xtorcga
Version:
Xtor Compute Geometry Algorithm Libary 计算几何算法库
340 lines (339 loc) • 13.5 kB
JavaScript
"use strict";
Object.defineProperty(exports, "__esModule", { value: true });
exports.line = exports.Line = void 0;
var Vec3_1 = require("../../math/Vec3");
var Segment_1 = require("./Segment");
var Math_1 = require("../../math/Math");
var _v1 = new Vec3_1.Vec3;
;
var Line = /** @class */ (function () {
function Line(origin, end) {
if (origin === void 0) { origin = Vec3_1.v3(); }
if (end === void 0) { end = Vec3_1.v3(); }
this.origin = origin;
this.end = end;
this.direction = this.end
.clone()
.sub(this.origin)
.normalize();
}
Line.prototype.set = function (origin, end) {
this.origin.copy(origin);
this.end.copy(end);
return this;
};
Line.prototype.distancePoint = function (pt) {
var res = pt.distanceLine(this);
// res.closests?.reverse();
// res.parameters?.reverse();
return res;
};
Line.prototype.distanceSegment = function (segment) {
var result = {
parameters: [],
closests: []
};
var segCenter = segment.center;
var segDirection = segment.direction;
var segExtent = segment.extent * 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) {
// 判断是否平行
var det = 1 - a01 * a01;
var extDet = segExtent * det;
var b1 = -diff.dot(segDirection);
s1 = a01 * b0 - b1;
if (s1 >= -extDet) {
if (s1 <= extDet) {
// Two interior points are closest, one on the this
// and one on the segment.
s0 = (a01 * b1 - b0) / det;
s1 /= det;
}
else {
// The endpoint e1 of the segment and an interior
// point of the this are closest.
s1 = segExtent;
s0 = -(a01 * s1 + b0);
}
}
else {
// The endpoint e0 of the segment and an interior point
// of the this are closest.
s1 = -segExtent;
s0 = -(a01 * s1 + b0);
}
}
else {
// The this and segment are parallel. Choose the closest pair
// so that one point is at segment origin.
s1 = 0;
s0 = -b0;
}
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.distanceSqr = diff.dot(diff);
result.distance = Math.sqrt(result.distanceSqr);
return result;
};
//---距离-------------
/**
* 直线到直线的距离
* 参数与最近点顺序一致
* @param {Line} line
*/
Line.prototype.distanceLine = function (line) {
var result = {
parameters: [],
closests: []
};
var diff = this.origin.clone().sub(line.origin);
var a01 = -this.direction.dot(line.direction);
var b0 = diff.dot(this.direction);
var s0, s1;
if (Math.abs(a01) < 1) {
var det = 1 - a01 * a01;
var b1 = -diff.dot(line.direction);
s0 = (a01 * b1 - b0) / det;
s1 = (a01 * b0 - b1) / det;
}
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] = line.direction
.clone()
.multiplyScalar(s1)
.add(line.origin);
diff = result.closests[0].clone().sub(result.closests[1]);
result.distanceSqr = diff.dot(diff);
result.distance = Math.sqrt(result.distanceSqr);
return result;
};
/**
* 直线与射线的距离
* @param {Ray} ray
*/
Line.prototype.distanceRay = function (ray) {
var result = {
parameters: [],
closests: []
};
var diff = this.origin.clone().sub(ray.origin);
var a01 = -this.direction.dot(ray.direction);
var b0 = diff.dot(this.direction);
var s0, s1;
if (Math.abs(a01) < 1) {
var b1 = -diff.dot(ray.direction);
s1 = a01 * b0 - b1;
if (s1 >= 0) {
//在最近点在射线上，相当于直线与直线最短距离
var det = 1 - a01 * a01;
s0 = (a01 * b1 - b0) / det;
s1 /= det;
}
else {
// 射线的起始点是离直线的最近点
s0 = -b0;
s1 = 0;
}
}
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.distanceSqr = diff.dot(diff);
result.distance = Math.sqrt(result.distanceSqr);
return result;
};
/**
*
* @param triangle
*/
Line.prototype.distanceTriangle = function (triangle) {
function Orthonormalize(numInputs, v, robust) {
if (robust === void 0) { robust = false; }
if (v && 1 <= numInputs && numInputs <= 3) {
var minLength = v[0].length();
v[0].normalize();
for (var i = 1; i < numInputs; ++i) {
for (var j = 0; j < i; ++j) {
var dot = v[i].dot(v[j]);
v[i].sub(v[j].clone().multiplyScalar(dot));
}
var length = v[i].length();
v[i].normalize();
if (length < minLength) {
minLength = length;
}
}
return minLength;
}
return 0;
}
function ComputeOrthogonalComplement(numInputs, v, robust) {
if (robust === void 0) { robust = false; }
if (numInputs === 1) {
if (Math.abs(v[0][0]) > Math.abs(v[0][1])) {
v[1] = Vec3_1.v3(-v[0].z, 0, +v[0].x);
}
else {
v[1] = Vec3_1.v3(0, +v[0].z, -v[0].y);
}
;
numInputs = 2;
}
if (numInputs == 2) {
v[2] = v[0].clone().cross(v[1]);
return Orthonormalize(3, v, robust);
}
return 0;
}
var result = {
closests: [],
parameters: [],
triangleParameters: [],
};
// Test if line intersects triangle. If so, the squared distance
// is zero.
var edge0 = triangle.p1.clone().sub(triangle.p0);
var edge1 = triangle.p2.clone().sub(triangle.p0);
var normal = edge0.clone().cross(edge1).normalize();
var NdD = normal.dot(this.direction);
if (Math.abs(NdD) >= Math_1.delta4) {
// The line and triangle are not parallel, so the line
// intersects/ the plane of the triangle.
var diff = this.origin.clone().sub(triangle.p0);
var basis = new Array(3); // {D, U, V}
basis[0] = this.direction;
ComputeOrthogonalComplement(1, basis);
var UdE0 = basis[1].dot(edge0);
var UdE1 = basis[1].dot(edge1);
var UdDiff = basis[1].dot(diff);
var VdE0 = basis[2].dot(edge0);
var VdE1 = basis[2].dot(edge1);
var VdDiff = basis[2].dot(diff);
var invDet = 1 / (UdE0 * VdE1 - UdE1 * VdE0);
// Barycentric coordinates for the point of intersection.
var b1 = (VdE1 * UdDiff - UdE1 * VdDiff) * invDet;
var b2 = (UdE0 * VdDiff - VdE0 * UdDiff) * invDet;
var b0 = 1 - b1 - b2;
if (b0 >= 0 && b1 >= 0 && b2 >= 0) {
// Line parameter for the point of intersection.
var DdE0 = this.direction.dot(edge0);
var DdE1 = this.direction.dot(edge1);
var DdDiff = this.direction.dot(diff);
result.lineParameter = b1 * DdE0 + b2 * DdE1 - DdDiff;
// Barycentric coordinates for the point of intersection.
result.triangleParameters[0] = b0;
result.triangleParameters[1] = b1;
result.triangleParameters[2] = b2;
// The intersection point is inside or on the triangle.
result.closests[0] = this.direction.clone().multiplyScalar(result.lineParameter).add(this.origin);
result.closests[1] = edge0.multiplyScalar(b1).add(edge1.multiplyScalar(b2)).add(triangle.p0);
result.distance = 0;
result.distanceSqr = 0;
return result;
}
}
// Either (1) the line is not parallel to the triangle and the
// point of intersection of the line and the plane of the triangle
// is outside the triangle or (2) the line and triangle are
// parallel. Regardless, the closest point on the triangle is on
// an edge of the triangle. Compare the line to all three edges
// of the triangle.
result.distance = +Infinity;
result.distanceSqr = +Infinity;
for (var i0 = 2, i1 = 0; i1 < 3; i0 = i1++) {
var segCenter = triangle[i0].clone().add(triangle[i1]).multiplyScalar(0.5);
var segDirection = triangle[i1].clone().sub(triangle[i0]);
var segExtent = 0.5 * segDirection.length();
segDirection.normalize();
var segment = new Segment_1.Segment(triangle[i0], triangle[i1]);
var lsResult = this.distanceSegment(segment);
if (lsResult.distanceSqr < result.distanceSqr) {
result.distanceSqr = lsResult.distanceSqr;
result.distance = lsResult.distance;
result.lineParameter = lsResult.parameters[0];
result.triangleParameters[i0] = 0.5 * (1 -
lsResult.parameters[0] / segExtent);
result.triangleParameters[i1] = 1 -
result.triangleParameters[i0];
result.triangleParameters[3 - i0 - i1] = 0;
result.closests[0] = lsResult.closests[0];
result.closests[1] = lsResult.closests[1];
}
}
return result;
};
Line.prototype.distancePolyline = function (polyline) {
var polyl = polyline._array || polyline;
var result = null;
var maodian = -1;
for (var i = 0; i < polyl.length - 1; i++) {
var segment = new Segment_1.Segment(polyl[i], polyl[i + 1]);
var oneres = this.distanceSegment(segment);
if (!result || result.distance < oneres.distance) {
result = oneres;
}
if (result.distance < Math_1.delta4) {
maodian = i;
break;
}
}
return {
distance: result === null || result === void 0 ? void 0 : result.distance,
distanceSqr: result === null || result === void 0 ? void 0 : result.distanceSqr,
parameters: result === null || result === void 0 ? void 0 : result.parameters,
closests: result === null || result === void 0 ? void 0 : result.closests,
segmentIndex: maodian,
};
};
//---intersect--------------------------
/**
* 线与平面相交
* @param plane
* @param result
*/
Line.prototype.intersectPlane = function (plane, result) {
if (!result)
result = new Vec3_1.Vec3();
var direction = this.direction;
var denominator = plane.normal.dot(direction);
if (denominator === 0) {
// line is coplanar, return origin
if (this.distancePoint(this.origin).distance === 0) {
return result.copy(this.origin);
} // Unsure if this is the correct method to handle this case.
return;
}
var t = -(this.origin.dot(plane.normal) - plane.w) / denominator;
if (t < 0 || t > 1) {
return;
}
return result.copy(direction).multiplyScalar(t).add(this.origin);
};
return Line;
}());
exports.Line = Line;
function line(start, end) {
return new Line(start, end);
}
exports.line = line;