@xtor/cga.js/old-src/struct/3d/Ray.js

Xtor Compute Geometry Algorithm Libary 计算几何算法库

import { Line } from "./Line";
import { Point } from "./Point";

class Ray {
  constructor(origin, direction) {
    this.origin = origin;
    this.direction = direction.normalize();
  }

  /**
   * 射线到射线的距离
   * @param  {Ray} ray
   */
  distanceRay(ray) {
    var result = {
      parameters: [],
      closests: [],
      sqrDistance: 0,
      distance: 0
    };

    var diff = this.origin.clone().sub(ray.origin);
    var a01 = - this.direction.dot(ray.direction);
    var b0 = diff.dot(this.direction), b1;
    var s0, s1;

    if (Math.abs(a01) < 1)
    {
      // 射线不平行
      b1 = - diff.dot(ray.direction);
      s0 = a01 * b1 - b0;
      s1 = a01 * b0 - b1;

      if (s0 >= 0)
      {
        if (s1 >= 0)  // region 0 (interior)
        {
          // Minimum at two interior points of rays.
          var det = 1 - a01 * a01;
          s0 /= det;
          s1 /= det;
        }
        else  // region 3 (side)
        {
          s1 = 0;
          if (b0 >= 0)
          {
            s0 = 0;
          }
          else
          {
            s0 = -b0;
          }
        }
      }
      else
      {
        if (s1 >= 0)  // region 1 (side)
        {
          s0 = 0;
          if (b1 >= 0)
          {
            s1 = 0;
          }
          else
          {
            s1 = -b1;
          }
        }
        else  // region 2 (corner)
        {
          if (b0 < 0)
          {
            s0 = -b0;
            s1 = 0;
          }
          else
          {
            s0 = 0;
            if (b1 >= 0)
            {
              s1 = 0;
            }
            else
            {
              s1 = -b1;
            }
          }
        }
      }
    }
    else
    {
      // Rays are parallel.
      if (a01 > 0)
      {
        // Opposite direction vectors.
        s1 = 0;
        if (b0 >= 0)
        {
          s0 = 0;
        }
        else
        {
          s0 = -b0;
        }
      }
      else
      {
        // Same direction vectors.
        if (b0 >= 0)
        {
          b1 = - diff.dot(ray.direction);
          s0 = 0;
          s1 = -b1;
        }
        else
        {
          s0 = -b0;
          s1 = 0;
        }
      }
    }

    result.parameters[0] = s0;
    result.parameters[1] = s1;
    result.closests[0] = this.direction.clone().multiplyScalar(s0).add(this.origin);
    result.closests[1] = ray.direction.clone().multiplyScalar(s1).add(ray.origin);
    diff = result.closests[0].clone().sub(result.closests[1]);
    result.sqrDistance = diff.dot(diff);
    result.distance = Math.sqrt(result.sqrDistance);
    return result;
  }

  /**
   * 射线与线段的距离
   * @param {Segment} segment 
   */
  distanceSegment(segment) {
    const result = {
      parameters: [],
      closests: [],
      sqrDistance: 0,
      distance: 0
    };

    // segment.GetCenteredForm(segCenter, segDirection, segExtent);
    var segCenter = segment.center;
    var segDirection = segment.direction;
    var segExtent = segment.len * 0.5;

    var diff = this.origin.clone().sub(segCenter);
    var a01 = - this.direction.dot(segDirection);
    var b0 = diff.dot(this.direction);
    var s0, s1;

    if (Math.abs(a01) < 1)
    {
      // The ray and segment are not parallel.
      var det = 1 - a01 * a01;
      var extDet = segExtent * det;
      var b1 = - diff.dot(segDirection);
      s0 = a01 * b1 - b0;
      s1 = a01 * b0 - b1;

      if (s0 >= 0)
      {
        if (s1 >= -extDet)
        {
          if (s1 <= extDet)  // region 0
          {
            // Minimum at interior points of ray and segment.
            s0 /= det;
            s1 /= det;
          }
          else  // region 1
          {
            s1 = segExtent;
            s0 = Math.max(-(a01 * s1 + b0), 0);
          }
        }
        else  // region 5
        {
          s1 = -segExtent;
          s0 = Math.max(-(a01 * s1 + b0), 0);
        }
      }
      else
      {
        if (s1 <= -extDet)  // region 4
        {
          s0 = -(-a01 * segExtent + b0);
          if (s0 > 0)
          {
            s1 = -segExtent;
          }
          else
          {
            s0 = 0;
            s1 = -b1;
            if (s1 < -segExtent)
            {
              s1 = -segExtent;
            }
            else if (s1 > segExtent)
            {
              s1 = segExtent;
            }
          }
        }
        else if (s1 <= extDet)  // region 3
        {
          s0 = 0;
          s1 = -b1;
          if (s1 < -segExtent)
          {
            s1 = -segExtent;
          }
          else if (s1 > segExtent)
          {
            s1 = segExtent;
          }
        }
        else  // region 2
        {
          s0 = -(a01 * segExtent + b0);
          if (s0 > 0)
          {
            s1 = segExtent;
          }
          else
          {
            s0 = 0;
            s1 = -b1;
            if (s1 < -segExtent)
            {
              s1 = -segExtent;
            }
            else if (s1 > segExtent)
            {
              s1 = segExtent;
            }
          }
        }
      }
    }
    else
    {
      // Ray and segment are parallel.
      if (a01 > 0)
      {
        // Opposite direction vectors.
        s1 = -segExtent;
      }
      else
      {
        // Same direction vectors.
        s1 = segExtent;
      }

      s0 = Math.max(-(a01 * s1 + b0), 0);
    }

    result.parameters[0] = s0;
    result.parameters[1] = s1;
    result.closests[0] = this.direction.clone().multiplyScalar(s0).add(this.origin);
    result.closests[1] = segDirection.clone().multiplyScalar(s1).add(segCenter);
    diff = result.closests[0].clone().sub(result.closests[1]);
    result.sqrDistance = diff.dot(diff);
    result.distance = Math.sqrt(result.sqrDistance);
    return result;
  }



  distanceTriangle(triangle) {
    const result = {
      parameters: [],
      closests: [],
      triangleParameter: [],
      sqrDistance: 0,
      distance: 0
    };

    var line = new Line(this.origin, this.origin.clone().add(this.direction));
    // DCPQuery < Real, Line3 < Real >, Triangle3 < Real >> ltQuery;
    var ltResult = line.distanceTriangle(triangle);

    if (ltResult.lineParameter >= 0)
    {
      //最近点在直线前半部分部分，涉嫌方向
      result.distance = ltResult.distance;
      result.sqrDistance = ltResult.sqrDistance;
      result.rayParameter = ltResult.lineParameter;
      result.triangleParameter[0] = ltResult.triangleParameter[0];
      result.triangleParameter[1] = ltResult.triangleParameter[1];
      result.triangleParameter[2] = ltResult.triangleParameter[2];
      result.closests[0] = ltResult.closests[0];
      result.closests[1] = ltResult.closests[1];
    }
    else
    {
      var ptResult = new Point().copy(this.origin).distanceTriangle(triangle);
      result.distance = ptResult.distance;
      result.sqrDistance = ptResult.sqrDistance;
      result.rayParameter = 0;
      result.triangleParameter[0] = ptResult.parameter[0];
      result.triangleParameter[1] = ptResult.parameter[1];
      result.triangleParameter[2] = ptResult.parameter[2];
      result.closests[0] = this.origin;
      result.closests[1] = ptResult.closest;
    }

    return result;
  }

  /**
   * 直线到直线的距离
   * @param  {Ray} ray
   */
  distanceLine(line) { }
}

function fromTwoPoint(orgin, point) {
  return new Ray(orgin, point.sub(orgin));
}

function ray(orgin, direction) {
  return new Ray(orgin, direction);
}

export { Ray, ray, fromTwoPoint };