length; j ++ ) {
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if ( triangles.indexOf( subTree.triangles[ j ] ) === - 1 ) triangles.push( subTree.triangles[ j ] );
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}
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} else {
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subTree.getCapsuleTriangles( capsule, triangles );
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}
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}
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}
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sphereIntersect( sphere ) {
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_sphere.copy( sphere );
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const triangles = [];
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let result, hit = false;
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this.getSphereTriangles( sphere, triangles );
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for ( let i = 0; i < triangles.length; i ++ ) {
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if ( result = this.triangleSphereIntersect( _sphere, triangles[ i ] ) ) {
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hit = true;
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_sphere.center.add( result.normal.multiplyScalar( result.depth ) );
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}
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}
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if ( hit ) {
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const collisionVector = _sphere.center.clone().sub( sphere.center );
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const depth = collisionVector.length();
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return { normal: collisionVector.normalize(), depth: depth };
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}
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return false;
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}
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capsuleIntersect( capsule ) {
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_capsule.copy( capsule );
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const triangles = [];
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let result, hit = false;
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this.getCapsuleTriangles( _capsule, triangles );
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for ( let i = 0; i < triangles.length; i ++ ) {
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if ( result = this.triangleCapsuleIntersect( _capsule, triangles[ i ] ) ) {
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hit = true;
|
||
|
|
|
||
|
|
_capsule.translate( result.normal.multiplyScalar( result.depth ) );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
if ( hit ) {
|
||
|
|
|
||
|
|
const collisionVector = _capsule.getCenter( new Vector3() ).sub( capsule.getCenter( _v1 ) );
|
||
|
|
const depth = collisionVector.length();
|
||
|
|
|
||
|
|
return { normal: collisionVector.normalize(), depth: depth };
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
return false;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
rayIntersect( ray ) {
|
||
|
|
|
||
|
|
if ( ray.direction.length() === 0 ) return;
|
||
|
|
|
||
|
|
const triangles = [];
|
||
|
|
let triangle, position, distance = 1e100;
|
||
|
|
|
||
|
|
this.getRayTriangles( ray, triangles );
|
||
|
|
|
||
|
|
for ( let i = 0; i < triangles.length; i ++ ) {
|
||
|
|
|
||
|
|
const result = ray.intersectTriangle( triangles[ i ].a, triangles[ i ].b, triangles[ i ].c, true, _v1 );
|
||
|
|
|
||
|
|
if ( result ) {
|
||
|
|
|
||
|
|
const newdistance = result.sub( ray.origin ).length();
|
||
|
|
|
||
|
|
if ( distance > newdistance ) {
|
||
|
|
|
||
|
|
position = result.clone().add( ray.origin );
|
||
|
|
distance = newdistance;
|
||
|
|
triangle = triangles[ i ];
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
return distance < 1e100 ? { distance: distance, triangle: triangle, position: position } : false;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
fromGraphNode( group ) {
|
||
|
|
|
||
|
|
group.updateWorldMatrix( true, true );
|
||
|
|
|
||
|
|
group.traverse( ( obj ) => {
|
||
|
|
|
||
|
|
if ( obj.isMesh === true ) {
|
||
|
|
|
||
|
|
if ( this.layers.test( obj.layers ) ) {
|
||
|
|
|
||
|
|
let geometry, isTemp = false;
|
||
|
|
|
||
|
|
if ( obj.geometry.index !== null ) {
|
||
|
|
|
||
|
|
isTemp = true;
|
||
|
|
geometry = obj.geometry.toNonIndexed();
|
||
|
|
|
||
|
|
} else {
|
||
|
|
|
||
|
|
geometry = obj.geometry;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
const positionAttribute = geometry.getAttribute( 'position' );
|
||
|
|
|
||
|
|
for ( let i = 0; i < positionAttribute.count; i += 3 ) {
|
||
|
|
|
||
|
|
const v1 = new Vector3().fromBufferAttribute( positionAttribute, i );
|
||
|
|
const v2 = new Vector3().fromBufferAttribute( positionAttribute, i + 1 );
|
||
|
|
const v3 = new Vector3().fromBufferAttribute( positionAttribute, i + 2 );
|
||
|
|
|
||
|
|
v1.applyMatrix4( obj.matrixWorld );
|
||
|
|
v2.applyMatrix4( obj.matrixWorld );
|
||
|
|
v3.applyMatrix4( obj.matrixWorld );
|
||
|
|
|
||
|
|
this.addTriangle( new Triangle( v1, v2, v3 ) );
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
if ( isTemp ) {
|
||
|
|
|
||
|
|
geometry.dispose();
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
} );
|
||
|
|
|
||
|
|
this.build();
|
||
|
|
|
||
|
|
return this;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
clear() {
|
||
|
|
|
||
|
|
this.box = null;
|
||
|
|
this.bounds.makeEmpty();
|
||
|
|
|
||
|
|
this.subTrees.length = 0;
|
||
|
|
this.triangles.length = 0;
|
||
|
|
|
||
|
|
return this;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
export { Octree };
|