intersect.ts

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import gfx from '../../renderer/gfx';
import RecyclePool from '../../renderer/memop/recycle-pool';

import { Mat3, Vec3, Mat4 } from '../value-types';
import aabb from './aabb';
import * as distance from './distance';
import enums from './enums';
import { frustum } from './frustum';
import line from './line';
import obb from './obb';
import plane from './plane';
import ray from './ray';
import sphere from './sphere';
import triangle from './triangle';

/**
 * @class geomUtils.intersect
 */

const ray_mesh = (function () {
    let tri = triangle.create();
    let minDist = Infinity;

    function getVec3 (out, data, idx, stride) {
        Vec3.set(out, data[idx*stride], data[idx*stride + 1], data[idx*stride + 2]);
    }
    
    return function (ray, mesh) {
        minDist = Infinity;
        let subMeshes = mesh._subMeshes;

        for (let i = 0; i < subMeshes.length; i++) {
            if (subMeshes[i]._primitiveType !== gfx.PT_TRIANGLES) continue;

            let subData = (mesh._subDatas[i] || mesh._subDatas[0]);
            let posData = mesh._getAttrMeshData(i, gfx.ATTR_POSITION);
            let iData = subData.getIData(Uint16Array);

            let format = subData.vfm;
            let fmt = format.element(gfx.ATTR_POSITION);
            let num = fmt.num;
            for (let i = 0; i < iData.length; i += 3) {
                getVec3(tri.a, posData, iData[ i ], num);
                getVec3(tri.b, posData, iData[i+1], num);
                getVec3(tri.c, posData, iData[i+2], num);

                let dist = ray_triangle(ray, tri);
                if (dist > 0 && dist < minDist) {
                    minDist = dist;
                }
            }
        }
        return minDist;
    };
})();

// adapt to old api
const rayMesh = ray_mesh;

/** 
 * !#en
 * Check whether ray intersect with nodes
 * !#zh
 * 检测射线是否与物体有交集
 * @static
 * @method ray_cast
 * @param {Node} root - If root is null, then traversal nodes from scene node
 * @param {geomUtils.Ray} worldRay
 * @param {Function} handler
 * @param {Function} filter
 * @return {[]} [{node, distance}]
*/
const ray_cast = (function () {
    function traversal (node, cb) {
        var children = node.children;

        for (var i = children.length - 1; i >= 0; i--) {
            var child = children[i];
            traversal(child, cb);
        }

        cb(node);
    }

    function cmp (a, b) {
        return a.distance - b.distance;
    }

    function transformMat4Normal (out, a, m) {
        let mm = m.m;
        let x = a.x, y = a.y, z = a.z,
            rhw = mm[3] * x + mm[7] * y + mm[11] * z;
        rhw = rhw ? 1 / rhw : 1;
        out.x = (mm[0] * x + mm[4] * y + mm[8] * z) * rhw;
        out.y = (mm[1] * x + mm[5] * y + mm[9] * z) * rhw;
        out.z = (mm[2] * x + mm[6] * y + mm[10] * z) * rhw;
        return out;
    }

    let resultsPool = new RecyclePool(function () {
        return {
            distance: 0,
            node: null
        }
    }, 1);

    let results = [];

    // temp variable
    let nodeAabb = aabb.create();
    let minPos = new Vec3();
    let maxPos = new Vec3();

    let modelRay = new ray();
    let m4_1 = cc.mat4();
    let m4_2 = cc.mat4();
    let d = new Vec3();

    function distanceValid (distance) {
        return distance > 0 && distance < Infinity;
    }

    return function (root, worldRay, handler, filter) {
        resultsPool.reset();
        results.length = 0;

        root = root || cc.director.getScene();
        traversal(root, function (node) {
            if (filter && !filter(node)) return;

            // transform world ray to model ray
            Mat4.invert(m4_2, node.getWorldMatrix(m4_1));
            Vec3.transformMat4(modelRay.o, worldRay.o, m4_2);
            Vec3.normalize(modelRay.d, transformMat4Normal(modelRay.d, worldRay.d, m4_2));

            // raycast with bounding box
            let distance = Infinity;
            let component = node._renderComponent;
            if (component instanceof cc.MeshRenderer ) {
                distance = ray_aabb(modelRay, component._boundingBox);
            }
            else if (node.width && node.height) {
                Vec3.set(minPos, -node.width * node.anchorX, -node.height * node.anchorY, node.z);
                Vec3.set(maxPos, node.width * (1 - node.anchorX), node.height * (1 - node.anchorY), node.z);
                aabb.fromPoints(nodeAabb, minPos, maxPos);
                distance = ray_aabb(modelRay, nodeAabb);
            }

            if (!distanceValid(distance)) return;

            if (handler) {
                distance = handler(modelRay, node, distance);
            }

            if (distanceValid(distance)) {
                Vec3.scale(d, modelRay.d, distance);
                transformMat4Normal(d, d, m4_1);
                let res = resultsPool.add();
                res.node = node;
                res.distance = Vec3.mag(d);
                results.push(res);
            }
        });

        results.sort(cmp);
        return results;
    }
})();

// adapt to old api
const raycast = ray_cast;

/**
 * !#en ray-plane intersect<br/>
 * !#zh 射线与平面的相交性检测。
 * @static
 * @method ray_plane
 * @param {geomUtils.Ray} ray
 * @param {geomUtils.Plane} plane
 * @return {number} 0 or not 0
 */
const ray_plane = (function () {
    const pt = new Vec3(0, 0, 0);

    return function (ray: ray, plane: plane): number {
        const denom = Vec3.dot(ray.d, plane.n);
        if (Math.abs(denom) < Number.EPSILON) { return 0; }
        Vec3.multiplyScalar(pt, plane.n, plane.d);
        const t = Vec3.dot(Vec3.subtract(pt, pt, ray.o), plane.n) / denom;
        if (t < 0) { return 0; }
        return t;
    };
})();

/**
 * !#en line-plane intersect<br/>
 * !#zh 线段与平面的相交性检测。
 * @static
 * @method line_plane
 * @param {geomUtils.Line} line
 * @param {geomUtils.Plane} plane
 * @return {number} 0 or not 0
 */
const line_plane = (function () {
    const ab = new Vec3(0, 0, 0);

    return function (line: line, plane: plane): number {
        Vec3.subtract(ab, line.e, line.s);
        const t = (plane.d - Vec3.dot(line.s, plane.n)) / Vec3.dot(ab, plane.n);
        if (t < 0 || t > 1) { return 0; }
        return t;
    };
})();

// based on http://fileadmin.cs.lth.se/cs/Personal/Tomas_Akenine-Moller/raytri/
/**
 * !#en ray-triangle intersect<br/>
 * !#zh 射线与三角形的相交性检测。
 * @static
 * @method ray_triangle
 * @param {geomUtils.Ray} ray
 * @param {geomUtils.Triangle} triangle
 * @param {boolean} doubleSided
 * @return {number} 0 or not 0
 */
const ray_triangle = (function () {
    const ab = new Vec3(0, 0, 0);
    const ac = new Vec3(0, 0, 0);
    const pvec = new Vec3(0, 0, 0);
    const tvec = new Vec3(0, 0, 0);
    const qvec = new Vec3(0, 0, 0);

    return function (ray: ray, triangle: triangle, doubleSided?: boolean) {
        Vec3.subtract(ab, triangle.b, triangle.a);
        Vec3.subtract(ac, triangle.c, triangle.a);

        Vec3.cross(pvec, ray.d, ac);
        const det = Vec3.dot(ab, pvec);
        if (det < Number.EPSILON && (!doubleSided || det > -Number.EPSILON)) { return 0; }

        const inv_det = 1 / det;

        Vec3.subtract(tvec, ray.o, triangle.a);
        const u = Vec3.dot(tvec, pvec) * inv_det;
        if (u < 0 || u > 1) { return 0; }

        Vec3.cross(qvec, tvec, ab);
        const v = Vec3.dot(ray.d, qvec) * inv_det;
        if (v < 0 || u + v > 1) { return 0; }

        const t = Vec3.dot(ac, qvec) * inv_det;
        return t < 0 ? 0 : t;
    };
})();

// adapt to old api
const rayTriangle = ray_triangle;

/**
 * !#en line-triangle intersect<br/>
 * !#zh 线段与三角形的相交性检测。
 * @static
 * @method line_triangle
 * @param {geomUtils.Line} line
 * @param {geomUtils.Triangle} triangle
 * @param {Vec3} outPt optional, The intersection point
 * @return {number} 0 or not 0
 */
const line_triangle = (function () {
    const ab = new Vec3(0, 0, 0);
    const ac = new Vec3(0, 0, 0);
    const qp = new Vec3(0, 0, 0);
    const ap = new Vec3(0, 0, 0);
    const n = new Vec3(0, 0, 0);
    const e = new Vec3(0, 0, 0);

    return function (line: line, triangle: triangle, outPt: Vec3): number {
        Vec3.subtract(ab, triangle.b, triangle.a);
        Vec3.subtract(ac, triangle.c, triangle.a);
        Vec3.subtract(qp, line.s, line.e);

        Vec3.cross(n, ab, ac);
        const det = Vec3.dot(qp, n);

        if (det <= 0.0) {
            return 0;
        }

        Vec3.subtract(ap, line.s, triangle.a);
        const t = Vec3.dot(ap, n);
        if (t < 0 || t > det) {
            return 0;
        }

        Vec3.cross(e, qp, ap);
        let v = Vec3.dot(ac, e);
        if (v < 0 || v > det) {
            return 0;
        }

        let w = -Vec3.dot(ab, e);
        if (w < 0.0 || v + w > det) {
            return 0;
        }

        if (outPt) {
            const invDet = 1.0 / det;
            v *= invDet;
            w *= invDet;
            const u = 1.0 - v - w;

            // outPt = u*a + v*d + w*c;
            Vec3.set(outPt,
                triangle.a.x * u + triangle.b.x * v + triangle.c.x * w,
                triangle.a.y * u + triangle.b.y * v + triangle.c.y * w,
                triangle.a.z * u + triangle.b.z * v + triangle.c.z * w,
            );
        }

        return 1;
    };
})();

/**
 * !#en line-quad intersect<br/>
 * !#zh 线段与四边形的相交性检测。
 * @static
 * @method line_quad
 * @param {Vec3} p A point on a line segment
 * @param {Vec3} q Another point on the line segment
 * @param {Vec3} a Quadrilateral point a
 * @param {Vec3} b Quadrilateral point b
 * @param {Vec3} c Quadrilateral point c
 * @param {Vec3} d Quadrilateral point d
 * @param {Vec3} outPt optional, The intersection point
 * @return {number} 0 or not 0
 */
const line_quad = (function () {
    const pq = new Vec3(0, 0, 0);
    const pa = new Vec3(0, 0, 0);
    const pb = new Vec3(0, 0, 0);
    const pc = new Vec3(0, 0, 0);
    const pd = new Vec3(0, 0, 0);
    const m = new Vec3(0, 0, 0);
    const tmp = new Vec3(0, 0, 0);

    return function (p: Vec3, q: Vec3, a: Vec3, b: Vec3, c: Vec3, d: Vec3, outPt: Vec3): number {
        Vec3.subtract(pq, q, p);
        Vec3.subtract(pa, a, p);
        Vec3.subtract(pb, b, p);
        Vec3.subtract(pc, c, p);

        // Determine which triangle to test against by testing against diagonal first
        Vec3.cross(m, pc, pq);
        let v = Vec3.dot(pa, m);

        if (v >= 0) {
            // Test intersection against triangle abc
            let u = -Vec3.dot(pb, m);
            if (u < 0) {
                return 0;
            }

            let w = Vec3.dot(Vec3.cross(tmp, pq, pb), pa);
            if (w < 0) {
                return 0;
            }

            // outPt = u*a + v*b + w*c;
            if (outPt) {
                const denom = 1.0 / (u + v + w);
                u *= denom;
                v *= denom;
                w *= denom;

                Vec3.set(outPt,
                    a.x * u + b.x * v + c.x * w,
                    a.y * u + b.y * v + c.y * w,
                    a.z * u + b.z * v + c.z * w,
                );
            }
        } else {
            // Test intersection against triangle dac
            Vec3.subtract(pd, d, p);

            let u = Vec3.dot(pd, m);
            if (u < 0) {
                return 0;
            }

            let w = Vec3.dot(Vec3.cross(tmp, pq, pa), pd);
            if (w < 0) {
                return 0;
            }

            // outPt = u*a + v*d + w*c;
            if (outPt) {
                v = -v;

                const denom = 1.0 / (u + v + w);
                u *= denom;
                v *= denom;
                w *= denom;

                Vec3.set(outPt,
                    a.x * u + d.x * v + c.x * w,
                    a.y * u + d.y * v + c.y * w,
                    a.z * u + d.z * v + c.z * w,
                );
            }
        }

        return 1;
    };
})();

/**
 * !#en ray-sphere intersect<br/>
 * !#zh 射线和球的相交性检测。
 * @static
 * @method ray_sphere
 * @param {geomUtils.Ray} ray
 * @param {geomUtils.Sphere} sphere
 * @return {number} 0 or not 0
 */
const ray_sphere = (function () {
    const e = new Vec3(0, 0, 0);
    return function (ray: ray, sphere: sphere): number {
        const r = sphere.radius;
        const c = sphere.center;
        const o = ray.o;
        const d = ray.d;
        const rSq = r * r;
        Vec3.subtract(e, c, o);
        const eSq = e.lengthSqr();

        const aLength = Vec3.dot(e, d); // assume ray direction already normalized
        const fSq = rSq - (eSq - aLength * aLength);
        if (fSq < 0) { return 0; }

        const f = Math.sqrt(fSq);
        const t = eSq < rSq ? aLength + f : aLength - f;
        if (t < 0) { return 0; }
        return t;
    };
})();

/**
 * !#en ray-aabb intersect<br/>
 * !#zh 射线和轴对齐包围盒的相交性检测。
 * @static
 * @method ray_aabb
 * @param {geomUtils.Ray} ray
 * @param {geomUtils.Aabb} aabb Align the axis around the box
 * @return {number} 0 or not 0
 */
const ray_aabb = (function () {
    const min = new Vec3();
    const max = new Vec3();
    return function (ray: ray, aabb: aabb): number {
        const o = ray.o, d = ray.d;
        const ix = 1 / d.x, iy = 1 / d.y, iz = 1 / d.z;
        Vec3.subtract(min, aabb.center, aabb.halfExtents);
        Vec3.add(max, aabb.center, aabb.halfExtents);
        const t1 = (min.x - o.x) * ix;
        const t2 = (max.x - o.x) * ix;
        const t3 = (min.y - o.y) * iy;
        const t4 = (max.y - o.y) * iy;
        const t5 = (min.z - o.z) * iz;
        const t6 = (max.z - o.z) * iz;
        const tmin = Math.max(Math.max(Math.min(t1, t2), Math.min(t3, t4)), Math.min(t5, t6));
        const tmax = Math.min(Math.min(Math.max(t1, t2), Math.max(t3, t4)), Math.max(t5, t6));
        if (tmax < 0 || tmin > tmax) { return 0 };
        return tmin;
    };
})();

// adapt to old api
const rayAabb = ray_aabb;

/**
 * !#en ray-obb intersect<br/>
 * !#zh 射线和方向包围盒的相交性检测。
 * @static
 * @method ray_obb
 * @param {geomUtils.Ray} ray
 * @param {geomUtils.Obb} obb Direction box
 * @return {number} 0 or or 0
 */
const ray_obb = (function () {
    let center = new Vec3();
    let o = new Vec3();
    let d = new Vec3();
    const X = new Vec3();
    const Y = new Vec3();
    const Z = new Vec3();
    const p = new Vec3();
    const size = new Array(3);
    const f = new Array(3);
    const e = new Array(3);
    const t = new Array(6);

    return function (ray: ray, obb: obb): number {
        size[0] = obb.halfExtents.x;
        size[1] = obb.halfExtents.y;
        size[2] = obb.halfExtents.z;
        center = obb.center;
        o = ray.o;
        d = ray.d;

        let obbm = obb.orientation.m;

        Vec3.set(X, obbm[0], obbm[1], obbm[2]);
        Vec3.set(Y, obbm[3], obbm[4], obbm[5]);
        Vec3.set(Z, obbm[6], obbm[7], obbm[8]);
        Vec3.subtract(p, center, o);

        // The cos values of the ray on the X, Y, Z
        f[0] = Vec3.dot(X, d);
        f[1] = Vec3.dot(Y, d);
        f[2] = Vec3.dot(Z, d);

        // The projection length of P on X, Y, Z
        e[0] = Vec3.dot(X, p);
        e[1] = Vec3.dot(Y, p);
        e[2] = Vec3.dot(Z, p);

        for (let i = 0; i < 3; ++i) {
            if (f[i] === 0) {
                if (-e[i] - size[i] > 0 || -e[i] + size[i] < 0) {
                    return 0;
                }
                // Avoid div by 0!
                f[i] = 0.0000001;
            }
            // min
            t[i * 2 + 0] = (e[i] + size[i]) / f[i];
            // max
            t[i * 2 + 1] = (e[i] - size[i]) / f[i];
        }
        const tmin = Math.max(
            Math.max(
                Math.min(t[0], t[1]),
                Math.min(t[2], t[3])),
            Math.min(t[4], t[5]),
        );
        const tmax = Math.min(
            Math.min(
                Math.max(t[0], t[1]),
                Math.max(t[2], t[3])),
            Math.max(t[4], t[5]),
        );
        if (tmax < 0 || tmin > tmax || tmin < 0) {
            return 0;
        }

        return tmin;
    };
})();

/**
 * !#en aabb-aabb intersect<br/>
 * !#zh 轴对齐包围盒和轴对齐包围盒的相交性检测。
 * @static
 * @method aabb_aabb
 * @param {geomUtils.Aabb} aabb1 Axis alignment surrounds box 1
 * @param {geomUtils.Aabb} aabb2 Axis alignment surrounds box 2
 * @return {number} 0 or not 0
 */
const aabb_aabb = (function () {
    const aMin = new Vec3();
    const aMax = new Vec3();
    const bMin = new Vec3();
    const bMax = new Vec3();
    return function (aabb1: aabb, aabb2: aabb) {
        Vec3.subtract(aMin, aabb1.center, aabb1.halfExtents);
        Vec3.add(aMax, aabb1.center, aabb1.halfExtents);
        Vec3.subtract(bMin, aabb2.center, aabb2.halfExtents);
        Vec3.add(bMax, aabb2.center, aabb2.halfExtents);
        return (aMin.x <= bMax.x && aMax.x >= bMin.x) &&
            (aMin.y <= bMax.y && aMax.y >= bMin.y) &&
            (aMin.z <= bMax.z && aMax.z >= bMin.z);
    };
})();

function getAABBVertices (min: Vec3, max: Vec3, out: Vec3[]) {
    Vec3.set(out[0], min.x, max.y, max.z);
    Vec3.set(out[1], min.x, max.y, min.z);
    Vec3.set(out[2], min.x, min.y, max.z);
    Vec3.set(out[3], min.x, min.y, min.z);
    Vec3.set(out[4], max.x, max.y, max.z);
    Vec3.set(out[5], max.x, max.y, min.z);
    Vec3.set(out[6], max.x, min.y, max.z);
    Vec3.set(out[7], max.x, min.y, min.z);
}

function getOBBVertices (c: Vec3, e: Vec3, a1: Vec3, a2: Vec3, a3: Vec3, out: Vec3[]) {
    Vec3.set(out[0],
        c.x + a1.x * e.x + a2.x * e.y + a3.x * e.z,
        c.y + a1.y * e.x + a2.y * e.y + a3.y * e.z,
        c.z + a1.z * e.x + a2.z * e.y + a3.z * e.z,
    );
    Vec3.set(out[1],
        c.x - a1.x * e.x + a2.x * e.y + a3.x * e.z,
        c.y - a1.y * e.x + a2.y * e.y + a3.y * e.z,
        c.z - a1.z * e.x + a2.z * e.y + a3.z * e.z,
    );
    Vec3.set(out[2],
        c.x + a1.x * e.x - a2.x * e.y + a3.x * e.z,
        c.y + a1.y * e.x - a2.y * e.y + a3.y * e.z,
        c.z + a1.z * e.x - a2.z * e.y + a3.z * e.z,
    );
    Vec3.set(out[3],
        c.x + a1.x * e.x + a2.x * e.y - a3.x * e.z,
        c.y + a1.y * e.x + a2.y * e.y - a3.y * e.z,
        c.z + a1.z * e.x + a2.z * e.y - a3.z * e.z,
    );
    Vec3.set(out[4],
        c.x - a1.x * e.x - a2.x * e.y - a3.x * e.z,
        c.y - a1.y * e.x - a2.y * e.y - a3.y * e.z,
        c.z - a1.z * e.x - a2.z * e.y - a3.z * e.z,
    );
    Vec3.set(out[5],
        c.x + a1.x * e.x - a2.x * e.y - a3.x * e.z,
        c.y + a1.y * e.x - a2.y * e.y - a3.y * e.z,
        c.z + a1.z * e.x - a2.z * e.y - a3.z * e.z,
    );
    Vec3.set(out[6],
        c.x - a1.x * e.x + a2.x * e.y - a3.x * e.z,
        c.y - a1.y * e.x + a2.y * e.y - a3.y * e.z,
        c.z - a1.z * e.x + a2.z * e.y - a3.z * e.z,
    );
    Vec3.set(out[7],
        c.x - a1.x * e.x - a2.x * e.y + a3.x * e.z,
        c.y - a1.y * e.x - a2.y * e.y + a3.y * e.z,
        c.z - a1.z * e.x - a2.z * e.y + a3.z * e.z,
    );
}

function getInterval (vertices: any[] | Vec3[], axis: Vec3) {
    let min = Vec3.dot(axis, vertices[0]), max = min;
    for (let i = 1; i < 8; ++i) {
        const projection = Vec3.dot(axis, vertices[i]);
        min = (projection < min) ? projection : min;
        max = (projection > max) ? projection : max;
    }
    return [min, max];
}

/**
 * !#en aabb-obb intersect<br/>
 * !#zh 轴对齐包围盒和方向包围盒的相交性检测。
 * @static
 * @method aabb_obb
 * @param {geomUtils.Aabb} aabb Align the axis around the box
 * @param {geomUtils.Obb} obb Direction box
 * @return {number} 0 or not 0
 */
const aabb_obb = (function () {
    const test = new Array(15);
    for (let i = 0; i < 15; i++) {
        test[i] = new Vec3(0, 0, 0);
    }
    const vertices = new Array(8);
    const vertices2 = new Array(8);
    for (let i = 0; i < 8; i++) {
        vertices[i] = new Vec3(0, 0, 0);
        vertices2[i] = new Vec3(0, 0, 0);
    }
    const min = new Vec3();
    const max = new Vec3();
    return function (aabb: aabb, obb: obb): number {
        let obbm = obb.orientation.m;

        Vec3.set(test[0], 1, 0, 0);
        Vec3.set(test[1], 0, 1, 0);
        Vec3.set(test[2], 0, 0, 1);
        Vec3.set(test[3], obbm[0], obbm[1], obbm[2]);
        Vec3.set(test[4], obbm[3], obbm[4], obbm[5]);
        Vec3.set(test[5], obbm[6], obbm[7], obbm[8]);

        for (let i = 0; i < 3; ++i) { // Fill out rest of axis
            Vec3.cross(test[6 + i * 3 + 0], test[i], test[0]);
            Vec3.cross(test[6 + i * 3 + 1], test[i], test[1]);
            Vec3.cross(test[6 + i * 3 + 1], test[i], test[2]);
        }

        Vec3.subtract(min, aabb.center, aabb.halfExtents);
        Vec3.add(max, aabb.center, aabb.halfExtents);
        getAABBVertices(min, max, vertices);
        getOBBVertices(obb.center, obb.halfExtents, test[3], test[4], test[5], vertices2);

        for (let j = 0; j < 15; ++j) {
            const a = getInterval(vertices, test[j]);
            const b = getInterval(vertices2, test[j]);
            if (b[0] > a[1] || a[0] > b[1]) {
                return 0; // Seperating axis found
            }
        }

        return 1;
    };
})();

/**
 * !#en aabb-plane intersect<br/>
 * !#zh 轴对齐包围盒和平面的相交性检测。
 * @static
 * @method aabb_plane
 * @param {geomUtils.Aabb} aabb Align the axis around the box
 * @param {geomUtils.Plane} plane
 * @return {number} inside(back) = -1, outside(front) = 0, intersect = 1
 */
const aabb_plane = function (aabb: aabb, plane: plane): number {
    const r = aabb.halfExtents.x * Math.abs(plane.n.x) +
        aabb.halfExtents.y * Math.abs(plane.n.y) +
        aabb.halfExtents.z * Math.abs(plane.n.z);
    const dot = Vec3.dot(plane.n, aabb.center);
    if (dot + r < plane.d) { return -1; }
    else if (dot - r > plane.d) { return 0; }
    return 1;
};

/**
 * !#en aabb-frustum intersect, faster but has false positive corner cases<br/>
 * !#zh 轴对齐包围盒和锥台相交性检测，速度快，但有错误情况。
 * @static
 * @method aabb_frustum
 * @param {geomUtils.Aabb} aabb Align the axis around the box
 * @param {geomUtils.Frustum} frustum
 * @return {number} 0 or not 0
 */
const aabb_frustum = function (aabb: aabb, frustum: frustum): number {
    for (let i = 0; i < frustum.planes.length; i++) {
        // frustum plane normal points to the inside
        if (aabb_plane(aabb, frustum.planes[i]) === -1) {
            return 0;
        }
    } // completely outside
    return 1;
};

// https://cesium.com/blog/2017/02/02/tighter-frustum-culling-and-why-you-may-want-to-disregard-it/
/**
 * !#en aabb-frustum intersect, handles most of the false positives correctly<br/>
 * !#zh 轴对齐包围盒和锥台相交性检测，正确处理大多数错误情况。
 * @static
 * @method aabb_frustum_accurate
 * @param {geomUtils.Aabb} aabb Align the axis around the box
 * @param {geomUtils.Frustum} frustum
 * @return {number}
 */
const aabb_frustum_accurate = (function () {
    const tmp = new Array(8);
    let out1 = 0, out2 = 0;
    for (let i = 0; i < tmp.length; i++) {
        tmp[i] = new Vec3(0, 0, 0);
    }
    return function (aabb: aabb, frustum: frustum): number {
        let result = 0, intersects = false;
        // 1. aabb inside/outside frustum test
        for (let i = 0; i < frustum.planes.length; i++) {
            result = aabb_plane(aabb, frustum.planes[i]);
            // frustum plane normal points to the inside
            if (result === -1) { return 0; } // completely outside
            else if (result === 1) { intersects = true; }
        }
        if (!intersects) { return 1; } // completely inside
        // in case of false positives
        // 2. frustum inside/outside aabb test
        for (let i = 0; i < frustum.vertices.length; i++) {
            Vec3.subtract(tmp[i], frustum.vertices[i], aabb.center);
        }
        out1 = 0, out2 = 0;
        for (let i = 0; i < frustum.vertices.length; i++) {
            if (tmp[i].x > aabb.halfExtents.x) { out1++; }
            else if (tmp[i].x < -aabb.halfExtents.x) { out2++; }
        }
        if (out1 === frustum.vertices.length || out2 === frustum.vertices.length) { return 0; }
        out1 = 0; out2 = 0;
        for (let i = 0; i < frustum.vertices.length; i++) {
            if (tmp[i].y > aabb.halfExtents.y) { out1++; }
            else if (tmp[i].y < -aabb.halfExtents.y) { out2++; }
        }
        if (out1 === frustum.vertices.length || out2 === frustum.vertices.length) { return 0; }
        out1 = 0; out2 = 0;
        for (let i = 0; i < frustum.vertices.length; i++) {
            if (tmp[i].z > aabb.halfExtents.z) { out1++; }
            else if (tmp[i].z < -aabb.halfExtents.z) { out2++; }
        }
        if (out1 === frustum.vertices.length || out2 === frustum.vertices.length) { return 0; }
        return 1;
    };
})();

/**
 * !#en obb-point intersect<br/>
 * !#zh 方向包围盒和点的相交性检测。
 * @static
 * @method obb_point
 * @param {geomUtils.Obb} obb Direction box
 * @param {geomUtils.Vec3} point
 * @return {boolean} true or false
 */
const obb_point = (function () {
    const tmp = new Vec3(0, 0, 0), m3 = new Mat3();
    const lessThan = function (a: Vec3, b: Vec3): boolean { return Math.abs(a.x) < b.x && Math.abs(a.y) < b.y && Math.abs(a.z) < b.z; };
    return function (obb: obb, point: Vec3): boolean {
        Vec3.subtract(tmp, point, obb.center);
        Vec3.transformMat3(tmp, tmp, Mat3.transpose(m3, obb.orientation));
        return lessThan(tmp, obb.halfExtents);
    };
})();

/**
 * !#en obb-plane intersect<br/>
 * !#zh 方向包围盒和平面的相交性检测。
 * @static
 * @method obb_plane
 * @param {geomUtils.Obb} obb Direction box
 * @param {geomUtils.Plane} plane
 * @return {number} inside(back) = -1, outside(front) = 0, intersect = 1
 */
const obb_plane = (function () {
    const absDot = function (n: Vec3, x: number, y: number, z: number) {
        return Math.abs(n.x * x + n.y * y + n.z * z);
    };
    return function (obb: obb, plane: plane): number {
        let obbm = obb.orientation.m;
        // Real-Time Collision Detection, Christer Ericson, p. 163.
        const r = obb.halfExtents.x * absDot(plane.n, obbm[0], obbm[1], obbm[2]) +
            obb.halfExtents.y * absDot(plane.n, obbm[3], obbm[4], obbm[5]) +
            obb.halfExtents.z * absDot(plane.n, obbm[6], obbm[7], obbm[8]);

        const dot = Vec3.dot(plane.n, obb.center);
        if (dot + r < plane.d) { return -1; }
        else if (dot - r > plane.d) { return 0; }
        return 1;
    };
})();

/**
 * !#en obb-frustum intersect, faster but has false positive corner cases<br/>
 * !#zh 方向包围盒和锥台相交性检测，速度快，但有错误情况。
 * @static
 * @method obb_frustum
 * @param {geomUtils.Obb} obb Direction box
 * @param {geomUtils.Frustum} frustum
 * @return {number} 0 or not 0
 */
const obb_frustum = function (obb: obb, frustum: frustum): number {
    for (let i = 0; i < frustum.planes.length; i++) {
        // frustum plane normal points to the inside
        if (obb_plane(obb, frustum.planes[i]) === -1) {
            return 0;
        }
    } // completely outside
    return 1;
};

// https://cesium.com/blog/2017/02/02/tighter-frustum-culling-and-why-you-may-want-to-disregard-it/
/**
 * !#en obb-frustum intersect, handles most of the false positives correctly<br/>
 * !#zh 方向包围盒和锥台相交性检测，正确处理大多数错误情况。
 * @static
 * @method obb_frustum_accurate
 * @param {geomUtils.Obb} obb Direction box
 * @param {geomUtils.Frustum} frustum
 * @return {number} 0 or not 0
 */
const obb_frustum_accurate = (function () {
    const tmp = new Array(8);
    let dist = 0, out1 = 0, out2 = 0;
    for (let i = 0; i < tmp.length; i++) {
        tmp[i] = new Vec3(0, 0, 0);
    }
    const dot = function (n: Vec3, x: number, y: number, z: number): number {
        return n.x * x + n.y * y + n.z * z;
    };
    return function (obb: obb, frustum: frustum): number {
        let result = 0, intersects = false;
        // 1. obb inside/outside frustum test
        for (let i = 0; i < frustum.planes.length; i++) {
            result = obb_plane(obb, frustum.planes[i]);
            // frustum plane normal points to the inside
            if (result === -1) { return 0; } // completely outside
            else if (result === 1) { intersects = true; }
        }
        if (!intersects) { return 1; } // completely inside
        // in case of false positives
        // 2. frustum inside/outside obb test
        for (let i = 0; i < frustum.vertices.length; i++) {
            Vec3.subtract(tmp[i], frustum.vertices[i], obb.center);
        }
        out1 = 0, out2 = 0;
        let obbm = obb.orientation.m;
        for (let i = 0; i < frustum.vertices.length; i++) {
            dist = dot(tmp[i], obbm[0], obbm[1], obbm[2]);
            if (dist > obb.halfExtents.x) { out1++; }
            else if (dist < -obb.halfExtents.x) { out2++; }
        }
        if (out1 === frustum.vertices.length || out2 === frustum.vertices.length) { return 0; }
        out1 = 0; out2 = 0;
        for (let i = 0; i < frustum.vertices.length; i++) {
            dist = dot(tmp[i], obbm[3], obbm[4], obbm[5]);
            if (dist > obb.halfExtents.y) { out1++; }
            else if (dist < -obb.halfExtents.y) { out2++; }
        }
        if (out1 === frustum.vertices.length || out2 === frustum.vertices.length) { return 0; }
        out1 = 0; out2 = 0;
        for (let i = 0; i < frustum.vertices.length; i++) {
            dist = dot(tmp[i], obbm[6], obbm[7], obbm[8]);
            if (dist > obb.halfExtents.z) { out1++; }
            else if (dist < -obb.halfExtents.z) { out2++; }
        }
        if (out1 === frustum.vertices.length || out2 === frustum.vertices.length) { return 0; }
        return 1;
    };
})();

/**
 * !#en obb-obb intersect<br/>
 * !#zh 方向包围盒和方向包围盒的相交性检测。
 * @static
 * @method obb_obb
 * @param {geomUtils.Obb} obb1 Direction box1
 * @param {geomUtils.Obb} obb2 Direction box2
 * @return {number} 0 or not 0
 */
const obb_obb = (function () {
    const test = new Array(15);
    for (let i = 0; i < 15; i++) {
        test[i] = new Vec3(0, 0, 0);
    }

    const vertices = new Array(8);
    const vertices2 = new Array(8);
    for (let i = 0; i < 8; i++) {
        vertices[i] = new Vec3(0, 0, 0);
        vertices2[i] = new Vec3(0, 0, 0);
    }

    return function (obb1: obb, obb2: obb): number {

        let obb1m = obb1.orientation.m;
        let obb2m = obb2.orientation.m;

        Vec3.set(test[0], obb1m[0], obb1m[1], obb1m[2]);
        Vec3.set(test[1], obb1m[3], obb1m[4], obb1m[5]);
        Vec3.set(test[2], obb1m[6], obb1m[7], obb1m[8]);
        Vec3.set(test[3], obb2m[0], obb2m[1], obb2m[2]);
        Vec3.set(test[4], obb2m[3], obb2m[4], obb2m[5]);
        Vec3.set(test[5], obb2m[6], obb2m[7], obb2m[8]);

        for (let i = 0; i < 3; ++i) { // Fill out rest of axis
            Vec3.cross(test[6 + i * 3 + 0], test[i], test[0]);
            Vec3.cross(test[6 + i * 3 + 1], test[i], test[1]);
            Vec3.cross(test[6 + i * 3 + 1], test[i], test[2]);
        }

        getOBBVertices(obb1.center, obb1.halfExtents, test[0], test[1], test[2], vertices);
        getOBBVertices(obb2.center, obb2.halfExtents, test[3], test[4], test[5], vertices2);

        for (let i = 0; i < 15; ++i) {
            const a = getInterval(vertices, test[i]);
            const b = getInterval(vertices2, test[i]);
            if (b[0] > a[1] || a[0] > b[1]) {
                return 0; // Seperating axis found
            }
        }

        return 1;
    };
})();

/**
 * !#en phere-plane intersect, not necessarily faster than obb-plane<br/>
 * due to the length calculation of the plane normal to factor out<br/>
 * the unnomalized plane distance<br/>
 * !#zh 球与平面的相交性检测。
 * @static
 * @method sphere_plane
 * @param {geomUtils.Sphere} sphere
 * @param {geomUtils.Plane} plane
 * @return {number} inside(back) = -1, outside(front) = 0, intersect = 1
 */
const sphere_plane = function (sphere: sphere, plane: plane): number {
    const dot = Vec3.dot(plane.n, sphere.center);
    const r = sphere.radius * plane.n.length();
    if (dot + r < plane.d) { return -1; }
    else if (dot - r > plane.d) { return 0; }
    return 1;
};

/**
 * !#en sphere-frustum intersect, faster but has false positive corner cases<br/>
 * !#zh 球和锥台的相交性检测，速度快，但有错误情况。
 * @static
 * @method sphere_frustum
 * @param {geomUtils.Sphere} sphere
 * @param {geomUtils.Frustum} frustum
 * @return {number} 0 or not 0
 */
const sphere_frustum = function (sphere: sphere, frustum: frustum): number {
    for (let i = 0; i < frustum.planes.length; i++) {
        // frustum plane normal points to the inside
        if (sphere_plane(sphere, frustum.planes[i]) === -1) {
            return 0;
        }
    } // completely outside
    return 1;
};

// https://stackoverflow.com/questions/20912692/view-frustum-culling-corner-cases
/**
 * !#en sphere-frustum intersect, handles the false positives correctly<br/>
 * !#zh 球和锥台的相交性检测，正确处理大多数错误情况。
 * @static
 * @method sphere_frustum_accurate
 * @param {geomUtils.Sphere} sphere
 * @param {geomUtils.Frustum} frustum
 * @return {number} 0 or not 0
 */
const sphere_frustum_accurate = (function () {
    const pt = new Vec3(0, 0, 0), map = [1, -1, 1, -1, 1, -1];
    return function (sphere: sphere, frustum: frustum): number {
        for (let i = 0; i < 6; i++) {
            const plane = frustum.planes[i];
            const r = sphere.radius, c = sphere.center;
            const n = plane.n, d = plane.d;
            const dot = Vec3.dot(n, c);
            // frustum plane normal points to the inside
            if (dot + r < d) { return 0; } // completely outside
            else if (dot - r > d) { continue; }
            // in case of false positives
            // has false negatives, still working on it
            Vec3.add(pt, c, Vec3.multiplyScalar(pt, n, r));
            for (let j = 0; j < 6; j++) {
                if (j === i || j === i + map[i]) { continue; }
                const test = frustum.planes[j];
                if (Vec3.dot(test.n, pt) < test.d) { return 0; }
            }
        }
        return 1;
    };
})();

/**
 * !#en sphere-sphere intersect<br/>
 * !#zh 球和球的相交性检测。
 * @static
 * @method sphere_sphere
 * @param {geomUtils.Sphere} sphere0
 * @param {geomUtils.Sphere} sphere1
 * @return {boolean} true or false
 */
const sphere_sphere = function (sphere0: sphere, sphere1: sphere): boolean {
    const r = sphere0.radius + sphere1.radius;
    return Vec3.squaredDistance(sphere0.center, sphere1.center) < r * r;
};

/**
 * !#en sphere-aabb intersect<br/>
 * !#zh 球和轴对齐包围盒的相交性检测。
 * @static
 * @method sphere_aabb
 * @param {geomUtils.Sphere} sphere
 * @param {geomUtils.Aabb} aabb
 * @return {boolean} true or false
 */
const sphere_aabb = (function () {
    const pt = new Vec3();
    return function (sphere: sphere, aabb: aabb): boolean {
        distance.pt_point_aabb(pt, sphere.center, aabb);
        return Vec3.squaredDistance(sphere.center, pt) < sphere.radius * sphere.radius;
    };
})();

/**
 * !#en sphere-obb intersect<br/>
 * !#zh 球和方向包围盒的相交性检测。
 * @static
 * @method sphere_obb
 * @param {geomUtils.Sphere} sphere
 * @param {geomUtils.Obb} obb
 * @return {boolean} true or false
 */
const sphere_obb = (function () {
    const pt = new Vec3();
    return function (sphere: sphere, obb: obb): boolean {
        distance.pt_point_obb(pt, sphere.center, obb);
        return Vec3.squaredDistance(sphere.center, pt) < sphere.radius * sphere.radius;
    };
})();

const intersect = {
    // old api
    rayAabb,
    rayMesh,
    raycast,
    rayTriangle,

    ray_sphere,
    ray_aabb,
    ray_obb,
    ray_plane,
    ray_triangle,
    line_plane,
    line_triangle,
    line_quad,

    sphere_sphere,
    sphere_aabb,
    sphere_obb,
    sphere_plane,
    sphere_frustum,
    sphere_frustum_accurate,

    aabb_aabb,
    aabb_obb,
    aabb_plane,
    aabb_frustum,
    aabb_frustum_accurate,

    obb_obb,
    obb_plane,
    obb_frustum,
    obb_frustum_accurate,
    obb_point,

    /**
     * !#en
     * The intersection detection of g1 and g2 can fill in the shape in the basic geometry.
     * !#zh
     * g1 和 g2 的相交性检测，可填入基础几何中的形状。
     * @static
     * @method resolve
     * @param g1 Geometry 1
     * @param g2 Geometry 2
     * @param outPt optional, Intersection point. (note: only partial shape detection with this return value)
     */
    resolve (g1: any, g2: any, outPt = null) {
        const type1 = g1._type, type2 = g2._type;
        const resolver = this[type1 | type2];
        if (type1 < type2) { return resolver(g1, g2, outPt); }
        else { return resolver(g2, g1, outPt); }
    },
};

intersect[enums.SHAPE_RAY | enums.SHAPE_SPHERE] = ray_sphere;
intersect[enums.SHAPE_RAY | enums.SHAPE_AABB] = ray_aabb;
intersect[enums.SHAPE_RAY | enums.SHAPE_OBB] = ray_obb;
intersect[enums.SHAPE_RAY | enums.SHAPE_PLANE] = ray_plane;
intersect[enums.SHAPE_RAY | enums.SHAPE_TRIANGLE] = ray_triangle;
intersect[enums.SHAPE_LINE | enums.SHAPE_PLANE] = line_plane;
intersect[enums.SHAPE_LINE | enums.SHAPE_TRIANGLE] = line_triangle;

intersect[enums.SHAPE_SPHERE] = sphere_sphere;
intersect[enums.SHAPE_SPHERE | enums.SHAPE_AABB] = sphere_aabb;
intersect[enums.SHAPE_SPHERE | enums.SHAPE_OBB] = sphere_obb;
intersect[enums.SHAPE_SPHERE | enums.SHAPE_PLANE] = sphere_plane;
intersect[enums.SHAPE_SPHERE | enums.SHAPE_FRUSTUM] = sphere_frustum;
intersect[enums.SHAPE_SPHERE | enums.SHAPE_FRUSTUM_ACCURATE] = sphere_frustum_accurate;

intersect[enums.SHAPE_AABB] = aabb_aabb;
intersect[enums.SHAPE_AABB | enums.SHAPE_OBB] = aabb_obb;
intersect[enums.SHAPE_AABB | enums.SHAPE_PLANE] = aabb_plane;
intersect[enums.SHAPE_AABB | enums.SHAPE_FRUSTUM] = aabb_frustum;
intersect[enums.SHAPE_AABB | enums.SHAPE_FRUSTUM_ACCURATE] = aabb_frustum_accurate;

intersect[enums.SHAPE_OBB] = obb_obb;
intersect[enums.SHAPE_OBB | enums.SHAPE_PLANE] = obb_plane;
intersect[enums.SHAPE_OBB | enums.SHAPE_FRUSTUM] = obb_frustum;
intersect[enums.SHAPE_OBB | enums.SHAPE_FRUSTUM_ACCURATE] = obb_frustum_accurate;

export default intersect;