backend/libs/three/math/Ray.js

import { Vector3 } from './Vector3.js';

const _vector = /*@__PURE__*/ new Vector3();
const _segCenter = /*@__PURE__*/ new Vector3();
const _segDir = /*@__PURE__*/ new Vector3();
const _diff = /*@__PURE__*/ new Vector3();

const _edge1 = /*@__PURE__*/ new Vector3();
const _edge2 = /*@__PURE__*/ new Vector3();
const _normal = /*@__PURE__*/ new Vector3();

class Ray {
	constructor(origin = new Vector3(), direction = new Vector3(0, 0, -1)) {
		this.origin = origin;
		this.direction = direction;
	}

	set(origin, direction) {
		this.origin.copy(origin);
		this.direction.copy(direction);

		return this;
	}

	copy(ray) {
		this.origin.copy(ray.origin);
		this.direction.copy(ray.direction);

		return this;
	}

	at(t, target) {
		return target.copy(this.direction).multiplyScalar(t).add(this.origin);
	}

	lookAt(v) {
		this.direction.copy(v).sub(this.origin).normalize();

		return this;
	}

	recast(t) {
		this.origin.copy(this.at(t, _vector));

		return this;
	}

	closestPointToPoint(point, target) {
		target.subVectors(point, this.origin);

		const directionDistance = target.dot(this.direction);

		if (directionDistance < 0) {
			return target.copy(this.origin);
		}

		return target.copy(this.direction).multiplyScalar(directionDistance).add(this.origin);
	}

	distanceToPoint(point) {
		return Math.sqrt(this.distanceSqToPoint(point));
	}

	distanceSqToPoint(point) {
		const directionDistance = _vector.subVectors(point, this.origin).dot(this.direction);

		// point behind the ray

		if (directionDistance < 0) {
			return this.origin.distanceToSquared(point);
		}

		_vector.copy(this.direction).multiplyScalar(directionDistance).add(this.origin);

		return _vector.distanceToSquared(point);
	}

	distanceSqToSegment(v0, v1, optionalPointOnRay, optionalPointOnSegment) {
		// from https://github.com/pmjoniak/GeometricTools/blob/master/GTEngine/Include/Mathematics/GteDistRaySegment.h
		// It returns the min distance between the ray and the segment
		// defined by v0 and v1
		// It can also set two optional targets :
		// - The closest point on the ray
		// - The closest point on the segment

		_segCenter.copy(v0).add(v1).multiplyScalar(0.5);
		_segDir.copy(v1).sub(v0).normalize();
		_diff.copy(this.origin).sub(_segCenter);

		const segExtent = v0.distanceTo(v1) * 0.5;
		const a01 = -this.direction.dot(_segDir);
		const b0 = _diff.dot(this.direction);
		const b1 = -_diff.dot(_segDir);
		const c = _diff.lengthSq();
		const det = Math.abs(1 - a01 * a01);
		let s0, s1, sqrDist, extDet;

		if (det > 0) {
			// The ray and segment are not parallel.

			s0 = a01 * b1 - b0;
			s1 = a01 * b0 - b1;
			extDet = segExtent * det;

			if (s0 >= 0) {
				if (s1 >= -extDet) {
					if (s1 <= extDet) {
						// region 0
						// Minimum at interior points of ray and segment.

						const invDet = 1 / det;
						s0 *= invDet;
						s1 *= invDet;
						sqrDist = s0 * (s0 + a01 * s1 + 2 * b0) + s1 * (a01 * s0 + s1 + 2 * b1) + c;
					} else {
						// region 1

						s1 = segExtent;
						s0 = Math.max(0, -(a01 * s1 + b0));
						sqrDist = -s0 * s0 + s1 * (s1 + 2 * b1) + c;
					}
				} else {
					// region 5

					s1 = -segExtent;
					s0 = Math.max(0, -(a01 * s1 + b0));
					sqrDist = -s0 * s0 + s1 * (s1 + 2 * b1) + c;
				}
			} else {
				if (s1 <= -extDet) {
					// region 4

					s0 = Math.max(0, -(-a01 * segExtent + b0));
					s1 = s0 > 0 ? -segExtent : Math.min(Math.max(-segExtent, -b1), segExtent);
					sqrDist = -s0 * s0 + s1 * (s1 + 2 * b1) + c;
				} else if (s1 <= extDet) {
					// region 3

					s0 = 0;
					s1 = Math.min(Math.max(-segExtent, -b1), segExtent);
					sqrDist = s1 * (s1 + 2 * b1) + c;
				} else {
					// region 2

					s0 = Math.max(0, -(a01 * segExtent + b0));
					s1 = s0 > 0 ? segExtent : Math.min(Math.max(-segExtent, -b1), segExtent);
					sqrDist = -s0 * s0 + s1 * (s1 + 2 * b1) + c;
				}
			}
		} else {
			// Ray and segment are parallel.

			s1 = a01 > 0 ? -segExtent : segExtent;
			s0 = Math.max(0, -(a01 * s1 + b0));
			sqrDist = -s0 * s0 + s1 * (s1 + 2 * b1) + c;
		}

		if (optionalPointOnRay) {
			optionalPointOnRay.copy(this.direction).multiplyScalar(s0).add(this.origin);
		}

		if (optionalPointOnSegment) {
			optionalPointOnSegment.copy(_segDir).multiplyScalar(s1).add(_segCenter);
		}

		return sqrDist;
	}

	intersectSphere(sphere, target) {
		_vector.subVectors(sphere.center, this.origin);
		const tca = _vector.dot(this.direction);
		const d2 = _vector.dot(_vector) - tca * tca;
		const radius2 = sphere.radius * sphere.radius;

		if (d2 > radius2) return null;

		const thc = Math.sqrt(radius2 - d2);

		// t0 = first intersect point - entrance on front of sphere
		const t0 = tca - thc;

		// t1 = second intersect point - exit point on back of sphere
		const t1 = tca + thc;

		// test to see if both t0 and t1 are behind the ray - if so, return null
		if (t0 < 0 && t1 < 0) return null;

		// test to see if t0 is behind the ray:
		// if it is, the ray is inside the sphere, so return the second exit point scaled by t1,
		// in order to always return an intersect point that is in front of the ray.
		if (t0 < 0) return this.at(t1, target);

		// else t0 is in front of the ray, so return the first collision point scaled by t0
		return this.at(t0, target);
	}

	intersectsSphere(sphere) {
		return this.distanceSqToPoint(sphere.center) <= sphere.radius * sphere.radius;
	}

	distanceToPlane(plane) {
		const denominator = plane.normal.dot(this.direction);

		if (denominator === 0) {
			// line is coplanar, return origin
			if (plane.distanceToPoint(this.origin) === 0) {
				return 0;
			}

			// Null is preferable to undefined since undefined means.... it is undefined

			return null;
		}

		const t = -(this.origin.dot(plane.normal) + plane.constant) / denominator;

		// Return if the ray never intersects the plane

		return t >= 0 ? t : null;
	}

	intersectPlane(plane, target) {
		const t = this.distanceToPlane(plane);

		if (t === null) {
			return null;
		}

		return this.at(t, target);
	}

	intersectsPlane(plane) {
		// check if the ray lies on the plane first

		const distToPoint = plane.distanceToPoint(this.origin);

		if (distToPoint === 0) {
			return true;
		}

		const denominator = plane.normal.dot(this.direction);

		if (denominator * distToPoint < 0) {
			return true;
		}

		// ray origin is behind the plane (and is pointing behind it)

		return false;
	}

	intersectBox(box, target) {
		let tmin, tmax, tymin, tymax, tzmin, tzmax;

		const invdirx = 1 / this.direction.x,
			invdiry = 1 / this.direction.y,
			invdirz = 1 / this.direction.z;

		const origin = this.origin;

		if (invdirx >= 0) {
			tmin = (box.min.x - origin.x) * invdirx;
			tmax = (box.max.x - origin.x) * invdirx;
		} else {
			tmin = (box.max.x - origin.x) * invdirx;
			tmax = (box.min.x - origin.x) * invdirx;
		}

		if (invdiry >= 0) {
			tymin = (box.min.y - origin.y) * invdiry;
			tymax = (box.max.y - origin.y) * invdiry;
		} else {
			tymin = (box.max.y - origin.y) * invdiry;
			tymax = (box.min.y - origin.y) * invdiry;
		}

		if (tmin > tymax || tymin > tmax) return null;

		// These lines also handle the case where tmin or tmax is NaN
		// (result of 0 * Infinity). x !== x returns true if x is NaN

		if (tymin > tmin || tmin !== tmin) tmin = tymin;

		if (tymax < tmax || tmax !== tmax) tmax = tymax;

		if (invdirz >= 0) {
			tzmin = (box.min.z - origin.z) * invdirz;
			tzmax = (box.max.z - origin.z) * invdirz;
		} else {
			tzmin = (box.max.z - origin.z) * invdirz;
			tzmax = (box.min.z - origin.z) * invdirz;
		}

		if (tmin > tzmax || tzmin > tmax) return null;

		if (tzmin > tmin || tmin !== tmin) tmin = tzmin;

		if (tzmax < tmax || tmax !== tmax) tmax = tzmax;

		//return point closest to the ray (positive side)

		if (tmax < 0) return null;

		return this.at(tmin >= 0 ? tmin : tmax, target);
	}

	intersectsBox(box) {
		return this.intersectBox(box, _vector) !== null;
	}

	intersectTriangle(a, b, c, backfaceCulling, target) {
		// Compute the offset origin, edges, and normal.

		// from https://github.com/pmjoniak/GeometricTools/blob/master/GTEngine/Include/Mathematics/GteIntrRay3Triangle3.h

		_edge1.subVectors(b, a);
		_edge2.subVectors(c, a);
		_normal.crossVectors(_edge1, _edge2);

		// Solve Q + t*D = b1*E1 + b2*E2 (Q = kDiff, D = ray direction,
		// E1 = kEdge1, E2 = kEdge2, N = Cross(E1,E2)) by
		//   |Dot(D,N)|*b1 = sign(Dot(D,N))*Dot(D,Cross(Q,E2))
		//   |Dot(D,N)|*b2 = sign(Dot(D,N))*Dot(D,Cross(E1,Q))
		//   |Dot(D,N)|*t = -sign(Dot(D,N))*Dot(Q,N)
		let DdN = this.direction.dot(_normal);
		let sign;

		if (DdN > 0) {
			if (backfaceCulling) return null;
			sign = 1;
		} else if (DdN < 0) {
			sign = -1;
			DdN = -DdN;
		} else {
			return null;
		}

		_diff.subVectors(this.origin, a);
		const DdQxE2 = sign * this.direction.dot(_edge2.crossVectors(_diff, _edge2));

		// b1 < 0, no intersection
		if (DdQxE2 < 0) {
			return null;
		}

		const DdE1xQ = sign * this.direction.dot(_edge1.cross(_diff));

		// b2 < 0, no intersection
		if (DdE1xQ < 0) {
			return null;
		}

		// b1+b2 > 1, no intersection
		if (DdQxE2 + DdE1xQ > DdN) {
			return null;
		}

		// Line intersects triangle, check if ray does.
		const QdN = -sign * _diff.dot(_normal);

		// t < 0, no intersection
		if (QdN < 0) {
			return null;
		}

		// Ray intersects triangle.
		return this.at(QdN / DdN, target);
	}

	applyMatrix4(matrix4) {
		this.origin.applyMatrix4(matrix4);
		this.direction.transformDirection(matrix4);

		return this;
	}

	equals(ray) {
		return ray.origin.equals(this.origin) && ray.direction.equals(this.direction);
	}

	clone() {
		return new this.constructor().copy(this);
	}
}

export { Ray };