three-mesh-bvh
Version:
A BVH implementation to speed up raycasting against three.js meshes.
204 lines (131 loc) • 4.31 kB
JavaScript
import { Vector3, Vector2, Plane, Line3 } from 'three';
export const closestPointLineToLine = ( function () {
// https://github.com/juj/MathGeoLib/blob/master/src/Geometry/Line.cpp#L56
const dir1 = /* @__PURE__ */ new Vector3();
const dir2 = /* @__PURE__ */ new Vector3();
const v02 = /* @__PURE__ */ new Vector3();
return function closestPointLineToLine( l1, l2, result ) {
const v0 = l1.start;
const v10 = dir1;
const v2 = l2.start;
const v32 = dir2;
v02.subVectors( v0, v2 );
dir1.subVectors( l1.end, l1.start );
dir2.subVectors( l2.end, l2.start );
// float d0232 = v02.Dot(v32);
const d0232 = v02.dot( v32 );
// float d3210 = v32.Dot(v10);
const d3210 = v32.dot( v10 );
// float d3232 = v32.Dot(v32);
const d3232 = v32.dot( v32 );
// float d0210 = v02.Dot(v10);
const d0210 = v02.dot( v10 );
// float d1010 = v10.Dot(v10);
const d1010 = v10.dot( v10 );
// float denom = d1010*d3232 - d3210*d3210;
const denom = d1010 * d3232 - d3210 * d3210;
let d, d2;
if ( denom !== 0 ) {
d = ( d0232 * d3210 - d0210 * d3232 ) / denom;
} else {
d = 0;
}
d2 = ( d0232 + d * d3210 ) / d3232;
result.x = d;
result.y = d2;
};
} )();
export const closestPointsSegmentToSegment = ( function () {
// https://github.com/juj/MathGeoLib/blob/master/src/Geometry/LineSegment.cpp#L187
const paramResult = /* @__PURE__ */ new Vector2();
const temp1 = /* @__PURE__ */ new Vector3();
const temp2 = /* @__PURE__ */ new Vector3();
return function closestPointsSegmentToSegment( l1, l2, target1, target2 ) {
closestPointLineToLine( l1, l2, paramResult );
let d = paramResult.x;
let d2 = paramResult.y;
if ( d >= 0 && d <= 1 && d2 >= 0 && d2 <= 1 ) {
l1.at( d, target1 );
l2.at( d2, target2 );
return;
} else if ( d >= 0 && d <= 1 ) {
// Only d2 is out of bounds.
if ( d2 < 0 ) {
l2.at( 0, target2 );
} else {
l2.at( 1, target2 );
}
l1.closestPointToPoint( target2, true, target1 );
return;
} else if ( d2 >= 0 && d2 <= 1 ) {
// Only d is out of bounds.
if ( d < 0 ) {
l1.at( 0, target1 );
} else {
l1.at( 1, target1 );
}
l2.closestPointToPoint( target1, true, target2 );
return;
} else {
// Both u and u2 are out of bounds.
let p;
if ( d < 0 ) {
p = l1.start;
} else {
p = l1.end;
}
let p2;
if ( d2 < 0 ) {
p2 = l2.start;
} else {
p2 = l2.end;
}
const closestPoint = temp1;
const closestPoint2 = temp2;
l1.closestPointToPoint( p2, true, temp1 );
l2.closestPointToPoint( p, true, temp2 );
if ( closestPoint.distanceToSquared( p2 ) <= closestPoint2.distanceToSquared( p ) ) {
target1.copy( closestPoint );
target2.copy( p2 );
return;
} else {
target1.copy( p );
target2.copy( closestPoint2 );
return;
}
}
};
} )();
export const sphereIntersectTriangle = ( function () {
// https://stackoverflow.com/questions/34043955/detect-collision-between-sphere-and-triangle-in-three-js
const closestPointTemp = /* @__PURE__ */ new Vector3();
const projectedPointTemp = /* @__PURE__ */ new Vector3();
const planeTemp = /* @__PURE__ */ new Plane();
const lineTemp = /* @__PURE__ */ new Line3();
return function sphereIntersectTriangle( sphere, triangle ) {
const { radius, center } = sphere;
const { a, b, c } = triangle;
// phase 1
lineTemp.start = a;
lineTemp.end = b;
const closestPoint1 = lineTemp.closestPointToPoint( center, true, closestPointTemp );
if ( closestPoint1.distanceTo( center ) <= radius ) return true;
lineTemp.start = a;
lineTemp.end = c;
const closestPoint2 = lineTemp.closestPointToPoint( center, true, closestPointTemp );
if ( closestPoint2.distanceTo( center ) <= radius ) return true;
lineTemp.start = b;
lineTemp.end = c;
const closestPoint3 = lineTemp.closestPointToPoint( center, true, closestPointTemp );
if ( closestPoint3.distanceTo( center ) <= radius ) return true;
// phase 2
const plane = triangle.getPlane( planeTemp );
const dp = Math.abs( plane.distanceToPoint( center ) );
if ( dp <= radius ) {
const pp = plane.projectPoint( center, projectedPointTemp );
const cp = triangle.containsPoint( pp );
if ( cp ) return true;
}
return false;
};
} )();